copp::Constraints Class Reference

Owning raw constraint-buffer facade. More...

#include <robot.hpp>

Public Member Functions
	Constraints (std::size_t dim, std::size_t capacity=0)
	Constraints (Constraints &&) noexcept
Constraints &	operator= (Constraints &&) noexcept
	~Constraints ()
	Constraints (const Constraints &)=delete
Constraints &	operator= (const Constraints &)=delete
ConstraintsRef	ref () noexcept
	Borrow this owning object as a solver/constraint reference.
std::size_t	dim () const
std::size_t	len () const
std::size_t	size () const
std::size_t	capacity () const
bool	is_empty () const
std::pair< std::size_t, std::size_t >	idx_s_range () const
Constraints &	append_s (Span< const double > s)
std::vector< double >	s_values (std::size_t idx_s_from, std::size_t idx_s_to) const
std::vector< double >	amax_values (std::size_t idx_s_from, std::size_t idx_s_to) const
double	s_value (std::size_t idx_s) const
double	amax_value (std::size_t idx_s) const
Constraints &	amax_substitute (Span< const double > amax, std::size_t idx_s)
Constraints &	clear (bool keep_idx_s=false)
Constraints &	pop_front_n (std::size_t n_cols)
Constraints &	pop_back_n (std::size_t n_cols)
Constraints &	pop_front_until (std::size_t idx_s_cut)
Constraints &	pop_back_until (std::size_t idx_s_cut)
Constraints &	add_constraint_1st (Span< const double > amax, std::size_t idx_s)
Constraints &	add_constraint_1st (MatrixView amax, std::size_t idx_s)
Constraints &	add_constraint_2nd (MatrixView acc_a, MatrixView acc_b, MatrixView acc_max, std::size_t idx_s, bool is_negative=false)
Constraints &	add_constraint_3rd (MatrixView jerk_a, MatrixView jerk_b, MatrixView jerk_c, MatrixView jerk_d, MatrixView jerk_max, std::size_t idx_s, bool is_negative=false)

Detailed Description

Owning raw constraint-buffer facade.

This class mirrors Python's independently constructed Constraints. Internally it owns the same Rust robot-handle shape as Robot, but exposes only raw constraint-buffer operations. This keeps solver problem construction uniform: both Robot::constraints() and Constraints::ref() produce a ConstraintsRef.

copp::Constraints constraints(1, 3);
constraints.append_s(std::vector<double>{0.0, 0.5, 1.0})
           .add_constraint_1st(std::vector<double>{1.0, 1.0, 1.0}, 0);
auto problem = copp::solver::topp2_ra::Problem{
    constraints.ref(),
    copp::IndexInterval{0, 2},
};

Definition at line 244 of file robot.hpp.

Constructor & Destructor Documentation

Constraints() [1/3]

copp::Constraints::Constraints ( std::size_t dim, std::size_t capacity = 0 )

explicit

Constraints() [2/3]

copp::Constraints::Constraints ( Constraints && )

noexcept

~Constraints()

copp::Constraints::~Constraints

(

)

Constraints() [3/3]

copp::Constraints::Constraints ( const Constraints & )

delete

Member Function Documentation

operator=() [1/2]

Constraints & copp::Constraints::operator= ( Constraints && )

noexcept

operator=() [2/2]

Constraints & copp::Constraints::operator= ( const Constraints & )

delete

ref()

ConstraintsRef copp::Constraints::ref ( )

noexcept

Borrow this owning object as a solver/constraint reference.

dim()

std::size_t copp::Constraints::dim

(

)

const

len()

std::size_t copp::Constraints::len

(

)

const

size()

std::size_t copp::Constraints::size

(

)

const

capacity()

std::size_t copp::Constraints::capacity

(

)

const

is_empty()

bool copp::Constraints::is_empty

(

)

const

idx_s_range()

std::pair< std::size_t, std::size_t > copp::Constraints::idx_s_range

(

)

const

append_s()

Constraints & copp::Constraints::append_s

(

Span< const double >

s

)

s_values()

std::vector< double > copp::Constraints::s_values	(	std::size_t	idx_s_from,
		std::size_t	idx_s_to ) const

amax_values()

std::vector< double > copp::Constraints::amax_values	(	std::size_t	idx_s_from,
		std::size_t	idx_s_to ) const

s_value()

double copp::Constraints::s_value

(

std::size_t

idx_s

)

const

amax_value()

double copp::Constraints::amax_value

(

std::size_t

idx_s

)

const

amax_substitute()

Constraints & copp::Constraints::amax_substitute	(	Span< const double >	amax,
		std::size_t	idx_s )

clear()

Constraints & copp::Constraints::clear

(

bool

keep_idx_s = false

)

pop_front_n()

Constraints & copp::Constraints::pop_front_n

(

std::size_t

n_cols

)

pop_back_n()

Constraints & copp::Constraints::pop_back_n

(

std::size_t

n_cols

)

pop_front_until()

Constraints & copp::Constraints::pop_front_until

(

std::size_t

idx_s_cut

)

pop_back_until()

Constraints & copp::Constraints::pop_back_until

(

std::size_t

idx_s_cut

)

add_constraint_1st() [1/2]

Constraints & copp::Constraints::add_constraint_1st	(	Span< const double >	amax,
		std::size_t	idx_s )

add_constraint_1st() [2/2]

Constraints & copp::Constraints::add_constraint_1st	(	MatrixView	amax,
		std::size_t	idx_s )

add_constraint_2nd()

Constraints & copp::Constraints::add_constraint_2nd	(	MatrixView	acc_a,
		MatrixView	acc_b,
		MatrixView	acc_max,
		std::size_t	idx_s,
		bool	is_negative = false )

add_constraint_3rd()

Constraints & copp::Constraints::add_constraint_3rd	(	MatrixView	jerk_a,
		MatrixView	jerk_b,
		MatrixView	jerk_c,
		MatrixView	jerk_d,
		MatrixView	jerk_max,
		std::size_t	idx_s,
		bool	is_negative = false )

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

• bindings/cpp/include/copp/robot.hpp