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

Add constraints that freeze parameters. More...

#include <roboptim/trajectory/freeze.hh>

List of all members.

Public Types
typedef std::pair < Function::size_type, Function::value_type >	frozenArgument_t
	Pair representing an argument index and a value.
typedef P	problem_t
	Problem type.
typedef std::vector < frozenArgument_t >	frozenArguments_t
	Vector of pairs (argument index, value).
Public Member Functions
	Freeze (problem_t &problem)
	Create the constraint from a vector of pairs.
virtual	~Freeze ()
void	operator() (const frozenArguments_t fa)
	Apply modification.
void	operator() (const std::vector< Function::size_type > &indices, Function::const_vector_ref values)
	Apply modification.

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Detailed Description

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

Add constraints that freeze parameters.

This constraint expects a vector of pairs (argument id, value) to build a function that will freeze the given arguments to their associated value.

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

This adds to the problem one linear constraint per frozen parameter.

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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 define what are the frozen arguments and what their value.

template<typename P >

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

Problem type.

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Constructor & Destructor Documentation

template<typename P >

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

(

problem_t &

problem

)

Create the constraint from a vector of pairs.

Parameters:

problem

problem that will be modified.

template<typename P >

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

(

)

[virtual]

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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.