nmrConstraintOptimizer: A class that makes using the constraint control algorithm more efficient More...

#include <nmrConstraintOptimizer.h>

Public Types
enum	STATUS { NMR_OK, NMR_EQ_CONTRADICTION, NMR_INEQ_CONTRADICTION, NMR_BOTH_CONTRADICTION, NMR_MALFORMED, NMR_EMPTY }

Public Member Functions
	nmrConstraintOptimizer ()

	~nmrConstraintOptimizer ()

	nmrConstraintOptimizer (const size_t n)

STATUS	Solve (vctDoubleVec &dq)
	Calls the solver and stores the result in dq. More...

void	ResetIndices (void)
	Clear all indices. More...

void	Allocate (void)
	Allocate memory indicated by indices. More...

void	Allocate (const size_t CRows, const size_t CCols, const size_t ARows, const size_t ACols, const size_t ERows, const size_t ECols)
	Allocate memory indicated by input. More...

void	ReserveSpace (const size_t CRows, const size_t ARows, const size_t ERows, const size_t num_slacks)
	Reserves space in the tableau. More...

void	SetRefs (const size_t CRows, const size_t ARows, const size_t ERows, const size_t num_slacks, const vctDoubleVec &limits, vctDynamicMatrixRef< double > &CData, vctDynamicMatrixRef< double > &CSlacks, vctDynamicVectorRef< double > &dData, vctDynamicMatrixRef< double > &AData, vctDynamicMatrixRef< double > &ASlacks, vctDynamicVectorRef< double > &bData, vctDynamicMatrixRef< double > &EData, vctDynamicMatrixRef< double > &ESlacks, vctDynamicVectorRef< double > &fData)
	Returns references to spaces in the tableau. More...

size_t	GetNumVars (void) const
	Returns the number of variables. More...

size_t	GetSlackIndex (void) const
	Gets the current slack index. More...

size_t	GetSlacks (void) const
	Gets the number of slacks. More...

size_t	GetObjectiveRows (void) const
	Gets the number of rows for the objective expression. More...

size_t	GetObjectiveIndex (void) const
	Gets the objective index. More...

size_t	GetIneqConstraintRows (void) const
	Gets the number of rows for the inequality constraint. More...

size_t	GetIneqConstraintIndex (void) const
	Gets the inequality constraint index. More...

size_t	GetEqConstraintRows (void) const
	Gets the number of rows for the equality constraint. More...

size_t	GetEqConstraintIndex (void) const
	Gets the equality constraint index. More...

const vctDoubleMat &	GetObjectiveMatrix (void) const
	Gets the objective matrix. More...

const vctDoubleVec &	GetObjectiveVector (void) const
	Gets the objective vector. More...

const vctDoubleMat &	GetIneqConstraintMatrix (void) const
	Gets the inequality constraint matrix. More...

const vctDoubleVec &	GetIneqConstraintVector (void) const
	Gets the inequality constraint vector. More...

const vctDoubleMat &	GetEqConstraintMatrix (void) const
	Gets the equality constraint matrix. More...

const vctDoubleVec &	GetEqConstraintVector (void) const
	Gets the equality constraint vector. More...

const std::string	GetStatusString (STATUS status) const
	Helper function for converting status enum to a string message. More...

Detailed Description

nmrConstraintOptimizer: A class that makes using the constraint control algorithm more efficient

This is a container for constrained control optimizer. It provides high level functions to add common functionality. Solves the LSI problem arg min || C x - d ||, s.t. E x = f and A x >= b.

Member Enumeration Documentation

enum nmrConstraintOptimizer::STATUS

enum used for solver results. 0 Both equality and inequality constraints are compatible and have been satisfied. 1 Equality constraints are contradictory. A generalized inverse solution of EX=F was used to minimize the residual vector length F-EX. In this sense, the solution is still meaningful. 2 Inequality constraints are contradictory. 3 Both equality and inequality constraints are contradictory. 4 Input has a NaN or INF

Enumerator
NMR_OK
NMR_EQ_CONTRADICTION
NMR_INEQ_CONTRADICTION
NMR_BOTH_CONTRADICTION
NMR_MALFORMED
NMR_EMPTY

Constructor & Destructor Documentation

nmrConstraintOptimizer::nmrConstraintOptimizer ( )

inline

Constructor

nmrConstraintOptimizer::~nmrConstraintOptimizer ( )

inline

Destructor

nmrConstraintOptimizer::nmrConstraintOptimizer ( const size_t n )

Initialize control optimizer

Parameters

n	Number of variables

Member Function Documentation

void nmrConstraintOptimizer::Allocate ( void )

Allocate memory indicated by indices.

allocate

void nmrConstraintOptimizer::Allocate	(	const size_t	CRows,
		const size_t	CCols,
		const size_t	ARows,
		const size_t	ACols,
		const size_t	ERows,
		const size_t	ECols
	)

Allocate memory indicated by input.

allocate

size_t nmrConstraintOptimizer::GetEqConstraintIndex ( void ) const

Gets the equality constraint index.

GetEqConstraintIndex

Returns: size_t The equality constraint index

const vctDoubleMat& nmrConstraintOptimizer::GetEqConstraintMatrix ( void ) const

Gets the equality constraint matrix.

GetEqConstraintMatrix

Returns: vctDoubleMat The equality constraint matrix

size_t nmrConstraintOptimizer::GetEqConstraintRows ( void ) const

Gets the number of rows for the equality constraint.

GetEqConstraintRows

Returns: size_t The number of rows for the equality constraint

const vctDoubleVec& nmrConstraintOptimizer::GetEqConstraintVector ( void ) const

Gets the equality constraint vector.

GetEqConstraintVector

Returns: vctDoubleVec The equality constraint vector

size_t nmrConstraintOptimizer::GetIneqConstraintIndex ( void ) const

Gets the inequality constraint index.

GetIneqConstraintIndex

Returns: size_t The inequality constraint index

const vctDoubleMat& nmrConstraintOptimizer::GetIneqConstraintMatrix ( void ) const

Gets the inequality constraint matrix.

GetIneqConstraintMatrix

Returns: vctDoubleMat The inequality constraint matrix

size_t nmrConstraintOptimizer::GetIneqConstraintRows ( void ) const

Gets the number of rows for the inequality constraint.

GetIneqConstraintRows

Returns: size_t The number of inequality constraint rows

const vctDoubleVec& nmrConstraintOptimizer::GetIneqConstraintVector ( void ) const

Gets the inequality constraint vector.

GetIneqConstraintVector

Returns: vctDoubleVec The inequality constraint vector

size_t nmrConstraintOptimizer::GetNumVars ( void ) const

Returns the number of variables.

GetNumVars

Returns: size_t Number of variables

size_t nmrConstraintOptimizer::GetObjectiveIndex ( void ) const

Gets the objective index.

GetObjectiveIndex

Returns: size_t The objective index

const vctDoubleMat& nmrConstraintOptimizer::GetObjectiveMatrix ( void ) const

Gets the objective matrix.

GetObjectiveMatrix

Returns: vctDoubleMat The objective matrix

size_t nmrConstraintOptimizer::GetObjectiveRows ( void ) const

Gets the number of rows for the objective expression.

GetObjectiveRows

Returns: size_t The number of objective rows

const vctDoubleVec& nmrConstraintOptimizer::GetObjectiveVector ( void ) const

Gets the objective vector.

GetObjectiveVector

Returns: vctDoubleVec The objective vector

size_t nmrConstraintOptimizer::GetSlackIndex ( void ) const

Gets the current slack index.

GetSlackIndex

Returns: size_t The slack index

size_t nmrConstraintOptimizer::GetSlacks ( void ) const

Gets the number of slacks.

GetSlacks

Returns: size_t The number of slacks

const std::string nmrConstraintOptimizer::GetStatusString ( STATUS status ) const

Helper function for converting status enum to a string message.

GetStatusString

Parameters

status A STATUS enum variable

Returns: A string representation of that STATUS

void nmrConstraintOptimizer::ReserveSpace	(	const size_t	CRows,
		const size_t	ARows,
		const size_t	ERows,
		const size_t	num_slacks
	)

Reserves space in the tableau.

ReserveSpace

Parameters

CRows	Number of rows needed for the objective
ARows	Number of rows needed for the inequality constraint
ERows	Number of rows needed for the equality constraint
num_slacks	The number of slacks needed

void nmrConstraintOptimizer::ResetIndices ( void )

Clear all indices.

Reset

void nmrConstraintOptimizer::SetRefs	(	const size_t	CRows,
		const size_t	ARows,
		const size_t	ERows,
		const size_t	num_slacks,
		const vctDoubleVec &	limits,
		vctDynamicMatrixRef< double > &	CData,
		vctDynamicMatrixRef< double > &	CSlacks,
		vctDynamicVectorRef< double > &	dData,
		vctDynamicMatrixRef< double > &	AData,
		vctDynamicMatrixRef< double > &	ASlacks,
		vctDynamicVectorRef< double > &	bData,
		vctDynamicMatrixRef< double > &	EData,
		vctDynamicMatrixRef< double > &	ESlacks,
		vctDynamicVectorRef< double > &	fData
	)

Returns references to spaces in the tableau.

GetObjectiveSpace

Parameters

CRows	Number of rows needed for the objective data
ARows	Number of rows needed for the inequality constraint data
ERows	Number of rows needed for the equality constraint data
num_slacks	The number of slacks
CData	A reference to the data portion of the objective matrix
CSlacks	A reference to the slack portion of the objective matrix
d	A reference to the objective vector
AData	A reference to the data portion of the inequality constraint matrix
ASlacks	A reference to the slack portion of the inequality constraint matrix
b	A reference to the inequality constraint vector
EData	A reference to the data portion of the equality constraint matrix
ESlacks	A reference to the slack portion of the equality constraint matrix
f	A reference to the equality constraint vector

STATUS nmrConstraintOptimizer::Solve ( vctDoubleVec & dq )

Calls the solver and stores the result in dq.

Solve

Parameters

dq	Vector of current joint values

Returns: STATUS enum that dictates whether the solver worked or there was a problem

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

/home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstNumerical/nmrConstraintOptimizer.h

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation