constraint_set.h
Go to the documentation of this file.
1 /******************************************************************************
2 Copyright (c) 2017, Alexander W Winkler. All rights reserved.
3 
4 Redistribution and use in source and binary forms, with or without
5 modification, are permitted provided that the following conditions are met:
6 
7 * Redistributions of source code must retain the above copyright notice, this
8  list of conditions and the following disclaimer.
9 
10 * Redistributions in binary form must reproduce the above copyright notice,
11  this list of conditions and the following disclaimer in the documentation
12  and/or other materials provided with the distribution.
13 
14 * Neither the name of the copyright holder nor the names of its
15  contributors may be used to endorse or promote products derived from
16  this software without specific prior written permission.
17 
18 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
19 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
20 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
21 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
22 FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
23 DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
24 SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
25 CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
26 OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
27 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
28 ******************************************************************************/
29 
30 #ifndef IFOPT_INCLUDE_IFOPT_CONSTRAINT_SET_H_
31 #define IFOPT_INCLUDE_IFOPT_CONSTRAINT_SET_H_
32 
33 #include "composite.h"
34 
35 namespace ifopt {
36 
51 class ConstraintSet : public Component {
52 public:
53  using Ptr = std::shared_ptr<ConstraintSet>;
55 
61  ConstraintSet(int n_constraints, const std::string& name);
62  virtual ~ConstraintSet() = default;
63 
71  void LinkWithVariables(const VariablesPtr& x);
72 
83  Jacobian GetJacobian() const final;
84 
107  virtual void FillJacobianBlock(std::string var_set, Jacobian& jac_block) const = 0;
108 
109 protected:
115  const VariablesPtr GetVariables() const { return variables_; };
116 
117 private:
119 
128  virtual void InitVariableDependedQuantities(const VariablesPtr& x_init) {};
129 
130  // doesn't exist for constraints, generated run-time error when used
131  void SetVariables(const VectorXd& x) final { assert(false); };
132 };
133 
134 
135 } // namespace ifopt
136 
137 
138 #endif /* IFOPT_INCLUDE_IFOPT_CONSTRAINT_SET_H_ */
ifopt::ConstraintSet::GetVariables
const VariablesPtr GetVariables() const
Read access to the value of the optimization variables.
Definition: constraint_set.h:169
ifopt::ConstraintSet::VariablesPtr
Composite::Ptr VariablesPtr
Definition: constraint_set.h:108
ifopt::ConstraintSet::FillJacobianBlock
virtual void FillJacobianBlock(std::string var_set, Jacobian &jac_block) const =0
Set individual Jacobians corresponding to each decision variable set.
ifopt::ConstraintSet::SetVariables
void SetVariables(const VectorXd &x) final
Sets the optimization variables from an Eigen vector.
Definition: constraint_set.h:185
ifopt::ConstraintSet::LinkWithVariables
void LinkWithVariables(const VariablesPtr &x)
Connects the constraint with the optimization variables.
Definition: leaves.cc:107
ifopt::ConstraintSet::variables_
VariablesPtr variables_
Definition: constraint_set.h:169
ifopt::ConstraintSet::GetJacobian
Jacobian GetJacobian() const final
The matrix of derivatives for these constraints and variables.
Definition: leaves.cc:78
ifopt::Composite::Ptr
std::shared_ptr< Composite > Ptr
Definition: composite.h:164
ifopt::ConstraintSet::ConstraintSet
ConstraintSet(int n_constraints, const std::string &name)
Creates constraints on the variables x.
Definition: leaves.cc:72
ifopt
common namespace for all elements in this library.
Definition: bounds.h:33
composite.h
Declares the classes Composite and Component used as variables, costs and constraints.
ifopt::ConstraintSet::~ConstraintSet
virtual ~ConstraintSet()=default
ifopt::ConstraintSet::InitVariableDependedQuantities
virtual void InitVariableDependedQuantities(const VariablesPtr &x_init)
Initialize quantities that depend on the optimization variables.
Definition: constraint_set.h:182
ifopt::Component::VectorXd
Eigen::VectorXd VectorXd
Definition: composite.h:68
ifopt::ConstraintSet::Ptr
std::shared_ptr< ConstraintSet > Ptr
Definition: constraint_set.h:107
ifopt::Component::Jacobian
Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
Definition: composite.h:67


ifopt
Author(s): Alexander W. Winkler
autogenerated on Thu Sep 15 2022 02:14:55