UnilateralConstraint represents a scalar or vector inequality constraints should be imposed on the continuous dynamical systems. More...

Inheritance diagram for UnilateralConstraint:

[legend]

Public Member Functions
	UnilateralConstraint (DynamicalSystem model, h,char name,SymExpression deps, varargin)
	The class constructor function. More...

function	export (char export_path,varargin varargin)
	export the symbolic expressions of the constraints and compile as MEX files. More...

function TrajectoryOptimization nlp =	imposeNLPConstraint (TrajectoryOptimization nlp)

function f =	calcConstraint (varargin)
	calculate the unilateral constraints More...

function obj =	setConstrLabel (cellstr label)
	OutputLabel sets the naming labels of outputs. More...

function name =	validateName (name)
	Name. More...

Public Attributes
integer	Dimension
	The dimension of the virtual constraints. More...

logical	InputDependent
	An indicator whether the unilateral constraints depend on the input variables of the dynamical system. If the constraints are input-dependent, then it will requires to execute the calcDynamics function to compute the required input signals. More...

char	Name
	The name of the virtual constraints. More...

char	ConstrLabel
	The label of the holonomic constraint. More...

cellstr	DepLists
	The name list of dependent variables in the associated dynamical system model. More...

cell	AuxData
	The list of auxiliary data to be used to call the function. More...

SymFunction	ConstrExpr
	The holonomic constraint expression. More...

Public Attributes inherited from handle
	addlistener
	Creates a listener for the specified event and assigns a callback function to execute when the event occurs. More...

	notify
	Broadcast a notice that a specific event is occurring on a specified handle object or array of handle objects. More...

	delete
	Handle object destructor method that is called when the object's lifecycle ends. More...

	disp
	Handle object disp method which is called by the display method. See the MATLAB disp function. More...

	display
	Handle object display method called when MATLAB software interprets an expression returning a handle object that is not terminated by a semicolon. See the MATLAB display function. More...

	findobj
	Finds objects matching the specified conditions from the input array of handle objects. More...

	findprop
	Returns a meta.property objects associated with the specified property name. More...

	fields
	Returns a cell array of string containing the names of public properties. More...

	fieldnames
	Returns a cell array of string containing the names of public properties. See the MATLAB fieldnames function. More...

	isvalid
	Returns a logical array in which elements are true if the corresponding elements in the input array are valid handles. This method is Sealed so you cannot override it in a handle subclass. More...

	eq
	Relational functions example. See details for more information. More...

	transpose
	Transposes the elements of the handle object array. More...

	permute
	Rearranges the dimensions of the handle object array. See the MATLAB permute function. More...

	reshape
	hanges the dimensions of the handle object array to the specified dimensions. See the MATLAB reshape function. More...

	sort
	ort the handle objects in any array in ascending or descending order. More...

Protected Attributes
SymFunction	h_
	The holonomic constraint expression. More...

Detailed Description

UnilateralConstraint represents a scalar or vector inequality constraints should be imposed on the continuous dynamical systems.

Author: ayonga

Date: 2017-04-20

Redistribution and use in source and binary forms, with or without modification, are permitted only in compliance with the BSD 3-Clause license, see http://www.opensource.org/licenses/bsd-license.php

Constructor & Destructor Documentation

◆ UnilateralConstraint()

UnilateralConstraint.UnilateralConstraint	(	DynamicalSystem	model,
			h,
		char	name,
		SymExpression	deps,
			varargin
	)

inline

The class constructor function.

Parameters

model	the dynamical system model in which the virtual constraints are defined
h	the symbolic expression of the constraints
name	the name of the virtual constraints
deps	the dependent variables (could be states or inputs) cellstr
varargin	optional parameters. In details UnilateralConstraint ( ..., AuxData, ConstrLabel ) Required Parameters for varargin: AuxData ConstrLabel

Required fields of model:

Required fields of h:

Member Function Documentation

◆ calcConstraint()

function f = UnilateralConstraint.calcConstraint ( varargin )

inline

calculate the unilateral constraints

Parameters

varargin input variable depends on the object

Return values

f	the value of the unilateral constraints

◆ export()

function UnilateralConstraint.export	(	char	export_path,
		varargin	varargin
	)

inline

export the symbolic expressions of the constraints and compile as MEX files.

Parameters

export_path	the path to export the file
varargin	variable input parameters export ( ..., Vars, File, ForceExport, BuildMex, Namespace ) Required Parameters for varargin: Vars a list of symbolic variables File the (full) file name of exported file ForceExport force the export BuildMex flag whether to MEX the exported file Namespace the namespace of the function

◆ imposeNLPConstraint()

function TrajectoryOptimizationnlp = UnilateralConstraint.imposeNLPConstraint ( TrajectoryOptimization nlp )

inline

◆ setConstrLabel()

function obj = UnilateralConstraint.setConstrLabel ( cellstr label )

inline

OutputLabel sets the naming labels of outputs.

Parameters

label the cell array of labels

Generated fields of obj:

◆ validateName()

function name = UnilateralConstraint.validateName ( name )

inline

Name.

Member Data Documentation

◆ AuxData

UnilateralConstraint.AuxData

The list of auxiliary data to be used to call the function.

Note: This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

◆ ConstrExpr

UnilateralConstraint.ConstrExpr

The holonomic constraint expression.

Note: This property has the MATLAB attribute Dependent set to true.; Matlab documentation of property attributes.; [readonly]

◆ ConstrLabel

UnilateralConstraint.ConstrLabel

The label of the holonomic constraint.

Note: This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

◆ DepLists

UnilateralConstraint.DepLists

The name list of dependent variables in the associated dynamical system model.

Note: This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

◆ Dimension

UnilateralConstraint.Dimension

The dimension of the virtual constraints.

Note: This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

◆ h_

UnilateralConstraint.h_

protected

The holonomic constraint expression.

◆ InputDependent

UnilateralConstraint.InputDependent

An indicator whether the unilateral constraints depend on the input variables of the dynamical system. If the constraints are input-dependent, then it will requires to execute the calcDynamics function to compute the required input signals.

Note: This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

◆ Name

UnilateralConstraint.Name

The name of the virtual constraints.

Note: This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

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

/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/system/@UnilateralConstraint/UnilateralConstraint.m

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ UnilateralConstraint()

Member Function Documentation

◆ calcConstraint()

◆ export()

◆ imposeNLPConstraint()

◆ setConstrLabel()

◆ validateName()

Member Data Documentation

◆ AuxData

◆ ConstrExpr

◆ ConstrLabel

◆ DepLists

◆ Dimension

◆ h_

◆ InputDependent

◆ Name