29 #ifndef HPP_CONSTRAINTS_SOLVER_BY_SUBSTITUTION_HH 30 #define HPP_CONSTRAINTS_SOLVER_BY_SUBSTITUTION_HH 40 namespace constraints {
86 const std::size_t& priority = 0);
103 return explicitConstraintSet().notOutDers().nbIndices();
107 void explicitConstraintSetHasChanged();
109 template <
typename LineSearchType>
111 return solve<LineSearchType>(arg,
false, ls);
114 template <
typename LineSearchType>
116 LineSearchType ls = LineSearchType())
const {
123 return impl_solve(arg, optimize, ls);
164 bool rightHandSideFromConfig(
const ImplicitPtr_t& constraint,
195 return dimension() + explicit_.outDers().nbIndices();
203 explicit_.isSatisfied(arg);
212 explicit_.isSatisfied(arg, errorThreshold);
220 assert(error.size() == dimension() + explicit_.errorSize());
222 residualError(error.head(dimension()));
224 explicit_.isSatisfied(arg, error.tail(explicit_.errorSize()));
225 return iterative && _explicit;
240 template <
typename LineSearchType>
242 computeValue<true>(arg);
244 computeDescentDirection();
245 lineSearch(*
this, arg, dq_);
246 explicit_.solve(arg);
257 explicit_.errorThreshold(threshold);
269 virtual std::ostream& print(std::ostream& os)
const;
274 explicit_.solve(result);
279 void computeActiveRowsOfJ(std::size_t iStack);
284 template <
typename LineSearchType>
285 Status impl_solve(
vectorOut_t arg,
bool optimize, LineSearchType ls)
const;
291 HPP_SERIALIZABLE_SPLIT();
299 #endif // HPP_CONSTRAINTS_SOLVER_BY_SUBSTITUTION_HH std::vector< segment_t > segments_t
Definition: fwd.hh:84
Status solve(vectorOut_t arg, LineSearchType ls=LineSearchType()) const
Definition: by-substitution.hh:110
pinocchio::vector_t vector_t
Definition: fwd.hh:59
bool integrate(vectorIn_t from, vectorIn_t velocity, vectorOut_t result) const
Definition: by-substitution.hh:271
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:60
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:107
value_type errorThreshold() const
Get error threshold.
Definition: by-substitution.hh:260
Definition: active-set-differentiable-function.hh:36
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:69
std::vector< constraints::ImplicitPtr_t > NumericalConstraints_t
Definition: fwd.hh:175
pinocchio::matrix_t matrix_t
Definition: fwd.hh:56
virtual ~BySubstitution()
Definition: by-substitution.hh:78
Status
Definition: hierarchical-iterative.hh:245
Definition: hierarchical-iterative.hh:70
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:106
const NumericalConstraints_t & numericalConstraints() const
Get the numerical constraints implicit and explicit.
Definition: by-substitution.hh:89
assert(d.lhs()._blocks()==d.rhs()._blocks())
bool isSatisfied(vectorIn_t arg) const
Definition: by-substitution.hh:201
bool isSatisfied(vectorIn_t arg, vectorOut_t error) const
Definition: by-substitution.hh:219
ExplicitConstraintSet & explicitConstraintSet()
Get explicit constraint set.
Definition: by-substitution.hh:94
bool isSatisfied(vectorIn_t arg) const
Definition: hierarchical-iterative.hh:328
bool isSatisfied(vectorIn_t arg, value_type errorThreshold) const
Definition: by-substitution.hh:210
value_type errorThreshold() const
Get error threshold.
Definition: hierarchical-iterative.hh:403
size_type errorSize() const
Definition: by-substitution.hh:194
Definition: by-substitution.hh:72
bool oneStep(vectorOut_t arg, LineSearchType &lineSearch) const
Definition: by-substitution.hh:241
#define HPP_CONSTRAINTS_DLLAPI
Definition: config.hh:88
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:61
Status solve(vectorOut_t arg, bool optimize, LineSearchType ls=LineSearchType()) const
Definition: by-substitution.hh:115
pinocchio::size_type size_type
Definition: fwd.hh:47
shared_ptr< Implicit > ImplicitPtr_t
Definition: fwd.hh:173
pinocchio::value_type value_type
Definition: fwd.hh:48
size_type numberFreeVariables() const
Return the number of free variables.
Definition: by-substitution.hh:102
void errorThreshold(const value_type &threshold)
Set error threshold.
Definition: by-substitution.hh:255
virtual bool integrate(vectorIn_t from, vectorIn_t velocity, vectorOut_t result) const
Definition: hierarchical-iterative.hh:240
const ExplicitConstraintSet & explicitConstraintSet() const
Set explicit constraint set.
Definition: by-substitution.hh:97
Definition: explicit-constraint-set.hh:99
Status solve(vectorOut_t arg) const
Definition: by-substitution.hh:152