constraint_set.h
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29 
30 #ifndef IFOPT_INCLUDE_IFOPT_CONSTRAINT_SET_H_
31 #define IFOPT_INCLUDE_IFOPT_CONSTRAINT_SET_H_
32 
33 #include "composite.h"
34 
35 namespace ifopt {
36 
51 class ConstraintSet : public Component {
52 public:
53  using Ptr = std::shared_ptr<ConstraintSet>;
55 
61  ConstraintSet(int n_constraints, const std::string& name);
62  virtual ~ConstraintSet() = default;
63 
71  void LinkWithVariables(const VariablesPtr& x);
72 
83  Jacobian GetJacobian() const final;
84 
85 protected:
91  const VariablesPtr GetVariables() const { return variables_; };
92 
93 private:
109  virtual void FillJacobianBlock(std::string var_set, Jacobian& jac_block) const = 0;
111 
120  virtual void InitVariableDependedQuantities(const VariablesPtr& x_init) {};
121 
122  // doesn't exist for constraints, generated run-time error when used
123  void SetVariables(const VectorXd& x) final { assert(false); };
124 };
125 
126 
127 } // namespace ifopt
128 
129 
130 #endif /* IFOPT_INCLUDE_IFOPT_CONSTRAINT_SET_H_ */
std::shared_ptr< Composite > Ptr
Definition: composite.h:164
A container holding a set of related constraints.
Composite::Ptr VariablesPtr
const VariablesPtr GetVariables() const
Read access to the value of the optimization variables.
ConstraintSet(int n_constraints, const std::string &name)
Creates constraints on the variables x.
Definition: leaves.cc:45
void LinkWithVariables(const VariablesPtr &x)
Connects the constraint with the optimization variables.
Definition: leaves.cc:80
std::shared_ptr< Component > Ptr
Definition: composite.h:65
virtual void FillJacobianBlock(std::string var_set, Jacobian &jac_block) const =0
Set individual Jacobians corresponding to each decision variable set.
Declares the classes Composite and Component used as variables, costs and constraints.
Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
Definition: composite.h:67
common namespace for all elements in this library.
Definition: bounds.h:33
Interface representing either Variable, Cost or Constraint.
Definition: composite.h:63
VariablesPtr variables_
virtual void InitVariableDependedQuantities(const VariablesPtr &x_init)
Initialize quantities that depend on the optimization variables.
Jacobian GetJacobian() const final
The matrix of derivatives for these constraints and variables.
Definition: leaves.cc:51
void SetVariables(const VectorXd &x) final
Sets the optimization variables from an Eigen vector.
virtual ~ConstraintSet()=default
Eigen::VectorXd VectorXd
Definition: composite.h:68


ifopt
Author(s): Alexander W. Winkler
autogenerated on Fri May 17 2019 02:29:49