roboptim::trajectory::Freeze< P > Class Template Reference

Freeze parameters by modifying argument bounds. More...

#include <roboptim/trajectory/freeze.hh>

Public Types
typedef std::pair < Function::size_type, Function::value_type >	frozenArgument_t
	Pair representing an argument index and a value. More...
typedef P	problem_t
	Problem type. More...
typedef std::vector < frozenArgument_t >	frozenArguments_t
	Vector of pairs (argument index, value). More...

Public Member Functions
	Freeze (problem_t &problem)
	Create the argument bounds from a vector of pairs. More...
virtual	~Freeze ()
void	operator() (const frozenArguments_t fa)
	Apply modification. More...
void	operator() (const std::vector< Function::size_type > &indices, Function::const_vector_ref values)
	Apply modification. More...

Detailed Description

template<typename P>
class roboptim::trajectory::Freeze< P >

Freeze parameters by modifying argument bounds.

This helper class expects a vector of pairs (argument id, value) to freeze the given arguments to their associated value.

For instance, the vector: [(0, 5.), (3, -12.)] forces the first parameter to 5 and the fourth one to -12.

This modifies the argument bounds for each frozen parameter.

Member Typedef Documentation

template<typename P >

typedef std::pair<Function::size_type, Function::value_type> roboptim::trajectory::Freeze< P >::frozenArgument_t

Pair representing an argument index and a value.

template<typename P >

typedef std::vector<frozenArgument_t> roboptim::trajectory::Freeze< P >::frozenArguments_t

Vector of pairs (argument index, value).

This type defines which arguments to freeze and their associated values.

template<typename P >

typedef P roboptim::trajectory::Freeze< P >::problem_t

Problem type.

Constructor & Destructor Documentation

template<typename P >

roboptim::trajectory::Freeze< P >::Freeze

(

problem_t &

problem

)

Create the argument bounds from a vector of pairs.

Parameters

problem

problem that will be modified.

template<typename P >

roboptim::trajectory::Freeze< P >::~Freeze ( )

virtual

Member Function Documentation

template<typename P >

void roboptim::trajectory::Freeze< P >::operator()

(

const frozenArguments_t

fa

)

Apply modification.

Parameters

fa	Vector of pairs containing what to freeze and to what value.

template<typename P >

void roboptim::trajectory::Freeze< P >::operator()	(	const std::vector< Function::size_type > &	indices,
		Function::const_vector_ref	values
	)

Apply modification.

Parameters

indices	Vector of parameters index that will be frozen.
values	Vector of parameters values.