30 #ifndef EXOTICA_CORE_UNCONSTRAINED_TIME_INDEXED_PROBLEM_H_ 31 #define EXOTICA_CORE_UNCONSTRAINED_TIME_INDEXED_PROBLEM_H_ 37 #include <exotica_core/unconstrained_time_indexed_problem_initializer.h> 51 void Instantiate(
const UnconstrainedTimeIndexedProblemInitializer& init)
override;
65 Eigen::MatrixXd
GetBounds()
const =
delete;
69 Eigen::VectorXd
GetGoalEQ(
const std::string& task_name,
int t = 0) =
delete;
70 void SetRhoEQ(
const std::string& task_name,
const double rho,
int t = 0) =
delete;
71 double GetRhoEQ(
const std::string& task_name,
int t = 0) =
delete;
73 Eigen::VectorXd
GetGoalNEQ(
const std::string& task_name,
int t = 0) =
delete;
74 void SetRhoNEQ(
const std::string& task_name,
const double rho,
int t = 0) =
delete;
75 double GetRhoNEQ(
const std::string& task_name,
int t = 0) =
delete;
101 #endif // EXOTICA_CORE_UNCONSTRAINED_TIME_INDEXED_PROBLEM_H_ void SetRhoEQ(const std::string &task_name, const double rho, int t=0)=delete
void Update(Eigen::VectorXdRefConst x_trajectory_in)
Updates the entire problem from a given trajectory (e.g., used in an optimization solver) ...
Eigen::SparseMatrix< double > GetEqualityJacobian() const =delete
std::vector< Eigen::Triplet< double > > GetJointVelocityConstraintJacobianTriplets() const =delete
UnconstrainedTimeIndexedProblem()=default
Eigen::VectorXd GetJointVelocityConstraint() const =delete
bool IsValid() override
Evaluates whether the problem is valid.
void ReinitializeVariables() override
Eigen::VectorXd GetJointVelocityLimits() const =delete
virtual ~UnconstrainedTimeIndexedProblem()=default
int get_active_nonlinear_inequality_constraints_dimension() const =delete
double GetRhoEQ(const std::string &task_name, int t=0)=delete
void SetRhoNEQ(const std::string &task_name, const double rho, int t=0)=delete
Eigen::VectorXd GetGoalEQ(const std::string &task_name, int t=0)=delete
void SetGoalNEQ(const std::string &task_name, Eigen::VectorXdRefConst goal, int t=0)=delete
int get_active_nonlinear_equality_constraints_dimension() const =delete
std::shared_ptr< exotica::UnconstrainedTimeIndexedProblem > UnconstrainedTimeIndexedProblemPtr
double GetRhoNEQ(const std::string &task_name, int t=0)=delete
std::vector< Eigen::Triplet< double > > GetEqualityJacobianTriplets() const =delete
void Instantiate(const UnconstrainedTimeIndexedProblemInitializer &init) override
Instantiates the problem from an Initializer.
const Eigen::Ref< const Eigen::VectorXd > & VectorXdRefConst
Convenience wrapper for storing references to sub-matrices/vectors.
Eigen::MatrixXd GetBounds() const =delete
Eigen::VectorXd GetGoalNEQ(const std::string &task_name, int t=0)=delete
Eigen::SparseMatrix< double > GetInequalityJacobian() const =delete
std::vector< Eigen::Triplet< double > > GetInequalityJacobianTriplets() const =delete
void Update(Eigen::VectorXdRefConst x_in, int t) override
Updates an individual timestep from a given state vector.
Eigen::VectorXd GetEquality() const =delete
Unconstrained time-indexed problem.
int get_joint_velocity_constraint_dimension() const =delete
Eigen::MatrixXd GetJointVelocityConstraintBounds() const =delete
void PreUpdate() override
Updates internal variables before solving, e.g., after setting new values for Rho.
void SetGoalEQ(const std::string &task_name, Eigen::VectorXdRefConst goal, int t=0)=delete
void SetJointVelocityLimits(const Eigen::VectorXd &qdot_max_in)=delete
Eigen::VectorXd GetInequality() const =delete