#include <test_vars_constr_cost.h>
Public Member Functions | |
| ExCost () | |
| ExCost (const std::string &name) | |
| void | FillJacobianBlock (std::string var_set, Jacobian &jac) const override |
| Set individual Jacobians corresponding to each decision variable set. | |
| double | GetCost () const override |
Returns the scalar cost term calculated from the variables. | |
Detailed Description
Definition at line 151 of file test_vars_constr_cost.h.
Constructor & Destructor Documentation
| ifopt::ExCost::ExCost | ( | ) | [inline] |
Definition at line 153 of file test_vars_constr_cost.h.
| ifopt::ExCost::ExCost | ( | const std::string & | name | ) | [inline] |
Definition at line 154 of file test_vars_constr_cost.h.
Member Function Documentation
| void ifopt::ExCost::FillJacobianBlock | ( | std::string | var_set, |
| Jacobian & | jac_block | ||
| ) | const [inline, override, virtual] |
Set individual Jacobians corresponding to each decision variable set.
- Parameters:
-
var_set Set of variables the current Jacobian block belongs to. jac_block Columns of the overall Jacobian affected by var_set.
A convenience function so the user does not have to worry about the ordering of variable sets. All that is required is that the user knows the internal ordering of variables in each individual set and provides the Jacobian of the constraints w.r.t. this set (starting at column 0). GetJacobian() then inserts these columns at the correct position in the overall Jacobian.
If the constraint doen't depend on a var_set, this function should simply do nothing.
Implements ifopt::ConstraintSet.
Definition at line 162 of file test_vars_constr_cost.h.
| double ifopt::ExCost::GetCost | ( | ) | const [inline, override, virtual] |
Returns the scalar cost term calculated from the variables.
Implements ifopt::CostTerm.
Definition at line 156 of file test_vars_constr_cost.h.
The documentation for this class was generated from the following file: