aligator  0.16.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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Public Types | Public Member Functions | Public Attributes | Protected Attributes | List of all members
aligator::ConstraintStackTpl< Scalar > Struct Template Reference

Convenience class to manage a stack of constraints. More...

#include <aligator/core/constraint.hpp>

Collaboration diagram for aligator::ConstraintStackTpl< Scalar >:
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Public Types

using PolyFunc = xyz::polymorphic<StageFunctionTpl<Scalar>>
 
using PolySet = xyz::polymorphic<ConstraintSetTpl<Scalar>>
 

Public Member Functions

 ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
 
 ConstraintStackTpl ()
 
 ConstraintStackTpl (const ConstraintStackTpl &)=default
 
ConstraintStackTpl & operator= (const ConstraintStackTpl &)=default
 
 ConstraintStackTpl (ConstraintStackTpl &&)=default
 
ConstraintStackTpl & operator= (ConstraintStackTpl &&)=default
 
std::size_t size () const
 
bool empty () const
 
void clear ()
 
template<typename Cstr>
ALIGATOR_DEPRECATED void pushBack (Cstr &&el)
 
void pushBack (const PolyFunc &func, const PolySet &cstr_set)
 
const std::vector< long > & dims () const
 Get the set of dimensions for each constraint in the stack.
 
long totalDim () const
 
template<typename Derived>
Derived * getConstraint (const size_t id)
 Get constraint function, cast down to the specified type.
 
template<typename Derived>
const Derived * getConstraint (const size_t id) const
 Get constraint function, cast down to the specified type.
 

Public Attributes

std::vector< PolyFunc > funcs
 
std::vector< PolySet > sets
 

Protected Attributes

std::vector< long > indices_
 
std::vector< long > dims_
 
long total_dim_ = 0
 

Detailed Description

template<typename Scalar>
struct aligator::ConstraintStackTpl< Scalar >

Convenience class to manage a stack of constraints.

Definition at line 14 of file constraint.hpp.

Member Typedef Documentation

◆ PolyFunc

template<typename Scalar>
using aligator::ConstraintStackTpl< Scalar >::PolyFunc = xyz::polymorphic<StageFunctionTpl<Scalar>>

Definition at line 16 of file constraint.hpp.

◆ PolySet

template<typename Scalar>
using aligator::ConstraintStackTpl< Scalar >::PolySet = xyz::polymorphic<ConstraintSetTpl<Scalar>>

Definition at line 17 of file constraint.hpp.

Constructor & Destructor Documentation

◆ ConstraintStackTpl() [1/3]

template<typename Scalar>
aligator::ConstraintStackTpl< Scalar >::ConstraintStackTpl ( )
inline

Definition at line 19 of file constraint.hpp.

◆ ConstraintStackTpl() [2/3]

template<typename Scalar>
aligator::ConstraintStackTpl< Scalar >::ConstraintStackTpl ( const ConstraintStackTpl< Scalar > & )
default

◆ ConstraintStackTpl() [3/3]

template<typename Scalar>
aligator::ConstraintStackTpl< Scalar >::ConstraintStackTpl ( ConstraintStackTpl< Scalar > && )
default

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename Scalar>
aligator::ConstraintStackTpl< Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ operator=() [1/2]

template<typename Scalar>
ConstraintStackTpl & aligator::ConstraintStackTpl< Scalar >::operator= ( const ConstraintStackTpl< Scalar > & )
default

◆ operator=() [2/2]

template<typename Scalar>
ConstraintStackTpl & aligator::ConstraintStackTpl< Scalar >::operator= ( ConstraintStackTpl< Scalar > && )
default

◆ size()

template<typename Scalar>
std::size_t aligator::ConstraintStackTpl< Scalar >::size ( ) const
inline

Definition at line 26 of file constraint.hpp.

◆ empty()

template<typename Scalar>
bool aligator::ConstraintStackTpl< Scalar >::empty ( ) const
inline

Definition at line 27 of file constraint.hpp.

◆ clear()

template<typename Scalar>
void aligator::ConstraintStackTpl< Scalar >::clear ( )

Definition at line 83 of file constraint.hpp.

◆ pushBack() [1/2]

template<typename Scalar>
template<typename Cstr>
ALIGATOR_DEPRECATED void aligator::ConstraintStackTpl< Scalar >::pushBack ( Cstr && el)
inline

Definition at line 30 of file constraint.hpp.

◆ pushBack() [2/2]

template<typename Scalar>
void aligator::ConstraintStackTpl< Scalar >::pushBack ( const PolyFunc & func,
const PolySet & cstr_set )
inline

Definition at line 40 of file constraint.hpp.

◆ dims()

template<typename Scalar>
const std::vector< long > & aligator::ConstraintStackTpl< Scalar >::dims ( ) const
inline

Get the set of dimensions for each constraint in the stack.

Definition at line 51 of file constraint.hpp.

◆ totalDim()

template<typename Scalar>
long aligator::ConstraintStackTpl< Scalar >::totalDim ( ) const
inline

Definition at line 53 of file constraint.hpp.

◆ getConstraint() [1/2]

template<typename Scalar>
template<typename Derived>
Derived * aligator::ConstraintStackTpl< Scalar >::getConstraint ( const size_t id)
inline

Get constraint function, cast down to the specified type.

Definition at line 56 of file constraint.hpp.

◆ getConstraint() [2/2]

template<typename Scalar>
template<typename Derived>
const Derived * aligator::ConstraintStackTpl< Scalar >::getConstraint ( const size_t id) const
inline

Get constraint function, cast down to the specified type.

Definition at line 62 of file constraint.hpp.

Member Data Documentation

◆ funcs

template<typename Scalar>
std::vector<PolyFunc> aligator::ConstraintStackTpl< Scalar >::funcs

Definition at line 66 of file constraint.hpp.

◆ sets

template<typename Scalar>
std::vector<PolySet> aligator::ConstraintStackTpl< Scalar >::sets

Definition at line 67 of file constraint.hpp.

◆ indices_

template<typename Scalar>
std::vector<long> aligator::ConstraintStackTpl< Scalar >::indices_
protected

Definition at line 70 of file constraint.hpp.

◆ dims_

template<typename Scalar>
std::vector<long> aligator::ConstraintStackTpl< Scalar >::dims_
protected

Definition at line 71 of file constraint.hpp.

◆ total_dim_

template<typename Scalar>
long aligator::ConstraintStackTpl< Scalar >::total_dim_ = 0
protected

Definition at line 72 of file constraint.hpp.

The documentation for this struct was generated from the following file: