linear_constraint.cc
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29 
31 
32 namespace towr {
33 
34 
36  const Eigen::MatrixXd& M,
37  const Eigen::VectorXd& v,
38  const std::string& variable_name)
39  : ConstraintSet(v.rows(), "linear-equality-" + variable_name)
40 {
41  M_ = M;
42  v_ = v;
43  variable_name_ = variable_name;
44 }
45 
48 {
49  VectorXd x = GetVariables()->GetComponent(variable_name_)->GetValues();
50  return M_*x;
51 }
52 
55 {
56  VecBound bounds;
57 
58  for (int i=0; i<GetRows(); ++i) {
59  ifopt::Bounds bound(-v_[i],-v_[i]);
60  bounds.push_back(bound);
61  }
62 
63  return bounds;
64 }
65 
66 void
67 LinearEqualityConstraint::FillJacobianBlock (std::string var_set, Jacobian& jac) const
68 {
69  // the constraints are all linear w.r.t. the decision variables.
70  // careful, sparseView is only valid when the Jacobian is constant
71  if (var_set == variable_name_)
72  jac = M_.sparseView();
73 }
74 
75 } /* namespace towr */
76 
VecBound GetBounds() const final
const VariablesPtr GetVariables() const
Eigen::VectorXd VectorXd
Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
LinearEqualityConstraint(const MatrixXd &M, const VectorXd &v, const std::string &variable_set)
Defines the elements of the linear constraint as g = Mx+v = 0.
void FillJacobianBlock(std::string var_set, Jacobian &) const final
VectorXd GetValues() const final
std::vector< Bounds > VecBound
int GetRows() const
Eigen::VectorXd VectorXd


towr
Author(s): Alexander W. Winkler
autogenerated on Fri Apr 2 2021 02:14:16