A generic abstract class the solvers that can be used in the wOcra Controller. More...

#include <OneLevelSolver.h>

Inheritance diagram for ocra::OneLevelSolver:

Collaboration diagram for ocra::OneLevelSolver:

Public Types
using	ObjectiveType = ocra::QuadraticObjective

Public Member Functions
	OneLevelSolver ()

virtual	~OneLevelSolver ()

virtual void	printValuesAtSolution ()

void	addObjective (ObjectiveType &obj)

void	removeObjective (ObjectiveType &obj)

void	addConstraint (ocra::LinearConstraint &constraint)

void	removeConstraint (ocra::LinearConstraint &constraint)

void	writePerformanceInStream (std::ostream &myOstream, bool addCommaAtEnd)

virtual void	setObjectiveLevel (ocra::GenericObjective &obj, int level)

virtual std::string	toString ()

virtual OneLevelSolver::Ptr	clone () const =0

const std::vector< ObjectiveType * > &	getObjectives ()

const Eigen::MatrixXd &	getQuadraticMatrix ()

const Eigen::VectorXd &	getQuadraticVector ()

Public Member Functions inherited from ocra::Solver
const std::vector< int > &	findMapping (Variable &var)

virtual	~Solver ()

const OptimizationResult &	solve ()

const OptimizationResult &	getLastResult () const

void	printStatus (std::ostream &os)

virtual const std::string &	getMoreInfo () const

void	setMemoryLevel (int level)

void	setAutoDumpFile (const std::string &file)

void	activateAutoDump ()

void	deactivateAutoDump ()

void	dump (const std::string &file="") const

int	n ()

Variable &	getProblemVariable ()

void	setVariableValue (const VectorXd &value)

Public Member Functions inherited from ocra::ObserverSubject
	ObserverSubject ()

virtual	~ObserverSubject ()

Public Member Functions inherited from ocra::Observer
virtual	~Observer ()

template<int EVT>
void	bind (SubjectBase< EVT > &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

template<int EVT>
void	stopPropagation ()

Public Member Functions inherited from ocra::ObserverBase< EVT_RESIZE >
void	bind (subject_type &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

Public Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_DEPENDENCIES >
void	bind (subject_type &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

Public Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_VALUE >
void	bind (subject_type &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

Public Member Functions inherited from ocra::Subject
virtual	~Subject ()

template<int EVT, class Derived , class Base >
void	connect (Derived &object, void(Base::*newCallback)(int)) const
	Call this method to register a non-static method as a callback. More...

template<int EVT>
void	connect (void(*newCallback)(int)) const
	Call this method to register a free function as a callback. More...

template<int EVT, class Derived , class Base >
void	disconnect (Derived &object, void(Base::*callbackToErase)(int)) const
	Disconnect non-static method. More...

template<int EVT>
void	disconnect (void(*callbackToErase)(int)) const
	Disconnect free function. More...

template<int EVT>
void	propagate () const

template<int EVT>
void	propagate (int timestamp) const

Public Member Functions inherited from ocra::SubjectBase< EVT_RESIZE >
void	connect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type newCallback) const
	Call this method to register a non-static method as a callback. More...

void	connect (typename SubjectBaseTraits< EVT, void >::callback_type newCallback) const
	Call this method to register a free function as a callback. More...

void	disconnect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type callback) const
	Disconnect non-static method. More...

void	disconnect (typename SubjectBaseTraits< EVT, void >::callback_type callbackToErase) const
	Disconnect free function. More...

void	propagate (int timestamp) const

void	propagate () const

Public Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_DEPENDENCIES >
void	connect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type newCallback) const
	Call this method to register a non-static method as a callback. More...

void	connect (typename SubjectBaseTraits< EVT, void >::callback_type newCallback) const
	Call this method to register a free function as a callback. More...

void	disconnect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type callback) const
	Disconnect non-static method. More...

void	disconnect (typename SubjectBaseTraits< EVT, void >::callback_type callbackToErase) const
	Disconnect free function. More...

void	propagate (int timestamp) const

void	propagate () const

Public Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_VALUE >
void	connect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type newCallback) const
	Call this method to register a non-static method as a callback. More...

void	connect (typename SubjectBaseTraits< EVT, void >::callback_type newCallback) const
	Call this method to register a free function as a callback. More...

void	disconnect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type callback) const
	Disconnect non-static method. More...

void	disconnect (typename SubjectBaseTraits< EVT, void >::callback_type callbackToErase) const
	Disconnect free function. More...

void	propagate (int timestamp) const

void	propagate () const

Public Member Functions inherited from ocra::NamedInstance
	NamedInstance (const std::string &name)

const std::string &	getName () const

virtual	~NamedInstance ()

Protected Member Functions
virtual void	doPrepare ()

virtual void	doConclude ()

virtual void	doSolve ()=0

virtual void	prepareMatrices ()

virtual void	updateObjectiveEquations ()=0

virtual void	updateConstraintEquations ()=0

void	reduceConstraints (const Eigen::MatrixXd &A, const Eigen::VectorXd &b, Eigen::MatrixXd &Ar, Eigen::VectorXd &br, double tolerance=1e-6)

Protected Member Functions inherited from ocra::Solver
	Solver ()

void	internalAddObjective (const GenericObjective &objective)

void	internalAddConstraint (const GenericConstraint &constraint)

void	internalRemoveObjective (const GenericObjective &objective)

void	internalRemoveConstraint (const GenericConstraint &constraint)

virtual void	onConstraintResize (int timestamp)

virtual void	onObjectiveResize (int timestamp)

Protected Member Functions inherited from ocra::ObserverBase< EVT_RESIZE >
void	stopPropagation ()
	Call this method from your callbacks to avoid propagation to the bound subject (if any). More...

	ObserverBase ()

	~ObserverBase ()

Protected Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_DEPENDENCIES >
void	stopPropagation ()
	Call this method from your callbacks to avoid propagation to the bound subject (if any). More...

	ObserverBase ()

	~ObserverBase ()

Protected Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_VALUE >
void	stopPropagation ()
	Call this method from your callbacks to avoid propagation to the bound subject (if any). More...

	ObserverBase ()

	~ObserverBase ()

Protected Member Functions inherited from ocra::SubjectBase< EVT_RESIZE >
	SubjectBase ()

	~SubjectBase ()

Protected Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_DEPENDENCIES >
	SubjectBase ()

	~SubjectBase ()

Protected Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_VALUE >
	SubjectBase ()

	~SubjectBase ()

Protected Attributes
std::vector< ObjectiveType * >	_objectives

std::vector< ocra::LinearConstraint * >	_equalityConstraints

Eigen::MatrixXd	_A

Eigen::VectorXd	_b

Eigen::MatrixXd	_Atotal

Eigen::VectorXd	_btotal

int	ne

std::vector< ocra::LinearConstraint * >	_inequalityConstraints

Eigen::MatrixXd	_G

Eigen::VectorXd	_h

int	ni

Eigen::VectorXd	Xsolution

Eigen::MatrixXd	_C

Eigen::VectorXd	_d

Protected Attributes inherited from ocra::Solver
OptimizationResult	_result

Additional Inherited Members
Protected Types inherited from ocra::ObserverBase< EVT_RESIZE >
typedef SubjectBase< EVT >	subject_type

typedef InvokerBase< EVT >	invoker_type

Protected Types inherited from ocra::ObserverBase< EVT_CHANGE_DEPENDENCIES >
typedef SubjectBase< EVT >	subject_type

typedef InvokerBase< EVT >	invoker_type

Protected Types inherited from ocra::ObserverBase< EVT_CHANGE_VALUE >
typedef SubjectBase< EVT >	subject_type

typedef InvokerBase< EVT >	invoker_type

Detailed Description

A generic abstract class the solvers that can be used in the wOcra Controller.

It is based on quadratic solvers.

To get a concrete implementation of wOcra solvers, you should call:

 - OneLevelSolver if we consider that all the tasks registered have the same level of importance (but not necessarily the same weights)
 - HierarchySolver if we consider that tasks registered can have different level of importance

Definition at line 58 of file OneLevelSolver.h.

Member Typedef Documentation

using ocra::OneLevelSolver::ObjectiveType = ocra::QuadraticObjective

Definition at line 61 of file OneLevelSolver.h.

Constructor & Destructor Documentation

OneLevelSolver::OneLevelSolver ( )

Initialize an abstract wOcra Solver.

Definition at line 11 of file OneLevelSolver.cpp.

OneLevelSolver::~OneLevelSolver ( )

virtual

Destructor

Definition at line 21 of file OneLevelSolver.cpp.

Member Function Documentation

void OneLevelSolver::addConstraint ( ocra::LinearConstraint & constraint )

Add a quadratic objective to the controller.

Parameters

obj	The quadratic objective to add

This objective is saved in an internal vector of objectives. Remove a quadratic objective to the controller.

Parameters

obj	The quadratic objective to remove

This objective is removed from the internal vector of objectives. Add a linear constraint to the controller.

Parameters

constraint The linear constraint to add

This constraint is saved in an internal vector of equality or inequality constraints, depending on the type of constraint.

Definition at line 65 of file OneLevelSolver.cpp.

void ocra::OneLevelSolver::addObjective ( ObjectiveType & obj )

inline

Definition at line 72 of file OneLevelSolver.h.

virtual OneLevelSolver::Ptr ocra::OneLevelSolver::clone ( ) const

pure virtual

retuns a pointer to a new instance, very usefull in Hocra

Implemented in ocra::OneLevelSolverWithQLD, ocra::OneLevelSolverWithQPOASES, and ocra::OneLevelSolverWithQuadProg.

void OneLevelSolver::doConclude ( )

protectedvirtual

Do conclude, meaning what to do after solving.

Actually does nothing.

Implements ocra::Solver.

Definition at line 121 of file OneLevelSolver.cpp.

void OneLevelSolver::doPrepare ( void )

protectedvirtual

Do prepare, meaning prepare matrices before solving.

It calls in this order:

 - #prepareMatrices()
 - #updateObjectiveEquations()
 - #updateConstraintEquations()

Implements ocra::Solver.

Definition at line 106 of file OneLevelSolver.cpp.

virtual void ocra::OneLevelSolver::doSolve ( )

protectedpure virtual

Implements ocra::Solver.

Implemented in ocra::OneLevelSolverWithQLD, ocra::OneLevelSolverWithQPOASES, and ocra::OneLevelSolverWithQuadProg.

const std::vector<ObjectiveType*>& ocra::OneLevelSolver::getObjectives ( )

inline

Definition at line 92 of file OneLevelSolver.h.

const Eigen::MatrixXd& ocra::OneLevelSolver::getQuadraticMatrix ( )

inline

Definition at line 93 of file OneLevelSolver.h.

const Eigen::VectorXd& ocra::OneLevelSolver::getQuadraticVector ( )

inline

Definition at line 94 of file OneLevelSolver.h.

void OneLevelSolver::prepareMatrices ( )

protectedvirtual

Prepare the basic matrices, which can be considered as the task $ T_0 $ because it minimizes the whole problem vector with very low coefficient.

Definition at line 93 of file OneLevelSolver.cpp.

void OneLevelSolver::printValuesAtSolution ( void )

virtual

I don't really know, I suppose to print internal values when solution is found.

Actually does nothing.

Implements ocra::Solver.

Definition at line 30 of file OneLevelSolver.cpp.

void OneLevelSolver::reduceConstraints	(	const Eigen::MatrixXd &	A,
		const Eigen::VectorXd &	b,
		Eigen::MatrixXd &	Ar,
		Eigen::VectorXd &	br,
		double	tolerance = `1e-6`
	)

protected

Reduce the set of equality constraints if it is not full rank.

Parameters

A	The matrix associated to the set of equality constraints
b	The vector associated to the set of equality constraints
Ar	The matrix instance where will be saved the reduced version of A
br	The vector instance where will be saved the reduced version of b
tolerance	The tolerance of reduction

To reduce the set of equality constraints, we make a SVD decomposition $\A = U . S . V\tp$ . Then we check the dimension (denoted by $ r $ ) of the diagonal $ S $ where value are greater than the tolerance.

The reduced set of task is then (noted in a python way):

$\begin{align*} \A_r &= S[0:r, :] V[:, 0:r] \tp & & & \b_r &= U[:, 0:r] \tp \b \end{align*}$

Definition at line 168 of file OneLevelSolver.cpp.

void OneLevelSolver::removeConstraint ( ocra::LinearConstraint & constraint )

Removea linear constraint to the controller.

Parameters

constraint The linear constraint to remove

Definition at line 78 of file OneLevelSolver.cpp.

void ocra::OneLevelSolver::removeObjective ( ObjectiveType & obj )

inline

Definition at line 77 of file OneLevelSolver.h.

virtual void ocra::OneLevelSolver::setObjectiveLevel	(	ocra::GenericObjective &	obj,
		int	level
	)

inlinevirtual

Definition at line 87 of file OneLevelSolver.h.

std::string OneLevelSolver::toString ( )

virtual

I don't really know, I support to write the problem as a string.

Actually does nothing.

Implements ocra::Solver.

Definition at line 205 of file OneLevelSolver.cpp.

virtual void ocra::OneLevelSolver::updateConstraintEquations ( )

protectedpure virtual

Implemented in ocra::OneLevelSolverWithQLD, ocra::OneLevelSolverWithQPOASES, and ocra::OneLevelSolverWithQuadProg.

virtual void ocra::OneLevelSolver::updateObjectiveEquations ( )

protectedpure virtual

Implemented in ocra::OneLevelSolverWithQLD, ocra::OneLevelSolverWithQPOASES, and ocra::OneLevelSolverWithQuadProg.

void OneLevelSolver::writePerformanceInStream	(	std::ostream &	outstream,
		bool	addCommaAtEnd
	)

Write information about solver performances in a string stream.

Parameters

outstream	the output stream where to write the performances information
addCommaAtEnd	If true, add a comma at the end of the stream. If false, it means that this is the end of the json file, nothing will be added after that, no comma is added.

See Orocos_wOcraController::getPerformances() to know more. Here it saves:

solver_prepare
solver_solve

Definition at line 137 of file OneLevelSolver.cpp.

Member Data Documentation

Eigen::MatrixXd ocra::OneLevelSolver::_A

protected

Definition at line 115 of file OneLevelSolver.h.

Eigen::MatrixXd ocra::OneLevelSolver::_Atotal

protected

Definition at line 118 of file OneLevelSolver.h.

Eigen::VectorXd ocra::OneLevelSolver::_b

protected

Definition at line 116 of file OneLevelSolver.h.

Eigen::VectorXd ocra::OneLevelSolver::_btotal

protected

Definition at line 119 of file OneLevelSolver.h.

Eigen::MatrixXd ocra::OneLevelSolver::_C

protected

Definition at line 131 of file OneLevelSolver.h.

Eigen::VectorXd ocra::OneLevelSolver::_d

protected

Definition at line 132 of file OneLevelSolver.h.

std::vector<ocra::LinearConstraint*> ocra::OneLevelSolver::_equalityConstraints

protected

Definition at line 114 of file OneLevelSolver.h.

Eigen::MatrixXd ocra::OneLevelSolver::_G

protected

Definition at line 123 of file OneLevelSolver.h.

Eigen::VectorXd ocra::OneLevelSolver::_h

protected

Definition at line 124 of file OneLevelSolver.h.

std::vector<ocra::LinearConstraint*> ocra::OneLevelSolver::_inequalityConstraints

protected

Definition at line 122 of file OneLevelSolver.h.

std::vector<ObjectiveType*> ocra::OneLevelSolver::_objectives

protected

Definition at line 111 of file OneLevelSolver.h.

int ocra::OneLevelSolver::ne

protected

Definition at line 120 of file OneLevelSolver.h.

int ocra::OneLevelSolver::ni

protected

Definition at line 125 of file OneLevelSolver.h.

Eigen::VectorXd ocra::OneLevelSolver::Xsolution

protected

Definition at line 127 of file OneLevelSolver.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation