TVM
0.9.2
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#include <tvm/task_dynamics/Clamped.h>
Classes | |
class | Impl |
Public Types | |
using | Bounds = mpark::variant< double, Eigen::VectorXd > |
Public Member Functions | |
template<typename... Args> | |
Clamped (double max, Args &&... args) | |
template<typename... Args> | |
Clamped (const std::pair< double, double > &minMax, Args &&... args) | |
template<typename... Args> | |
Clamped (const VectorConstRef &max, Args &&... args) | |
template<typename... Args> | |
Clamped (const std::pair< VectorConstRef, VectorConstRef > &minMax, Args &&... args) | |
~Clamped () override=default | |
Protected Member Functions | |
std::unique_ptr< abstract::TaskDynamicsImpl > | impl_ (FunctionPtr f, constraint::Type t, const Eigen::VectorXd &rhs) const override |
Given a task dynamics value \( e^{(k)*} \), compute the new value \( e_c^{(k)*} = s e^{(k)*} \), \( s \in [0, 1] \), such that \( b_{min} \leq \ e_c^{(k)*} \leq b_{max}\) where \( b_{min} \) and \( b_{max} \) are given bounds, specified as scalars or vectors.
using tvm::task_dynamics::Clamped< TD, TDImpl >::Bounds = mpark::variant<double, Eigen::VectorXd> |
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inline |
Constructor with \( b_{min} = -b_{max}\) (scalar version).
max | The maximum value that a component of \( e_c^{(k)*} \) can have, in absolute value ( \( b_{max}\)). |
args | These are forwarded to the TD constructor |
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inline |
Constructor with \(b_{min}\) and \(b_{max}\) (scalar version).
minMax | The minimum ( \(b_{min}\)) and maximum ( \(b_{max}\)) value that a component of \( e_c^{(k)*}\) can have. We require that \(b_{min} \leq 0 \leq b_{max}\). |
args | These are forwarded to the TD constructor |
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inline |
Constructor with \( b_{min} = -b_{max}\) (vector version).
max | The maximum value that a component of \( e_c^{(k)*} \) can have, in absolute value ( \( b_{max}\)). |
args | These are forwarded to the TD constructor |
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inline |
Constructor with \(b_{min}\) and \(b_{max}\) (vector version).
minMax | The minimum ( \(b_{min}\)) and maximum ( \(b_{max}\)) value that a component of \( e_c^{(k)*}\) can have. We require that \(b_{min} \leq 0 \leq b_{max}\). |
args | These are forwarded to the TD constructor |
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overridedefault |
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inlineoverrideprotected |