ifopt::CostTerm Class Reference

A container holding a single cost term. More...

#include <cost_term.h>

Inheritance diagram for ifopt::CostTerm:

Public Member Functions
	CostTerm (const std::string &name)
VecBound	GetBounds () const final
	Returns infinite bounds (e.g. no bounds). More...
VectorXd	GetValues () const final
	Wrapper function that converts double to Eigen::VectorXd. More...
void	Print (double tol, int &index) const final
virtual	~CostTerm ()=default
Public Member Functions inherited from ifopt::ConstraintSet
	ConstraintSet (int n_constraints, const std::string &name)
	Creates constraints on the variables x. More...
virtual void	FillJacobianBlock (std::string var_set, Jacobian &jac_block) const =0
	Set individual Jacobians corresponding to each decision variable set. More...
Jacobian	GetJacobian () const final
	The matrix of derivatives for these constraints and variables. More...
void	LinkWithVariables (const VariablesPtr &x)
	Connects the constraint with the optimization variables. More...
virtual	~ConstraintSet ()=default
Public Member Functions inherited from ifopt::Component
	Component (int num_rows, const std::string &name)
	Creates a component. More...
std::string	GetName () const
	Returns the name (id) of this component. More...
int	GetRows () const
	Returns the number of rows of this component. More...
void	SetRows (int num_rows)
	Sets the number of rows of this component. More...
virtual	~Component ()=default

Private Member Functions
virtual double	GetCost () const =0
	Returns the scalar cost term calculated from the variables. More...

Additional Inherited Members
Public Types inherited from ifopt::ConstraintSet
using	Ptr = std::shared_ptr< ConstraintSet >
using	VariablesPtr = Composite::Ptr
Public Types inherited from ifopt::Component
using	Jacobian = Eigen::SparseMatrix< double, Eigen::RowMajor >
using	Ptr = std::shared_ptr< Component >
using	VecBound = std::vector< Bounds >
using	VectorXd = Eigen::VectorXd
Static Public Attributes inherited from ifopt::Component
static const int	kSpecifyLater = -1
Protected Member Functions inherited from ifopt::ConstraintSet
const VariablesPtr	GetVariables () const
	Read access to the value of the optimization variables. More...

Detailed Description

A container holding a single cost term.

This container builds a scalar cost term from the values of the variables. This can be seen as a constraint with only one row and no bounds.

See also

Component

Definition at line 73 of file cost_term.h.

Constructor & Destructor Documentation

CostTerm()

ifopt::CostTerm::CostTerm

(

const std::string &

name

)

Definition at line 109 of file leaves.cc.

~CostTerm()

virtual ifopt::CostTerm::~CostTerm ( )

virtualdefault

Member Function Documentation

GetBounds()

CostTerm::VecBound ifopt::CostTerm::GetBounds ( ) const

finalvirtual

Returns infinite bounds (e.g. no bounds).

Implements ifopt::Component.

Definition at line 118 of file leaves.cc.

GetCost()

virtual double ifopt::CostTerm::GetCost ( ) const

privatepure virtual

Returns the scalar cost term calculated from the variables.

Implemented in ifopt::ExCost.

GetValues()

CostTerm::VectorXd ifopt::CostTerm::GetValues ( ) const

finalvirtual

Wrapper function that converts double to Eigen::VectorXd.

Implements ifopt::Component.

Definition at line 111 of file leaves.cc.

Print()

void ifopt::CostTerm::Print ( double  tol, int &  index  ) const

finalvirtual

Cost term printout slightly different from variables/constraints.

Reimplemented from ifopt::Component.

Definition at line 123 of file leaves.cc.

---

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

• cost_term.h
• leaves.cc