BoundFunction class. More...

#include <BoundFunction.h>

Inheritance diagram for ocra::BoundFunction:

Collaboration diagram for ocra::BoundFunction:

Public Types
typedef DiagonalLinearFunction	functionType_t

Public Types inherited from ocra::DiagonalLinearFunction
typedef LinearFunction	functionType_t

Public Types inherited from ocra::LinearFunction
typedef Function	functionType_t

Public Member Functions
void	changeIthBound (const int i, const double bound)


	BoundFunction (Variable &x, const VectorXd &bound, eBoundType type)

	BoundFunction (Variable &x, const double bound, eBoundType type)


void	changeBounds (const double bound)

void	changeBounds (const VectorXd &bounds)

Public Member Functions inherited from ocra::DiagonalLinearFunction
void	changeDiagonal (const VectorXd &d)

void	changeDiagonal (const double diagonalElementValue, const bool changeDefault=true)

void	changeDefaultDiagonalValue (const double v)

void	changeDefaultbValue (const double v)

template<class VectorBase1 , class VectorBase2 >
	DiagonalLinearFunction (Variable &x, const VectorBase1 &d, const VectorBase2 &b, const bool useDefaultValue=false, const double defaultDiagValue=1., const double defaultbValue=0.)

template<class VectorBase >
	DiagonalLinearFunction (Variable &x, const double diagonalElementValue, const VectorBase &b, const bool useDefaultValue=false, const double defaultbValue=0.)

template<class VectorBase >
	DiagonalLinearFunction (Variable &x, const VectorBase &d, const double vectorElementValue, const bool useDefaultValue=false, const double defaultDiagValue=1.)

	DiagonalLinearFunction (Variable &x, const double diagonalElementValue, const double vectorElementValue, const bool useDefaultValue=false)

const VectorXd &	getDiagonal () const

double	getDefaultDiagonalValue () const

double	getDefaultbValue () const

bool	isUsingDefaultValue () const

Public Member Functions inherited from ocra::LinearFunction
template<class Derived , class VectorBase >
	LinearFunction (Variable &x, const MatrixBase< Derived > &A, const VectorBase &b)

	~LinearFunction ()

void	invalidateb (int timestamp)

const MatrixXd &	getA () const

const VectorXd &	getb () const

void	changeA (const MatrixXd &A)

void	changeb (const VectorXd &b)

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

int	getDimension () const

virtual void	updateFdot () const

virtual void	updateFddot () const

virtual void	updateJdotXdot () const

const Variable &	getVariable () const

Variable &	getVariable ()

template<eFunctionAbility Ability>
void	invalidate ()

void	invalidateAll (int timestamp)

void	invalidateAll ()

template<eFunctionAbility Ability>
bool	isValid () const

template<eFunctionAbility Ability>
bool	canCompute () const

template<eFunctionAbility Ability>
const IFunction< Ability >::return_type &	get () const

template<eFunctionAbility Ability>
IFunction< Ability >::return_sub_type	get (int index) const

const VectorXd &	getValue () const

double	getValue (int index) const

const MatrixXd &	getJacobian () const

MatrixXdRow	getJacobian (int index) const

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::IFunctionProperties
bool	hasSeparableTimeDependancy (void) const

eFunctionLinearity	getType (void) const

eFunctionConvexity	getConvexityProperty (void) const

int	getContinuityProperty (void) const

const std::string &	getProperty (int i) const

int	getNumberOfProperties (void) const

bool	hasProperty (const std::string &functionProperty) const

bool	isExplicitlyTimeDependant (void) const

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

const std::string &	getName () const

virtual	~NamedInstance ()

Public Member Functions inherited from ocra::AbilitySet
AbilitySet &	add (eFunctionAbility prop)

AbilitySet &	remove (eFunctionAbility prop)

Protected Member Functions

void	doChangeDiagonal (const VectorXd &d)

void	doChangeDiagonal (const double diagonalElementValue, const bool changeDefault=true)

void	doChangeDefaultDiagonalValue (const double v)

void	doChangeDefaultbValue (const double v)

Protected Member Functions inherited from ocra::DiagonalLinearFunction
	DiagonalLinearFunction (Variable &x)

virtual void	updateValue () const

virtual void	doUpdateInputSizeBegin ()

virtual void	doUpdateInputSizeEnd ()

virtual void	doChangeA (const MatrixXd &A)

int	computeDimensionFromInputSize () const

void	doUpdateDimensionBegin (int newDimension)

Protected Member Functions inherited from ocra::LinearFunction
	LinearFunction (Variable &x, int dimension)

virtual void	updateb () const

virtual void	updateJacobian () const

virtual void	doChangeb (const VectorXd &b)

void	inhibitPropagationFromb () const

void	desinhibitPropagationFromb () const

Protected Member Functions inherited from ocra::Function
	Function (Variable &x, int dimension, eFunctionLinearity linearity=LINEARITY_UNDEFINED, eFunctionConvexity convexity=CONVEXITY_UNDEFINED, int continuity=CONTINUITY_UNKNOWN, bool explicitlyTimeDependant=false, bool separableTimeDependancy=true)
	Function Constructor. More...

void	disconnectVariable ()

void	changeFunctionDimension (int newDimension)

void	updateInputSize (int timestamp)

void	resize ()

virtual void	doUpdateDimensionEnd (int oldDimension)

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 Member Functions inherited from ocra::IFunctionProperties
	IFunctionProperties (eFunctionLinearity linearity=LINEARITY_UNDEFINED, eFunctionConvexity convexity=CONVEXITY_UNDEFINED, int continuity=CONTINUITY_UNKNOWN, bool explicitlyTimeDependant=false, bool separableTimeDependancy=true)
	IFunctionProperties Constructor. More...

void	changeType (eFunctionLinearity newType)

void	changeConvexityProperty (eFunctionConvexity newProperty)

void	changeContinuityProperty (int newProperty)

void	addProperty (const std::string &functionProperty)

void	removeProperty (const std::string &functionProperty)

void	changeExplicitTimeDependancy (bool b)

void	changeSeparableTimeDependancy (bool b)

Protected Member Functions inherited from ocra::AbilitySet
	AbilitySet (const std::vector< bool > &usageSet)

const std::vector< bool > &	getUsageSet () const

	AbilitySet (eFunctionAbility prop0=FUN_VALUE, eFunctionAbility prop1=FUN_VALUE)

	AbilitySet (eFunctionAbility prop0, eFunctionAbility prop1, eFunctionAbility prop2, eFunctionAbility prop3=FUN_VALUE, eFunctionAbility prop4=FUN_VALUE)

	AbilitySet (eFunctionAbility prop0, eFunctionAbility prop1, eFunctionAbility prop2, eFunctionAbility prop3, eFunctionAbility prop4, eFunctionAbility prop5, eFunctionAbility prop6=FUN_VALUE, eFunctionAbility prop7=FUN_VALUE, eFunctionAbility prop8=FUN_VALUE, eFunctionAbility prop9=FUN_VALUE)

Protected Member Functions inherited from ocra::CoupledInputOutputSize
	CoupledInputOutputSize (bool coupledInputOutputSize)

bool	inputAndOutputSizesAreCoupled () const

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

Protected Attributes inherited from ocra::DiagonalLinearFunction
VectorXd	_d

double	_defaultDiagonalValue

double	_defaultbValue

bool	_useDefaultValue

Protected Attributes inherited from ocra::LinearFunction
VectorXd	_b

bool	_bIsUpToDate

Protected Attributes inherited from ocra::Function
Variable &	x

VectorXd &	_value

MatrixXd &	_jacobian

const int &	_dim

Detailed Description

BoundFunction class.

Warning: None

Function to describe bound constraints $ x<x^+ $ or $ x>x^- $ so that the constraint can be written Ax+b<=0

Definition at line 45 of file BoundFunction.h.

Member Typedef Documentation

typedef DiagonalLinearFunction ocra::BoundFunction::functionType_t

Definition at line 50 of file BoundFunction.h.

Constructor & Destructor Documentation

ocra::BoundFunction::BoundFunction	(	Variable &	x,
		const VectorXd &	bound,
		eBoundType	type
	)

Constructors

Parameters

[in]	x	The variable on which to build the function.
[in]	bound	A vector or a double used to build a constant vector, representing bounds on the variable
[in]	the	type of the bound

Definition at line 6 of file BoundFunction.cpp.

ocra::BoundFunction::BoundFunction	(	Variable &	x,
		const double	bound,
		eBoundType	type
	)

Definition at line 18 of file BoundFunction.cpp.

Member Function Documentation

void ocra::BoundFunction::changeBounds ( const double bound )

Change all the bounds to the given value(s)

Definition at line 54 of file BoundFunction.cpp.

void ocra::BoundFunction::changeBounds ( const VectorXd & bounds )

Definition at line 63 of file BoundFunction.cpp.

void ocra::BoundFunction::changeIthBound	(	const int	i,
		const double	bound
	)

Change the ith bound to the given value

Definition at line 71 of file BoundFunction.cpp.

void ocra::BoundFunction::doChangeDefaultbValue ( const double v )

protectedvirtual

Reimplemented from ocra::DiagonalLinearFunction.

Definition at line 48 of file BoundFunction.cpp.

void ocra::BoundFunction::doChangeDefaultDiagonalValue ( const double v )

protectedvirtual

Reimplemented from ocra::DiagonalLinearFunction.

Definition at line 42 of file BoundFunction.cpp.

void ocra::BoundFunction::doChangeDiagonal ( const VectorXd & d )

protectedvirtual

Overloads of DiagonalLinearFunction methods. All throw a runtime_error: diagonal value are fixed for a BoundFunction and default value cannot be changed.

Reimplemented from ocra::DiagonalLinearFunction.

Definition at line 30 of file BoundFunction.cpp.

void ocra::BoundFunction::doChangeDiagonal	(	const double	diagonalElementValue,
		const bool	changeDefault = `true`
	)

protectedvirtual

Reimplemented from ocra::DiagonalLinearFunction.

Definition at line 36 of file BoundFunction.cpp.

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

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation