#include <ex_problem.h>
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... | |
virtual 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) | |
virtual VecBound | GetBounds () const overridefinal |
Returns infinite bounds (e.g. no bounds). More... | |
virtual VectorXd | GetValues () const overridefinal |
Wrapper function that converts double to Eigen::VectorXd. More... | |
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 overridefinal |
The matrix of derivatives for these constraints and variables. More... | |
virtual void | LinkWithVariables (const VariablesPtr &x) final |
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... | |
virtual void | Print () const |
Prints the relevant information (name, rows, values) 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... | |
Definition at line 145 of file ex_problem.h.
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inline |
Definition at line 147 of file ex_problem.h.
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inline |
Definition at line 148 of file ex_problem.h.
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inlineoverridevirtual |
Set individual Jacobians corresponding to each decision variable set.
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.
Implements ifopt::ConstraintSet.
Definition at line 156 of file ex_problem.h.
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inlineoverridevirtual |
Returns the scalar cost term calculated from the variables
.
Implements ifopt::CostTerm.
Definition at line 150 of file ex_problem.h.