ifopt::ExCost Class Reference

#include <test_vars_constr_cost.h>

Inheritance diagram for ifopt::ExCost:

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. More...
double	GetCost () const override
	Returns the scalar cost term calculated from the variables. More...
Public Member Functions inherited from ifopt::CostTerm
	CostTerm (const std::string &name)
VecBound	GetBounds () const final
	Returns infinite bounds (e.g. no bounds). More...
VectorXd	GetValues () const final
	Wrapper function that converts double to Eigen::VectorXd. More...
void	Print (double tol, int &index) const final
virtual	~CostTerm ()=default
Public Member Functions inherited from ifopt::ConstraintSet
	ConstraintSet (int n_constraints, const std::string &name)
	Creates constraints on the variables x. More...
Jacobian	GetJacobian () const final
	The matrix of derivatives for these constraints and variables. More...
void	LinkWithVariables (const VariablesPtr &x)
	Connects the constraint with the optimization variables. More...
virtual	~ConstraintSet ()=default
Public Member Functions inherited from ifopt::Component
	Component (int num_rows, const std::string &name)
	Creates a component. More...
std::string	GetName () const
	Returns the name (id) of this component. More...
int	GetRows () const
	Returns the number of rows of this component. More...
void	SetRows (int num_rows)
	Sets the number of rows of this component. More...
virtual	~Component ()=default

Additional Inherited Members
Public Types inherited from ifopt::ConstraintSet
using	Ptr = std::shared_ptr< ConstraintSet >
using	VariablesPtr = Composite::Ptr
Public Types inherited from ifopt::Component
using	Jacobian = Eigen::SparseMatrix< double, Eigen::RowMajor >
using	Ptr = std::shared_ptr< Component >
using	VecBound = std::vector< Bounds >
using	VectorXd = Eigen::VectorXd
Static Public Attributes inherited from ifopt::Component
static const int	kSpecifyLater = -1
Protected Member Functions inherited from ifopt::ConstraintSet
const VariablesPtr	GetVariables () const
	Read access to the value of the optimization variables. More...

Detailed Description

Definition at line 152 of file test_vars_constr_cost.h.

Constructor & Destructor Documentation

ifopt::ExCost::ExCost ( )

inline

Definition at line 154 of file test_vars_constr_cost.h.

ifopt::ExCost::ExCost ( const std::string &  name )

inline

Definition at line 155 of file test_vars_constr_cost.h.

Member Function Documentation

void ifopt::ExCost::FillJacobianBlock ( std::string  var_set, Jacobian &  jac_block  ) const

inlineoverridevirtual

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.

Attention: jac_bock is a sparse matrix, and must always have the same sparsity pattern. Therefore, it's better not to build a dense matrix and call .sparseView(), because if some entries happen to be zero for some iteration, that changes the sparsity pattern. A more robust way is to directly set as follows (which can also be set =0.0 without erros): jac_block.coeffRef(1, 3) = ...

Implements ifopt::ConstraintSet.

Definition at line 163 of file test_vars_constr_cost.h.

double ifopt::ExCost::GetCost ( ) const

inlineoverridevirtual

Returns the scalar cost term calculated from the variables.

Implements ifopt::CostTerm.

Definition at line 157 of file test_vars_constr_cost.h.

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The documentation for this class was generated from the following file:

• test_vars_constr_cost.h