Qontrol::Constraint::GenericConstraint Class Reference

Represents a generic constraint. More...

#include <GenericConstraint.hpp>

Inheritance diagram for Qontrol::Constraint::GenericConstraint:

Public Member Functions
	GenericConstraint (std::string name, int constraint_size, int optimization_vector_size)
	Construct a new GenericConstraint object. More...
	GenericConstraint (std::string name, int constraint_size, std::shared_ptr< Model::GenericModel > model_ptr)
	Construct a new Base onstraint object. More...
virtual void	update (double dt)
	Update \(A\), \(\boldsymbol{lb}\) and \(\boldsymbol{ub}\) overrided by the considered implementation of the constraint. More...
int	getSize ()
	Get the constraint size. More...
std::string	getName ()
	Get the constraint name. More...
void	setConstraintMatrix (Eigen::MatrixXd constraint_matrix)
	Set the constraint matrix \( A \). More...
void	setUpperBounds (Eigen::VectorXd upper_bound)
	Set the constraint upper bounds \( \boldsymbol{ub}\). More...
void	setLowerBounds (Eigen::VectorXd lower_bound)
	Set the constraint lower bounds \( \boldsymbol{lb}\). More...
void	resize (int task_size, int constraint_size)
	Resize the constraint matrices and vectors according to the task size and new constraint size. More...
Eigen::MatrixXd	getConstraintMatrix ()
	Get the constraint matrix \( A \). More...
Eigen::VectorXd	getUpperBounds ()
	Get the constraint upper bounds \( \boldsymbol{ub}\). More...
Eigen::VectorXd	getLowerBounds ()
	Get the constraint lower bounds \( \boldsymbol{lb}\). More...

Public Attributes
Eigen::VectorXd	lower_limit
Eigen::VectorXd	upper_limit

Protected Attributes
std::shared_ptr< Model::GenericModel >	model_ptr_
int	constraint_size_
int	optimization_vector_size_

Detailed Description

Represents a generic constraint.

In a qp problem a constraint is expressed as an inequality linerarly dependent to the optimization vector. Let's consider a constraint constraining \(m\) degrees of freedom of a robot with \(n\) degrees of freedom. The optimization variable will be called \( \boldsymbol{x} \in \mathbb{R}^n \)

The constraint is expressed as \( \boldsymbol{lb} \leq A \boldsymbol{x} \leq \boldsymbol{ub}\). \( \boldsymbol{lb} \in \mathbb{R}^m \) and \( \boldsymbol{ub} \in \mathbb{R}^m \) are respecitvely the lower bound and the upper bound of the constraint. \( A \in \mathbb{R}^{m\times n} \) is the constraint matrix

Constructor & Destructor Documentation

GenericConstraint() [1/2]

Qontrol::Constraint::GenericConstraint::GenericConstraint ( std::string  name, int  constraint_size, int  optimization_vector_size  )

inline

Construct a new GenericConstraint object.

This constructor is used when creating a custom constraint The constructor resizes the constraint matrices and vector

Parameters

name	The constraint name
constraint_size	The dimension of the constraint

GenericConstraint() [2/2]

Qontrol::Constraint::GenericConstraint::GenericConstraint ( std::string  name, int  constraint_size, std::shared_ptr< Model::GenericModel >  model_ptr  )

inline

Construct a new Base onstraint object.

This constructor is used when creating an implemented constraint. It uses the model_ptr to automatically update the constraint. The constructor resizes the constraint matrices and vector

Parameters

name	The constraint name
model_ptr	A pointer to the model object

Member Function Documentation

getConstraintMatrix()

auto Qontrol::Constraint::GenericConstraint::getConstraintMatrix

(

)

Get the constraint matrix \( A \).

Returns

Eigen::VectorXd \( \in \mathbb{R}^{m \times n} \)

getLowerBounds()

auto Qontrol::Constraint::GenericConstraint::getLowerBounds

(

)

Get the constraint lower bounds \( \boldsymbol{lb}\).

Returns

Eigen::VectorXd \( \in \mathbb{R}^m \)

getName()

auto Qontrol::Constraint::GenericConstraint::getName

(

)

Get the constraint name.

Returns

std::string

getSize()

auto Qontrol::Constraint::GenericConstraint::getSize

(

)

Get the constraint size.

Returns

int

getUpperBounds()

auto Qontrol::Constraint::GenericConstraint::getUpperBounds

(

)

Get the constraint upper bounds \( \boldsymbol{ub}\).

Returns

Eigen::VectorXd \( \in \mathbb{R}^m \)

resize()

void Qontrol::Constraint::GenericConstraint::resize	(	int	task_size,
		int	constraint_size
	)

Resize the constraint matrices and vectors according to the task size and new constraint size.

Parameters

task_size
constraint_size

setConstraintMatrix()

void Qontrol::Constraint::GenericConstraint::setConstraintMatrix

(

Eigen::MatrixXd

constraint_matrix

)

Set the constraint matrix \( A \).

Parameters

lower_bound

\( \in \mathbb{R}^{m \times n} \)

setLowerBounds()

void Qontrol::Constraint::GenericConstraint::setLowerBounds

(

Eigen::VectorXd

lower_bound

)

Set the constraint lower bounds \( \boldsymbol{lb}\).

Parameters

lower_bound

\( \in \mathbb{R}^m \)

setUpperBounds()

void Qontrol::Constraint::GenericConstraint::setUpperBounds

(

Eigen::VectorXd

upper_bound

)

Set the constraint upper bounds \( \boldsymbol{ub}\).

Parameters

upper_bound

\( \in \mathbb{R}^m \)

update()

virtual void Qontrol::Constraint::GenericConstraint::update ( double  dt )

inlinevirtual

Update \(A\), \(\boldsymbol{lb}\) and \(\boldsymbol{ub}\) overrided by the considered implementation of the constraint.

Reimplemented in Qontrol::Constraint::JointConfiguration< Qontrol::ControlOutput::JointTorque >, Qontrol::Constraint::JointVelocity< Qontrol::ControlOutput::JointTorque >, Qontrol::Constraint::JointConfiguration< Qontrol::ControlOutput::JointVelocity >, Qontrol::Constraint::JointVelocity< Qontrol::ControlOutput::JointVelocity >, and Qontrol::Constraint::JointTorque< Qontrol::ControlOutput::JointTorque >.

---

The documentation for this class was generated from the following files:

• include/Qontrol/Constraints/GenericConstraint.hpp
• src/Constraints/GenericConstraint.cpp