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 
47 class ConstraintSet : public Component {
48 public:
49  using Ptr = std::shared_ptr<ConstraintSet>;
51 
57  ConstraintSet(int n_constraints, const std::string& name);
58  virtual ~ConstraintSet() = default;
59 
67  virtual void LinkWithVariables(const VariablesPtr& x) final;
68 
79  Jacobian GetJacobian() const override final;
80 
81 protected:
87  const VariablesPtr GetVariables() const { return variables_; };
88 
89 private:
105  virtual void FillJacobianBlock(std::string var_set, Jacobian& jac_block) const = 0;
107 
116  virtual void InitVariableDependedQuantities(const VariablesPtr& x_init) {};
117 
118  // doesn't exist for constraints, generated run-time error when used
119  virtual void SetVariables(const VectorXd& x) override final { assert(false); };
120 };
121 
122 
123 } // namespace ifopt
124 
125 
126 #endif /* IFOPT_INCLUDE_IFOPT_CONSTRAINT_SET_H_ */
std::shared_ptr< Composite > Ptr
Definition: composite.h:170
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:42
virtual void LinkWithVariables(const VariablesPtr &x) final
Connects the constraint with the optimization variables.
Definition: leaves.cc:72
Jacobian GetJacobian() const overridefinal
The matrix of derivatives for these constraints and variables.
Definition: leaves.cc:48
std::shared_ptr< Component > Ptr
Definition: composite.h:73
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:75
Definition: bounds.h:33
Interface representing either Variable, Cost or Constraint.
Definition: composite.h:71
VariablesPtr variables_
virtual void InitVariableDependedQuantities(const VariablesPtr &x_init)
Initialize quantities that depend on the optimization variables.
virtual void SetVariables(const VectorXd &x) overridefinal
Sets the optimization variables from an Eigen vector.
virtual ~ConstraintSet()=default
Eigen::VectorXd VectorXd
Definition: composite.h:76


ifopt_core
Author(s): Alexander W. Winkler
autogenerated on Fri Apr 20 2018 02:27:34