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remove submodule reference to constraints manager

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quentinlin
2024-12-16 22:49:21 +09:00
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constraints_manager

Submodule constraints_manager deleted from 920afaf5ff

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GNU LESSER GENERAL PUBLIC LICENSE
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Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
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![](https://img.shields.io/github/license/juanjqo/constraints_manager)![](https://img.shields.io/github/contributors/juanjqo/constraints_manager)![](https://img.shields.io/github/last-commit/juanjqo/constraints_manager/main)![](https://img.shields.io/github/commit-activity/t/juanjqo/constraints_manager/main)
# constraints_manager

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constraints_manager/constraints_manager_example/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.5)
project(constraints_manager_example LANGUAGES CXX)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
FIND_PACKAGE(Eigen3 REQUIRED)
INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})
ADD_COMPILE_OPTIONS(-Werror=return-type -Wall -Wextra -Wmissing-declarations -Wredundant-decls -Woverloaded-virtual)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}/../include
)
add_library(ConstraintsManager ${CMAKE_CURRENT_SOURCE_DIR}/../src/constraints_manager.cpp)
add_executable(constraints_manager_example main.cpp)
target_link_libraries(constraints_manager_example
ConstraintsManager)

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constraints_manager/constraints_manager_example/main.cpp Normal file
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#include <iostream>
#include "constraints_manager.h"
using namespace Eigen;
int main()
{
auto manager = ConstraintsManager(3);
auto A1 = MatrixXd::Zero(3,3);
auto b1 = VectorXd::Zero(3);
auto A2 = MatrixXd::Ones(1,3);
auto b2 = VectorXd::Ones(1);
manager.add_inequality_constraint(A1, b1);
manager.add_inequality_constraint(A2, b2);
MatrixXd A;
VectorXd b;
std::tie(A,b) = manager.get_inequality_constraints();
std::cout<<"A: "<<std::endl;
std::cout<<A<<std::endl;
std::cout<<"b: "<<std::endl;
std::cout<<b<<std::endl;
}

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constraints_manager/include/constraints_manager.h Normal file
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/*
# Copyright (c) 2023 Juan Jose Quiroz Omana
#
# constraints_manager is free software: you can redistribute it and/or modify
# it under the terms of the GNU Lesser General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# constraints_manager is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU Lesser General Public License for more details.
#
# You should have received a copy of the GNU Lesser General Public License
# along with constraints_manager. If not, see <https://www.gnu.org/licenses/>.
#
# ################################################################
#
# Author: Juan Jose Quiroz Omana, email: juanjqogm@gmail.com
#
# ################################################################*/
#pragma once
#include <Eigen/Dense>
#include <vector>
using namespace Eigen;
class ConstraintsManager
{
protected:
int dim_configuration_;
VectorXd q_dot_min_ = VectorXd::Zero(0);
VectorXd q_dot_max_ = VectorXd::Zero(0);
VectorXd q_min_ = VectorXd::Zero(0);
VectorXd q_max_ = VectorXd::Zero(0);
MatrixXd equality_constraint_matrix_ = MatrixXd::Zero(0,0);
VectorXd equality_constraint_vector_ = VectorXd::Zero(0);
MatrixXd inequality_constraint_matrix_ = MatrixXd::Zero(0,0);
VectorXd inequality_constraint_vector_ = VectorXd::Zero(0);
MatrixXd _raw_add_matrix_constraint(const MatrixXd& A0, const MatrixXd& A);
VectorXd _raw_add_vector_constraint(const VectorXd& b0, const VectorXd& b);
void _check_matrix_and_vector_sizes(const MatrixXd& A, const VectorXd& b);
void _check_vectors_size(const VectorXd& q1, const VectorXd& q2, const std::string &msg);
void _check_vector_initialization(const VectorXd& q, const std::string &msg);
MatrixXd _create_matrix(const MatrixXd& A);
public:
ConstraintsManager() = delete;
ConstraintsManager(const int& dim_configuration);
void add_equality_constraint(const MatrixXd& A, const VectorXd& b);
void add_inequality_constraint(const MatrixXd& A, const VectorXd& b);
std::tuple<MatrixXd, VectorXd> get_equality_constraints();
std::tuple<MatrixXd, VectorXd> get_inequality_constraints();
void set_joint_position_limits(const VectorXd& q_lower_bound, const VectorXd& q_upper_bound);
void set_joint_velocity_limits(const VectorXd& q_dot_lower_bound, const VectorXd& q_dot_upper_bound);
};

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constraints_manager/src/constraints_manager.cpp Normal file
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/*
# Copyright (c) 2023 Juan Jose Quiroz Omana
#
# constraints_manager is free software: you can redistribute it and/or modify
# it under the terms of the GNU Lesser General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# constraints_manager is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU Lesser General Public License for more details.
#
# You should have received a copy of the GNU Lesser General Public License
# along with constraints_manager. If not, see <https://www.gnu.org/licenses/>.
#
# ################################################################
#
# Author: Juan Jose Quiroz Omana, email: juanjqogm@gmail.com
#
# ################################################################*/
#include "constraints_manager.h"
/**
* @brief Constructor
* @param int dim_configuration Dimension of the robot configuration
*/
ConstraintsManager::ConstraintsManager(const int& dim_configuration):dim_configuration_(dim_configuration)
{
}
/**
* @brief The method _create_matrix returns a matrix containing the matrix A
* and taking into acount the dimension of the robot configuration. If matrix A has lower columns than
* dim_configuration then _create_matrix completes the correct size with zeros.
* @param MatrixXd A Input matrix
* @return
*/
MatrixXd ConstraintsManager::_create_matrix(const MatrixXd& A)
{
MatrixXd constraint_matrix = MatrixXd::Zero(A.rows(), dim_configuration_);
constraint_matrix.block(0,0, A.rows(), A.cols()) = A;
return constraint_matrix;
}
/**
* @brief The method _check_matrix_and_vector_sizes(A,b) check the if the rows of Matrix A
* has the same dimension of Vector b.
* @param MatrixXd A
* @param VectorXd b
*/
void ConstraintsManager::_check_matrix_and_vector_sizes(const MatrixXd& A, const VectorXd& b)
{
int m = A.rows();
int n = A.cols();
int nb = b.size();
if (m != nb)
{
throw std::runtime_error(std::string("Incompatible sizes. The rows of Matrix A must have the same dimension of Vector b. ")
+ std::string("But you used A ")+ std::to_string(m)+ std::string("x")+ std::to_string(n)
+ std::string(" and b ")+ std::to_string(nb) + std::string("x1"));
}
if (n != dim_configuration_)
{
throw std::runtime_error(std::string("Incompatible sizes. The cols of Matrix A must have dimension ") + std::to_string(dim_configuration_)
+ std::string(". But you used A ")+ std::to_string(m)+ std::string("x")+ std::to_string(n)
+ std::string(" and b ")+ std::to_string(nb) + std::string("x1"));
}
}
/**
* @brief ConstraintsManager::_check_vectors_size() checks the dimensions of two vectors.
* @param VectorXd q1 First vector to be checked.
* @param VectorXd q2 Second vector to be checked.
* @param std::string msg Desired error message if vectors q1 and q2 have different size.
*/
void ConstraintsManager::_check_vectors_size(const VectorXd& q1, const VectorXd& q2, const std::string &msg)
{
if (q1.size() != q2.size() )
{
throw std::runtime_error(msg);
}
}
/**
* @brief ConstraintsManager::_check_vector_initialization()
* @param VectorXd q
* @param std::string msg
*/
void ConstraintsManager::_check_vector_initialization(const VectorXd& q, const std::string &msg)
{
if (q.size() == 0)
{
throw std::runtime_error(msg);
}
}
/**
* @brief The method _raw_add_matrix_constraint(A0, A) returns a constraint_matrix, which is given as
* constraint_matrix = [A0
* A]
* @param MatrixXd A0
* @param MatrixXd A
* @return MatrixXd constraint_matrix
*/
MatrixXd ConstraintsManager::_raw_add_matrix_constraint(const MatrixXd& A0, const MatrixXd& A)
{
int m = A.rows();
int n = A.cols();
int m0 = A0.rows();
int n0 = A0.cols();
MatrixXd constraint_matrix = MatrixXd::Zero(m0+m, dim_configuration_);
if(n != n0)
{
throw std::runtime_error(std::string("Incompatible sizes. The equality matrix must be ")
+ std::string("m x ")+ std::to_string(n0)
+ std::string(". But you used m x ")+ std::to_string(n));
}
constraint_matrix.block(0,0, m0, n0) = A0;
constraint_matrix.block(m0,0, m, n) = A;
return constraint_matrix;
}
/**
* @brief The method _raw_add_vector_constraint(b0, b) returns the vector constraint_vector,
* which is given as
* constraint_vector = [b0
* b];
* @param VectorXd b0
* @param VectorXd b
* @return VectorXd constraint_vector
*/
VectorXd ConstraintsManager::_raw_add_vector_constraint(const VectorXd& b0, const VectorXd& b)
{
int nb = b.size();
int nb0 = b0.size();
VectorXd constraint_vector = VectorXd::Zero(nb0+nb);
constraint_vector.head(nb0) = b0;
constraint_vector.segment(nb0, nb) = b;
return constraint_vector;
}
/**
* @brief The method add_equality_constraint(A, b) adds the equality constraint A*x = b
* to the set of equality constraints.
*
* @param MatrixXd A
* @param VectorXd b
*/
void ConstraintsManager::add_equality_constraint(const MatrixXd& A, const VectorXd& b)
{
_check_matrix_and_vector_sizes(A, b);
if (equality_constraint_matrix_.size() == 0)
{
equality_constraint_matrix_ = _create_matrix(A);
equality_constraint_vector_ = b;
}else
{
equality_constraint_matrix_ = _raw_add_matrix_constraint(equality_constraint_matrix_, A);
equality_constraint_vector_ = _raw_add_vector_constraint(equality_constraint_vector_, b);
}
}
/**
* @brief The method add_inequality_constraint(A, b) adds the inequality constraint A*x <= b
* to the set of ineequality constraints.
* @param MatrixXd A
* @param VectorXd b
*/
void ConstraintsManager::add_inequality_constraint(const MatrixXd& A, const VectorXd& b)
{
_check_matrix_and_vector_sizes(A, b);
if (inequality_constraint_matrix_.size() == 0)
{
inequality_constraint_matrix_ = _create_matrix(A);
inequality_constraint_vector_ = b;
}else
{
inequality_constraint_matrix_ = _raw_add_matrix_constraint(inequality_constraint_matrix_, A);
inequality_constraint_vector_ = _raw_add_vector_constraint(inequality_constraint_vector_, b);
}
}
/**
* @brief The method get_equality_constraints() returns the set of equality constraints
* composed of the Matrix A and the vector b, where
* A*x = b.
* Warning: This method deletes all the equality constraints stored.
* @return std::tuple<MatrixXd A, VectorXd b>
*/
std::tuple<MatrixXd, VectorXd> ConstraintsManager::get_equality_constraints()
{
MatrixXd A = equality_constraint_matrix_;
equality_constraint_matrix_ = MatrixXd::Zero(0,0);
return std::make_tuple(A, equality_constraint_vector_);
}
/**
* @brief The method get_inequality_constraints() returns the set of inequality constraints
* composed of the Matrix A and the vector b, where
* A*x <= b
* Warning: This method deletes all the inequality constraints stored.
* @return
*/
std::tuple<MatrixXd, VectorXd> ConstraintsManager::get_inequality_constraints()
{
MatrixXd A = inequality_constraint_matrix_;
inequality_constraint_matrix_ = MatrixXd::Zero(0,0);
return std::make_tuple(A, inequality_constraint_vector_);
}
/**
* @brief ConstraintsManager::set_joint_position_limits
* @param VectorXd q_lower_bound
* @param VectorXd q_upper_bound
*/
void ConstraintsManager::set_joint_position_limits(const VectorXd& q_lower_bound, const VectorXd& q_upper_bound)
{
_check_vectors_size(q_lower_bound, q_upper_bound,
std::string("The sizes are incompatibles. q_lower_bound has size ") + std::to_string(q_lower_bound.size())
+ std::string(" and q_upper_bound has size ") + std::to_string(q_upper_bound.size()));
_check_vectors_size(q_lower_bound, VectorXd::Zero(dim_configuration_),
std::string("The sizes are incompatibles. The joint limits have size ") + std::to_string(q_lower_bound.size())
+ std::string(" and the robot configuration has size ") + std::to_string(dim_configuration_));
q_min_ = q_lower_bound;
q_max_ = q_upper_bound;
}
/**
* @brief ConstraintsManager::set_joint_velocity_limits
* @param q_dot_lower_bound
* @param q_dot_upper_bound
*/
void ConstraintsManager::set_joint_velocity_limits(const VectorXd& q_dot_lower_bound, const VectorXd& q_dot_upper_bound)
{
_check_vectors_size(q_dot_lower_bound, q_dot_upper_bound,
std::string("The sizes are incompatibles. q_dot_lower_bound has size ") + std::to_string(q_dot_lower_bound.size())
+ std::string(" and q_dot_upper_bound has size ") + std::to_string(q_dot_upper_bound.size()));
_check_vectors_size(q_dot_lower_bound, VectorXd::Zero(dim_configuration_),
std::string("The sizes are incompatibles. The joint limits have size ") + std::to_string(q_dot_lower_bound.size())
+ std::string(" and the robot configuration has size ") + std::to_string(dim_configuration_));
q_dot_min_ = q_dot_lower_bound;
q_dot_max_ = q_dot_upper_bound;
}