internal::kinematics::SparsityHelper class
#include <private/InverseKinematicsNLP.h>

Helper class to manage sparsity.

Public static functions

static auto NullIndicesVector() -> const std::vector<size_t>&: The invalid null indices vector.

Constructors, destructors, conversion operators

SparsityHelper(): Default constructor.
SparsityHelper(const SparsityHelper&) deleted
SparsityHelper(SparsityHelper&&) defaulted

Public functions

auto operator=(const SparsityHelper&) -> SparsityHelper& deleted
auto operator=(SparsityHelper&&) -> SparsityHelper& defaulted
void clear(): Remove all constraint sparsity patterns.
auto addConstraintSparsityPattern(const iDynTree::MatrixDynSize& newConstraint) -> bool: Adds a constraint sparsity pattern from the specified matrix.
template<unsigned int nRows, unsigned int nCols> auto addConstraintSparsityPattern(const iDynTree::MatrixFixSize<nRows, nCols>& newConstraint) -> bool: Adds a constraint sparsity pattern from the specified matrix.
auto addConstraintSparsityPattern(const iDynTree::MatrixDynSize& newConstraint, const iDynTree::IndexRange& constraintRange) -> bool: Adds a constraint sparsity pattern from the specified matrix and constraint range.
template<unsigned int nRows, unsigned int nCols> auto addConstraintSparsityPattern(const iDynTree::MatrixFixSize<nRows, nCols>& newConstraint, const iDynTree::IndexRange& constraintRange) -> bool: Adds a constraint sparsity pattern from the specified matrix and constraint range.
auto numberOfNonZerosForRow(size_t rowIndex) const -> size_t: Returns the number of nonzeros in the specified row.
auto numberOfNonZeros() const -> size_t: Returns the total number of nonzeros in the sparsity pattern.
auto totalNumberOfNonZerosBeforeRow(size_t rowIndex) const -> size_t: Returns the cumulative number of nonzeros in all the rows before the specified one.
auto nonZeroIndicesForRow(size_t rowIndex) const -> const std::vector<size_t>&: Returns a vector with the indices of the non zero columns for the specified contraint (row)
void assignActualMatrixValues(const iDynTree::IndexRange& constraintRange, const iDynTree::MatrixDynSize& fullMatrix, size_t fullMatrixStartingRowIndex, Ipopt::Number* outputBuffer): Helper function to assign values to a contiguous buffer given the current sparsity pattern.
auto toString() const -> std::string: Returns a textual description of the sparsity pattern.

Function documentation

static const std::vector<size_t>& internal::kinematics::SparsityHelper::NullIndicesVector()

The invalid null indices vector.

Returns	The invalid null indices vector

bool internal::kinematics::SparsityHelper::addConstraintSparsityPattern(const iDynTree::MatrixDynSize& newConstraint)

Adds a constraint sparsity pattern from the specified matrix.

Parameters
newConstraint	the matrix containing the pattern (1 for nonzero, 0 otherwise)
Returns	true on success. False otherwise

template<unsigned int nRows, unsigned int nCols>
bool internal::kinematics::SparsityHelper::addConstraintSparsityPattern(const iDynTree::MatrixFixSize<nRows, nCols>& newConstraint)

Adds a constraint sparsity pattern from the specified matrix.

Parameters
newConstraint	the matrix containing the pattern (1 for nonzero, 0 otherwise)
Returns	true on success. False otherwise

bool internal::kinematics::SparsityHelper::addConstraintSparsityPattern(const iDynTree::MatrixDynSize& newConstraint, const iDynTree::IndexRange& constraintRange)

Adds a constraint sparsity pattern from the specified matrix and constraint range.

Parameters
newConstraint	the matrix containing the pattern (1 for nonzero, 0 otherwise)
constraintRange	contiguous subset of the newConstraint matrix to be considered
Returns	true on success. False otherwise

template<unsigned int nRows, unsigned int nCols>
bool internal::kinematics::SparsityHelper::addConstraintSparsityPattern(const iDynTree::MatrixFixSize<nRows, nCols>& newConstraint, const iDynTree::IndexRange& constraintRange)

Adds a constraint sparsity pattern from the specified matrix and constraint range.

Parameters
newConstraint	the matrix containing the pattern (1 for nonzero, 0 otherwise)
constraintRange	contiguous subset of the newConstraint matrix to be considered
Returns	true on success. False otherwise

size_t internal::kinematics::SparsityHelper::numberOfNonZerosForRow(size_t rowIndex) const

Returns the number of nonzeros in the specified row.

Parameters
rowIndex	index of the row
Returns	number of nonzeros

size_t internal::kinematics::SparsityHelper::numberOfNonZeros() const

Returns the total number of nonzeros in the sparsity pattern.

Returns	the total number of nonzeros in the sparsity pattern

size_t internal::kinematics::SparsityHelper::totalNumberOfNonZerosBeforeRow(size_t rowIndex) const

Returns the cumulative number of nonzeros in all the rows before the specified one.

Parameters
rowIndex	the row (excluded) to compute the cumulative number of nonzeros
Returns	the cumulative number of nonzeros in all the rows before the specified one

const std::vector<size_t>& internal::kinematics::SparsityHelper::nonZeroIndicesForRow(size_t rowIndex) const

Returns a vector with the indices of the non zero columns for the specified contraint (row)

Parameters
rowIndex	the specified constraint
Returns	a vector with the indices of the non zero columns

void internal::kinematics::SparsityHelper::assignActualMatrixValues(const iDynTree::IndexRange& constraintRange, const iDynTree::MatrixDynSize& fullMatrix, size_t fullMatrixStartingRowIndex, Ipopt::Number* outputBuffer)

Helper function to assign values to a contiguous buffer given the current sparsity pattern.

Parameters
constraintRange	range of the constraint that should be sparsified
fullMatrix	matrix specifying the non sparse constraint
fullMatrixStartingRowIndex	starting row index of the non sparse matrix to be considered. The size is automatically inferred by the constraint size
outputBuffer	the buffer on which the sparsified values should be written

std::string internal::kinematics::SparsityHelper::toString() const

Returns a textual description of the sparsity pattern.

Returns	a textual description of the sparsity pattern

Useful for debug