#include <ex_problem.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. | |
| virtual double | GetCost () const override |
Returns the scalar cost term calculated from the variables. | |
Detailed Description
Definition at line 145 of file ex_problem.h.
Constructor & Destructor Documentation
| ifopt::ExCost::ExCost | ( | ) | [inline] |
Definition at line 147 of file ex_problem.h.
| ifopt::ExCost::ExCost | ( | const std::string & | name | ) | [inline] |
Definition at line 148 of file ex_problem.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 156 of file ex_problem.h.
| virtual double ifopt::ExCost::GetCost | ( | ) | const [inline, override, virtual] |
Returns the scalar cost term calculated from the variables.
Implements ifopt::CostTerm.
Definition at line 150 of file ex_problem.h.
The documentation for this class was generated from the following file: