Add constraints that freeze parameters. More...
#include <roboptim/trajectory/freeze.hh>
Public Types | |
typedef std::pair< size_t, 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) throw () | |
Create the constraint from a vector of pairs. More... | |
virtual | ~Freeze () throw () |
void | operator() (const frozenArguments_t fa) throw () |
Apply modification. More... | |
void | operator() (const std::vector< Function::size_type > &indices, const Function::vector_t &values) throw () |
Apply modification. More... | |
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.
typedef std::pair<size_t, Function::value_type> roboptim::Freeze< P >::frozenArgument_t |
Pair representing an argument index and a value.
typedef std::vector<frozenArgument_t> roboptim::Freeze< P >::frozenArguments_t |
Vector of pairs (argument index, value).
This type define what are the frozen arguments and what their value.
typedef P roboptim::Freeze< P >::problem_t |
Problem type.
roboptim::Freeze< P >::Freeze | ( | problem_t & | problem | ) | throw () |
Create the constraint from a vector of pairs.
problem | problem that will be modified. |
|
virtual |
void roboptim::Freeze< P >::operator() | ( | const frozenArguments_t | fa | ) | throw () |
Apply modification.
fa | Vector of pairs containing what to freeze and to what value. |
void roboptim::Freeze< P >::operator() | ( | const std::vector< Function::size_type > & | indices, |
const Function::vector_t & | values | ||
) | throw () |
Apply modification.
indices | Vector of parameters index that will be frozen. |
values | Vector of parameters values. |