#include <tvm/LinearizedControlProblem.h>

Inheritance diagram for tvm::LinearizedControlProblem:

Collaboration diagram for tvm::LinearizedControlProblem:

Public Member Functions
	LinearizedControlProblem ()

	LinearizedControlProblem (const ControlProblem &pb)

TaskWithRequirementsPtr	add (const Task &task, const requirements::SolvingRequirements &req={})

template<constraint::Type T>
TaskWithRequirementsPtr	add (utils::ProtoTask< T > proto, const task_dynamics::abstract::TaskDynamics &td, const requirements::SolvingRequirements &req={})

template<constraint::Type T>
TaskWithRequirementsPtr	add (utils::LinearProtoTask< T > proto, const task_dynamics::abstract::TaskDynamics &td, const requirements::SolvingRequirements &req={})

template<constraint::Type T>
TaskWithRequirementsPtr	add (utils::LinearProtoTask< T > proto, const requirements::SolvingRequirements &req={})

void	add (TaskWithRequirementsPtr tr)

void	remove (const TaskWithRequirements &tr)

void	add (const hint::Substitution &s)

void	remove (const hint::Substitution &s)

const hint::internal::Substitutions &	substitutions () const

void	removeSubstitutionFor (const constraint::abstract::LinearConstraint &cstr)

VariableVector	variables () const

std::vector< LinearConstraintWithRequirements >	constraints () const

LinearConstraintPtr	constraint (const TaskWithRequirements &t) const

LinearConstraintPtr	constraintNoThrow (const TaskWithRequirements &t) const

const LinearConstraintWithRequirements &	constraintWithRequirements (const TaskWithRequirements &t) const

std::optional< std::reference_wrapper< const LinearConstraintWithRequirements > >	constraintWithRequirementsNoThrow (const TaskWithRequirements &t) const

const tvm::utils::internal::map< TaskWithRequirements const *, LinearConstraintWithRequirements > &	constraintMap () const

Public Member Functions inherited from tvm::ControlProblem
	ControlProblem ()=default

	ControlProblem (const ControlProblem &)=delete

ControlProblem &	operator= (const ControlProblem &)=delete

TaskWithRequirementsPtr	add (const Task &task, const requirements::SolvingRequirements &req={})

template<constraint::Type T>
TaskWithRequirementsPtr	add (utils::ProtoTask< T > proto, const task_dynamics::abstract::TaskDynamics &td, const requirements::SolvingRequirements &req={})

template<constraint::Type T>
TaskWithRequirementsPtr	add (utils::LinearProtoTask< T > proto, const task_dynamics::abstract::TaskDynamics &td, const requirements::SolvingRequirements &req={})

template<constraint::Type T>
TaskWithRequirementsPtr	add (utils::LinearProtoTask< T > proto, const requirements::SolvingRequirements &req={})

void	add (TaskWithRequirementsPtr tr)

void	remove (const TaskWithRequirements &tr)

const std::vector< TaskWithRequirementsPtr > &	tasks () const

int	size () const

void	update ()

void	finalize ()

const graph::CallGraph &	updateGraph () const

Protected Member Functions
void	update_ () override

void	finalize_ () override

Protected Member Functions inherited from tvm::ControlProblem
void	needFinalize ()

void	notify (const scheme::internal::ProblemDefinitionEvent &e)

Additional Inherited Members
Protected Attributes inherited from tvm::ControlProblem
Updater	updater_

Constructor & Destructor Documentation

◆ LinearizedControlProblem() [1/2]

tvm::LinearizedControlProblem::LinearizedControlProblem ( )

◆ LinearizedControlProblem() [2/2]

tvm::LinearizedControlProblem::LinearizedControlProblem ( const ControlProblem & pb )

Member Function Documentation

◆ add() [1/6]

void tvm::LinearizedControlProblem::add ( const hint::Substitution & s )

◆ add() [2/6]

TaskWithRequirementsPtr tvm::LinearizedControlProblem::add	(	const Task &	task,
		const requirements::SolvingRequirements &	req = `{}`
	)

◆ add() [3/6]

void tvm::LinearizedControlProblem::add ( TaskWithRequirementsPtr tr )

◆ add() [4/6]

template<constraint::Type T>

TaskWithRequirementsPtr tvm::LinearizedControlProblem::add	(	utils::LinearProtoTask< T >	proto,
		const requirements::SolvingRequirements &	req = `{}`
	)

◆ add() [5/6]

template<constraint::Type T>

TaskWithRequirementsPtr tvm::LinearizedControlProblem::add	(	utils::LinearProtoTask< T >	proto,
		const task_dynamics::abstract::TaskDynamics &	td,
		const requirements::SolvingRequirements &	req = `{}`
	)

◆ add() [6/6]

template<constraint::Type T>

TaskWithRequirementsPtr tvm::LinearizedControlProblem::add	(	utils::ProtoTask< T >	proto,
		const task_dynamics::abstract::TaskDynamics &	td,
		const requirements::SolvingRequirements &	req = `{}`
	)

◆ constraint()

LinearConstraintPtr tvm::LinearizedControlProblem::constraint ( const TaskWithRequirements & t ) const

Access to the linear constraint corresponding to the task t

Parameters

t	TaskWithRequirements object as return by add.

◆ constraintMap()

const tvm::utils::internal::map<TaskWithRequirements const *, LinearConstraintWithRequirements>& tvm::LinearizedControlProblem::constraintMap ( ) const

Return the map task -> constraint

◆ constraintNoThrow()

LinearConstraintPtr tvm::LinearizedControlProblem::constraintNoThrow ( const TaskWithRequirements & t ) const

Access to the linear constraint corresponding to the task t

Parameters

t	TaskWithRequirements object as return by add.

Returns: A shared_ptr that can be null if t is not in the problem.

◆ constraints()

std::vector<LinearConstraintWithRequirements> tvm::LinearizedControlProblem::constraints ( ) const

Access to constraints

◆ constraintWithRequirements()

const LinearConstraintWithRequirements& tvm::LinearizedControlProblem::constraintWithRequirements ( const TaskWithRequirements & t ) const

Access to the linear constraint and requirements corresponding to the task t

Parameters

t	TaskWithRequirements object as return by add.

◆ constraintWithRequirementsNoThrow()

std::optional<std::reference_wrapper<const LinearConstraintWithRequirements> > tvm::LinearizedControlProblem::constraintWithRequirementsNoThrow ( const TaskWithRequirements & t ) const

Access to the linear constraint and requirements corresponding to the task t

Parameters

t	TaskWithRequirements object as return by add.

Returns: An std::optional containing a const reference on LinearConstraintWithRequirements if t is in the problem.

◆ finalize_()

void tvm::LinearizedControlProblem::finalize_ ( )

overrideprotectedvirtual

Finalize the data of the solver

Reimplemented from tvm::ControlProblem.

◆ remove() [1/2]

void tvm::LinearizedControlProblem::remove ( const hint::Substitution & s )

◆ remove() [2/2]

void tvm::LinearizedControlProblem::remove ( const TaskWithRequirements & tr )

◆ removeSubstitutionFor()

void tvm::LinearizedControlProblem::removeSubstitutionFor ( const constraint::abstract::LinearConstraint & cstr )

◆ substitutions()

const hint::internal::Substitutions& tvm::LinearizedControlProblem::substitutions ( ) const

◆ update_()

void tvm::LinearizedControlProblem::update_ ( )

overrideprotectedvirtual

Compute all quantities necessary for solving the problem.

Reimplemented from tvm::ControlProblem.

◆ variables()

VariableVector tvm::LinearizedControlProblem::variables ( ) const

Access to the variables of the problem.

Note: These are all the variables irrespective of any substitutions as substitutions are hints for the solver.; The result is not cached, i.e. it is recomputed at each call.

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

include/tvm/LinearizedControlProblem.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ LinearizedControlProblem() [1/2]

◆ LinearizedControlProblem() [2/2]

Member Function Documentation

◆ add() [1/6]

◆ add() [2/6]

◆ add() [3/6]

◆ add() [4/6]

◆ add() [5/6]

◆ add() [6/6]

◆ constraint()

◆ constraintMap()

◆ constraintNoThrow()

◆ constraints()

◆ constraintWithRequirements()

◆ constraintWithRequirementsNoThrow()

◆ finalize_()

◆ remove() [1/2]

◆ remove() [2/2]

◆ removeSubstitutionFor()

◆ substitutions()

◆ update_()

◆ variables()