linear_constraint.cc
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00002 Copyright (c) 2018, Alexander W. Winkler. All rights reserved.
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00029 
00030 #include <towr/constraints/linear_constraint.h>
00031 
00032 namespace towr {
00033 
00034 
00035 LinearEqualityConstraint::LinearEqualityConstraint (
00036   const Eigen::MatrixXd& M,
00037   const Eigen::VectorXd& v,
00038   const std::string& variable_name)
00039     : ConstraintSet(v.rows(), "LinearEqualityConstraint-" + variable_name)
00040 {
00041   M_ = M;
00042   v_ = v;
00043   variable_name_   = variable_name;
00044 }
00045 
00046 LinearEqualityConstraint::VectorXd
00047 LinearEqualityConstraint::GetValues () const
00048 {
00049   VectorXd x = GetVariables()->GetComponent(variable_name_)->GetValues();
00050   return M_*x;
00051 }
00052 
00053 LinearEqualityConstraint::VecBound
00054 LinearEqualityConstraint::GetBounds () const
00055 {
00056   VecBound bounds;
00057 
00058   for (int i=0; i<GetRows(); ++i) {
00059     ifopt::Bounds bound(-v_[i],-v_[i]);
00060     bounds.push_back(bound);
00061   }
00062 
00063   return bounds;
00064 }
00065 
00066 void
00067 LinearEqualityConstraint::FillJacobianBlock (std::string var_set, Jacobian& jac) const
00068 {
00069   // the constraints are all linear w.r.t. the decision variables.
00070   // careful, sparseView is only valid when the Jacobian is constant
00071   if (var_set == variable_name_)
00072     jac = M_.sparseView();
00073 }
00074 
00075 } /* namespace towr */
00076 


towr_core
Author(s): Alexander W. Winkler
autogenerated on Mon Apr 9 2018 03:12:44