Constraint class. More...

#include <Constraint.h>

Inheritance diagram for ocra::Constraint< T >:

Collaboration diagram for ocra::Constraint< T >:

Public Member Functions
	Constraint (T *function, bool equality, const VectorXd &v=VectorXd())

	Constraint (T *function, const VectorXd &l=VectorXd(), const VectorXd &u=VectorXd())

	operator const T & ()


virtual T &	getFunction (void)

virtual const T &	getFunction (void) const

Detailed Description

template<class T>
class ocra::Constraint< T >

Constraint class.

Warning: None

Given a function $ f $ over $x \in R^n$ and possibly over the time $ t $ , we can write a constraint whose most generic expression is $l \le f(x,t) \le u$ , with $ l $ and $ u $ two vectors of size $ m $ having their value in $\left(R\cup\left\{-\infty,+\infty\right\}\right)^m$ and verifying $l \le u$ . This class is a C++ translation of this mathematical writing, but distinguishes some specific cases, for the ease of use, that are enumerated by eConstraintType :

, the constraint is treated as an equality to b (which can be 0): CSTR_EQUAL_ZERO and CSTR_EQUAL_B,
$l = -\infty$ (resp. $u = +\infty$ ), in which case the lower (resp. upper) bound is ignored. The remaining bound can be 0: CSTR_LOWER_ZERO, CSTR_LOWER_U, CSTR_GREATER_ZERO and CSTR_GREATER_L,
the general case: CSTR_LOWER_AND_GREATER.

The Constraint class is templated by the type of the function on which the constraint is built. Provided the class definition of this function provides the good typedef functionType_t, the hierarchy of the Function classes is mimicked by Constraint: if B is a class deriving of A and B::functionType_t is A, then Constraint will automatically derived from Constraint. As a concrete example, if DiagonalLinearFunction derives from LinearFunction that derives from Function, then Constraint<DiagonalLinearFunction> will derive from Constraint<LinearFunction> that will itself derive from Constraint<Function>. Thus a Constraint<DiagonalLinearFunction> is also a Constraint<LinearFunction> for example.

A Constraint class inherits from FunctionInterfaceMapping of the interface of Function, an instance of Constraint can be treated as a Function, to directly call methods of function on it. Constraint<T> is however not deriving from Function.

See also: FunctionInterfaceMapping

Definition at line 100 of file Constraint.h.

Constructor & Destructor Documentation

template<class T >

ocra::Constraint< T >::Constraint	(	T *	function,
		bool	equality,
		const VectorXd &	v = `VectorXd()`
	)

inline

Constraint constructor to build simple equality/inequality constraints

Parameters

[in]	function	A pointer to the function on which the constraint is imposed.
[in]	equality	True if the constraint is an equality, false if it is an inequality.
[in]	v	An optional vector to shift the constraint

The following cases arise:

Constraint(f, true): the constraint describes (type CSTR_EQUAL_ZERO)
Constraint(f, false): the constraint describes $f(x,t) \le 0$ (type CSTR_LOWER_ZERO)
Constraint(f, true, b): the constraint describes (type CSTR_EQUAL_B)
Constraint(f, false, u): the constraint describes $f(x,t) \le u$ (type CSTR_LOWER_U)

Precondition: If v is given (and non null), v.size() must be equal to function->getDimension()

Definition at line 576 of file Constraint.h.

template<class T >

ocra::Constraint< T >::Constraint	(	T *	function,
		const VectorXd &	l = `VectorXd()`,
		const VectorXd &	u = `VectorXd()`
	)

inline

Constraint constructor to build inequality constraints with possibly lower and upper bounds

Parameters

[in]	function	A pointer to the function on which the constraint is imposed.
[in]	l	Lower bound vector.
[in]	u	Lower bound vector.

The following cases arise:

Constraint(f): the constraint describes $f(x,t) \ge 0$ (type CSTR_GREATER_ZERO)
Constraint(f, l): the constraint describes $f(x,t) \ge l$ (type CSTR_GREATER_L)
Constraint(f, l, u): the constraint describes $l \le f(x,t) \le u$ (type CSTR_LOWER_AND_GREATER)
Constraint(f, l, u) with l==VectorXd(): the constraint describes $f(x,t) \le u$ (type CSTR_LOWER_U)
Constraint(f, l, u) with l==u: the constraint describes (type CSTR_EQUAL_B)