BipedalLocomotion::TSID::VariableFeasibleRegionTask class
#include <BipedalLocomotion/TSID/VariableFeasibleRegionTask.h>

VariableFeasibleRegionTask is a concrete implementation of the Task.

Please use this element if you want to create a inequality linear constraint on a subset of the optimization variable. The task represents the following equation:

where is a generic transformation matrix (m x n), is a vector of lower bounds (m x 1), is a vector of upper bounds (m x 1), and are the elements of the variable you want to consider (n x 1). is the number of constraints and is the number of variables.

Base classes

struct TSIDLinearTask: TSIDLinearTask specializes a LinearTask in the case of Task based Inverse Dynamics.

Public functions

auto initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> paramHandler) -> bool override: Initialize the planner.
auto setVariablesHandler(const System::VariablesHandler& variablesHandler) -> bool override: Set the set of variables required by the TSIDLinearTask.
auto setFeasibleRegion(Eigen::Ref<const Eigen::MatrixXd> C, Eigen::Ref<const Eigen::VectorXd> l, Eigen::Ref<const Eigen::VectorXd> u) -> bool: Set the region of feasibility for the desired elements of the variable.
auto size() const -> std::size_t override: Get the size of the task.
auto type() const -> Type override: The VariableFeasibleRegionTask is an inequality task.
auto isValid() const -> bool override: Determines the validity of the objects retrieved with getA() and getB()

Function documentation

bool BipedalLocomotion::TSID::VariableFeasibleRegionTask::initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> paramHandler) override

Initialize the planner.

Parameters
paramHandler	pointer to the parameters handler.
Returns	True in case of success, false otherwise.

Note

the following parameters are required by the class

Parameter Name	Type	Description	Mandatory
`variable_name`	`string`	Name of the variable that you want to regularize.	Yes
`variable_size`	`int`	Number of the elements that will be regularized.	Yes
`elements_name`	`vector`	Name of the elements to consider. If not specified all the elements are constrained	No

bool BipedalLocomotion::TSID::VariableFeasibleRegionTask::setVariablesHandler(const System::VariablesHandler& variablesHandler) override

Set the set of variables required by the TSIDLinearTask.

Parameters
variablesHandler	reference to a variables handler.
Returns	True in case of success, false otherwise.

The variables are stored in the System::VariablesHandler.

bool BipedalLocomotion::TSID::VariableFeasibleRegionTask::setFeasibleRegion(Eigen::Ref<const Eigen::MatrixXd> C, Eigen::Ref<const Eigen::VectorXd> l, Eigen::Ref<const Eigen::VectorXd> u)

Set the region of feasibility for the desired elements of the variable.

Parameters
C	generic linear transformation matrix (m x n) where m is the number of constraints and n is the number of variables.
l	lower_bounds (m x 1)
u	upper_bounds (m x 1)
Returns	True in case of success, false otherwise.

std::size_t BipedalLocomotion::TSID::VariableFeasibleRegionTask::size() const override

Get the size of the task.

Returns	the size of the task.

(I.e the number of rows of the vector b)

Type BipedalLocomotion::TSID::VariableFeasibleRegionTask::type() const override

The VariableFeasibleRegionTask is an inequality task.

Returns	the type of the task.

bool BipedalLocomotion::TSID::VariableFeasibleRegionTask::isValid() const override

Determines the validity of the objects retrieved with getA() and getB()

Returns	True if the objects are valid, false otherwise.