#include <tvm/LinearizedControlProblem.h>
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| LinearizedControlProblem () |
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| LinearizedControlProblem (const ControlProblem &pb) |
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TaskWithRequirementsPtr | add (const Task &task, const requirements::SolvingRequirements &req={}) |
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template<constraint::Type T> |
TaskWithRequirementsPtr | add (utils::ProtoTask< T > proto, const task_dynamics::abstract::TaskDynamics &td, const requirements::SolvingRequirements &req={}) |
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template<constraint::Type T> |
TaskWithRequirementsPtr | add (utils::LinearProtoTask< T > proto, const task_dynamics::abstract::TaskDynamics &td, const requirements::SolvingRequirements &req={}) |
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template<constraint::Type T> |
TaskWithRequirementsPtr | add (utils::LinearProtoTask< T > proto, const requirements::SolvingRequirements &req={}) |
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void | add (TaskWithRequirementsPtr tr) |
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void | remove (const TaskWithRequirements &tr) |
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void | add (const hint::Substitution &s) |
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void | remove (const hint::Substitution &s) |
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const hint::internal::Substitutions & | substitutions () const |
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void | removeSubstitutionFor (const constraint::abstract::LinearConstraint &cstr) |
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VariableVector | variables () const |
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std::vector< LinearConstraintWithRequirements > | constraints () const |
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LinearConstraintPtr | constraint (const TaskWithRequirements &t) const |
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LinearConstraintPtr | constraintNoThrow (const TaskWithRequirements &t) const |
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const LinearConstraintWithRequirements & | constraintWithRequirements (const TaskWithRequirements &t) const |
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std::optional< std::reference_wrapper< const LinearConstraintWithRequirements > > | constraintWithRequirementsNoThrow (const TaskWithRequirements &t) const |
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const tvm::utils::internal::map< TaskWithRequirements const *, LinearConstraintWithRequirements > & | constraintMap () const |
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| ControlProblem ()=default |
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| ControlProblem (const ControlProblem &)=delete |
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ControlProblem & | operator= (const ControlProblem &)=delete |
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TaskWithRequirementsPtr | add (const Task &task, const requirements::SolvingRequirements &req={}) |
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template<constraint::Type T> |
TaskWithRequirementsPtr | add (utils::ProtoTask< T > proto, const task_dynamics::abstract::TaskDynamics &td, const requirements::SolvingRequirements &req={}) |
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template<constraint::Type T> |
TaskWithRequirementsPtr | add (utils::LinearProtoTask< T > proto, const task_dynamics::abstract::TaskDynamics &td, const requirements::SolvingRequirements &req={}) |
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template<constraint::Type T> |
TaskWithRequirementsPtr | add (utils::LinearProtoTask< T > proto, const requirements::SolvingRequirements &req={}) |
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void | add (TaskWithRequirementsPtr tr) |
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void | remove (const TaskWithRequirements &tr) |
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const std::vector< TaskWithRequirementsPtr > & | tasks () const |
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int | size () const |
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void | update () |
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void | finalize () |
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const graph::CallGraph & | updateGraph () const |
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◆ LinearizedControlProblem() [1/2]
tvm::LinearizedControlProblem::LinearizedControlProblem |
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◆ LinearizedControlProblem() [2/2]
tvm::LinearizedControlProblem::LinearizedControlProblem |
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const ControlProblem & |
pb | ) |
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◆ add() [1/6]
◆ add() [2/6]
◆ add() [3/6]
◆ add() [4/6]
template<constraint::Type T>
◆ add() [5/6]
template<constraint::Type T>
◆ add() [6/6]
template<constraint::Type T>
◆ constraint()
Access to the linear constraint corresponding to the task t
- Parameters
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◆ constraintMap()
Return the map task -> constraint
◆ constraintNoThrow()
Access to the linear constraint corresponding to the task t
- Parameters
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- Returns
- A shared_ptr that can be null if
t
is not in the problem.
◆ constraints()
◆ constraintWithRequirements()
Access to the linear constraint and requirements corresponding to the task t
- Parameters
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◆ constraintWithRequirementsNoThrow()
Access to the linear constraint and requirements corresponding to the task t
- Parameters
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- Returns
- An std::optional containing a const reference on LinearConstraintWithRequirements if
t
is in the problem.
◆ finalize_()
void tvm::LinearizedControlProblem::finalize_ |
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overrideprotectedvirtual |
◆ remove() [1/2]
◆ remove() [2/2]
◆ removeSubstitutionFor()
◆ substitutions()
◆ update_()
void tvm::LinearizedControlProblem::update_ |
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overrideprotectedvirtual |
Compute all quantities necessary for solving the problem.
Reimplemented from tvm::ControlProblem.
◆ variables()
Access to the variables of the problem.
- Note
- These are all the variables irrespective of any substitutions as substitutions are hints for the solver.
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The result is not cached, i.e. it is recomputed at each call.
The documentation for this class was generated from the following file: