leaves.cc

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#include <ifopt/variable_set.h>
#include <ifopt/constraint_set.h>
#include <ifopt/cost_term.h>


namespace ifopt {

VariableSet::VariableSet(int n_var, const std::string& name)
    : Component(n_var, name)
{
}

ConstraintSet::ConstraintSet (int row_count, const std::string& name)
    : Component(row_count, name)
{
}

ConstraintSet::Jacobian
ConstraintSet::GetJacobian () const
{
  Jacobian jacobian(GetRows(), variables_->GetRows());

  int col = 0;
  for (const auto& vars : variables_->GetComponents()) {

    int n = vars->GetRows();
    Jacobian jac = Jacobian(GetRows(), n);

    FillJacobianBlock(vars->GetName(), jac);

    // insert the derivative in the correct position in the overall Jacobian
    for (int k=0; k<jac.outerSize(); ++k)
      for (Jacobian::InnerIterator it(jac,k); it; ++it)
        jacobian.coeffRef(it.row(), col+it.col()) = it.value();

    col += n;
  }

  return jacobian;
}

void
ConstraintSet::LinkWithVariables(const VariablesPtr& x)
{
  variables_ = x;
  InitVariableDependedQuantities(x);
}

CostTerm::CostTerm (const std::string& name) :ConstraintSet(1, name)
{
}

CostTerm::VectorXd
CostTerm::GetValues() const
{
  VectorXd cost(1);
  cost(0) = GetCost();
  return cost;
}

CostTerm::VecBound
CostTerm::GetBounds() const
{
  return VecBound(GetRows(), NoBound);
}


} /* namespace opt */