From e1fe1829a1ba89ac344aaed815c4771872e06aff Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Mon, 16 Jul 2018 10:44:27 +0200
Subject: [PATCH] Update to class renaming in hpp-constraints
hpp::constraints::HierarchicalIterativeSolver ->
hpp::constraints::solver::HierarchicalIterative,
hpp::constraints::HybridSolver -> hpp::constraints::solver::BySubstitution
hpp::constraints::ExplicitSolver -> hpp::constraints::ExplicitConstraintSet
---
.../cross-state-optimization.cc | 25 +++++++++++--------
1 file changed, 15 insertions(+), 10 deletions(-)
diff --git a/src/steering-method/cross-state-optimization.cc b/src/steering-method/cross-state-optimization.cc
index 251727a..6dcc7e9 100644
--- a/src/steering-method/cross-state-optimization.cc
+++ b/src/steering-method/cross-state-optimization.cc
@@ -28,7 +28,7 @@
#include <hpp/pinocchio/configuration.hh>
-#include <hpp/constraints/hybrid-solver.hh>
+#include <hpp/constraints/solver/by-substitution.hh>
#include <hpp/core/explicit-numerical-constraint.hh>
#include <hpp/core/path-vector.hh>
@@ -209,7 +209,7 @@ namespace hpp {
struct CrossStateOptimization::OptimizationData
{
const std::size_t N, nq, nv;
- constraints::HybridSolver solver;
+ constraints::solver::BySubstitution solver;
Configuration_t q1, q2;
vector_t q;
core::DevicePtr_t robot;
@@ -226,11 +226,13 @@ namespace hpp {
: impF(_impF), expFidx(_expFidx), qrhs (_qrhs) {}
RightHandSideSetter (DifferentiableFunctionPtr_t _impF, size_type _expFidx, vector_t _rhs)
: impF(_impF), expFidx(_expFidx), qrhs (NULL), rhs (_rhs) {}
- void apply(constraints::HybridSolver& s)
+ void apply(constraints::solver::BySubstitution& s)
{
if (expFidx >= 0) {
- if (qrhs != NULL) s.explicitSolver().rightHandSideFromInput (expFidx, *qrhs);
- else s.explicitSolver().rightHandSide (expFidx, rhs);
+ if (qrhs != NULL) s.explicitConstraintSet().rightHandSideFromInput
+ (expFidx, *qrhs);
+ else s.explicitConstraintSet().rightHandSide
+ (expFidx, rhs);
} else {
if (qrhs != NULL) s.rightHandSideFromInput (impF, DifferentiableFunctionPtr_t(), *qrhs);
else s.rightHandSide (impF, DifferentiableFunctionPtr_t(), rhs);
@@ -319,7 +321,8 @@ namespace hpp {
// It is important to use the index of the function since the same
// function may be added several times on different part.
- size_type expFidx = solver.explicitSolver().add (f, ic, oc, iv, ov, cts);
+ size_type expFidx = solver.explicitConstraintSet().add
+ (f, ic, oc, iv, ov, cts);
if (expFidx < 0) {
if (f_implicit) {
solver.add (f_implicit, 0, cts);
@@ -381,7 +384,8 @@ namespace hpp {
}
size_type expFidx = -1;
- if (ef) expFidx = solver.explicitSolver().add (ef, ic, oc, iv, ov, cts);
+ if (ef) expFidx = solver.explicitConstraintSet().add
+ (ef, ic, oc, iv, ov, cts);
if (expFidx < 0) solver.add (f, 0, cts);
// TODO This must be done later...
@@ -423,7 +427,8 @@ namespace hpp {
enc = HPP_DYNAMIC_PTR_CAST (ExplicitNumericalConstraint, nc);
bool added = false;
if (enc) {
- added = solver.explicitSolver().add (enc->explicitFunction(),
+ added = solver.explicitConstraintSet().add (
+ enc->explicitFunction(),
_row(enc->inputConf() , i * nq),
_row(enc->outputConf() , i * nq),
_col(enc->inputVelocity() , i * nv),
@@ -439,7 +444,7 @@ namespace hpp {
for (LockedJoints_t::const_iterator _lj = ljs.begin();
_lj != ljs.end(); ++_lj) {
LockedJointPtr_t lj (*_lj);
- size_type expFidx = solver.explicitSolver().add (
+ size_type expFidx = solver.explicitConstraintSet().add (
lj->explicitFunction(),
_row(lj->inputConf() , i * nq),
_row(lj->outputConf() , i * nq),
@@ -574,7 +579,7 @@ namespace hpp {
++i;
}
- d.solver.explicitSolverHasChanged();
+ d.solver.explicitConstraintSetHasChanged();
d.setRightHandSide();
hppDout (info, "Solver informations\n" << d.solver);
--
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