time_discretization_constraint.h
Go to the documentation of this file.
00001 /******************************************************************************
00002 Copyright (c) 2018, Alexander W. Winkler. All rights reserved.
00003 
00004 Redistribution and use in source and binary forms, with or without
00005 modification, are permitted provided that the following conditions are met:
00006 
00007 * Redistributions of source code must retain the above copyright notice, this
00008   list of conditions and the following disclaimer.
00009 
00010 * Redistributions in binary form must reproduce the above copyright notice,
00011   this list of conditions and the following disclaimer in the documentation
00012   and/or other materials provided with the distribution.
00013 
00014 * Neither the name of the copyright holder nor the names of its
00015   contributors may be used to endorse or promote products derived from
00016   this software without specific prior written permission.
00017 
00018 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00019 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00020 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00021 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00022 FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00023 DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00024 SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00025 CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00026 OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00027 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00028 ******************************************************************************/
00029 
00030 #ifndef TOWR_CONSTRAINTS_TIME_DISCRETIZATION_CONSTRAINT_H_
00031 #define TOWR_CONSTRAINTS_TIME_DISCRETIZATION_CONSTRAINT_H_
00032 
00033 #include <string>
00034 #include <vector>
00035 
00036 #include <ifopt/constraint_set.h>
00037 
00038 namespace towr {
00039 
00048 class TimeDiscretizationConstraint : public ifopt::ConstraintSet {
00049 public:
00050   using VecTimes = std::vector<double>;
00051   using Bounds   = ifopt::Bounds;
00052 
00059   TimeDiscretizationConstraint (double T, double dt, std::string constraint_name);
00060 
00066   TimeDiscretizationConstraint (const VecTimes& dts, std::string name);
00067   virtual ~TimeDiscretizationConstraint () = default;
00068 
00069   Eigen::VectorXd GetValues() const override;
00070   VecBound GetBounds() const override;
00071   void FillJacobianBlock (std::string var_set, Jacobian&) const override;
00072 
00073 protected:
00074   int GetNumberOfNodes() const;
00075   VecTimes dts_; 
00076 
00077 private:
00085   virtual void UpdateConstraintAtInstance(double t, int k, VectorXd& g) const = 0;
00086 
00094   virtual void UpdateBoundsAtInstance(double t, int k, VecBound& b) const = 0;
00095 
00104   virtual void UpdateJacobianAtInstance(double t, int k, std::string var_set,
00105                                         Jacobian& jac) const = 0;
00106 };
00107 
00108 } /* namespace towr */
00109 
00110 #endif /* TOWR_CONSTRAINTS_TIME_DISCRETIZATION_CONSTRAINT_H_ */


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