leaves.cc
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29 
30 #include <ifopt/variable_set.h>
31 #include <ifopt/constraint_set.h>
32 #include <ifopt/cost_term.h>
33 
34 
35 namespace ifopt {
36 
37 VariableSet::VariableSet(int n_var, const std::string& name)
38  : Component(n_var, name)
39 {
40 }
41 
42 ConstraintSet::ConstraintSet (int row_count, const std::string& name)
43  : Component(row_count, name)
44 {
45 }
46 
49 {
50  Jacobian jacobian(GetRows(), variables_->GetRows());
51 
52  int col = 0;
53  for (const auto& vars : variables_->GetComponents()) {
54 
55  int n = vars->GetRows();
56  Jacobian jac = Jacobian(GetRows(), n);
57 
58  FillJacobianBlock(vars->GetName(), jac);
59 
60  // insert the derivative in the correct position in the overall Jacobian
61  for (int k=0; k<jac.outerSize(); ++k)
62  for (Jacobian::InnerIterator it(jac,k); it; ++it)
63  jacobian.coeffRef(it.row(), col+it.col()) = it.value();
64 
65  col += n;
66  }
67 
68  return jacobian;
69 }
70 
71 void
73 {
74  variables_ = x;
76 }
77 
78 CostTerm::CostTerm (const std::string& name) :ConstraintSet(1, name)
79 {
80 }
81 
84 {
85  VectorXd cost(1);
86  cost(0) = GetCost();
87  return cost;
88 }
89 
92 {
93  return VecBound(GetRows(), NoBound);
94 }
95 
96 
97 } /* namespace opt */
virtual double GetCost() const =0
Returns the scalar cost term calculated from the variables.
virtual VecBound GetBounds() const overridefinal
Returns infinite bounds (e.g. no bounds).
Definition: leaves.cc:91
A container holding a set of related constraints.
Composite::Ptr VariablesPtr
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
static const Bounds NoBound
Definition: bounds.h:68
virtual void FillJacobianBlock(std::string var_set, Jacobian &jac_block) const =0
Set individual Jacobians corresponding to each decision variable set.
VariableSet(int n_var, const std::string &name)
Creates a set of variables representing a single concept.
Definition: leaves.cc:37
Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
Definition: composite.h:75
Definition: bounds.h:33
CostTerm(const std::string &name)
Definition: leaves.cc:78
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 VectorXd GetValues() const overridefinal
Wrapper function that converts double to Eigen::VectorXd.
Definition: leaves.cc:83
std::vector< Bounds > VecBound
Definition: composite.h:77
int GetRows() const
Returns the number of rows of this component.
Definition: composite.cc:43
Eigen::VectorXd VectorXd
Definition: composite.h:76


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