total_duration_constraint.h
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29 
30 #ifndef TOWR_CONSTRAINTS_TOTAL_DURATION_CONSTRAINT_H_
31 #define TOWR_CONSTRAINTS_TOTAL_DURATION_CONSTRAINT_H_
32 
33 #include <ifopt/constraint_set.h>
34 
36 
37 namespace towr {
38 
53 public:
54  using EE = uint;
55 
56  TotalDurationConstraint(double T_total, int ee);
57  ~TotalDurationConstraint() = default;
58 
59  void InitVariableDependedQuantities(const VariablesPtr& x) override;
60 
61  VectorXd GetValues() const override;
62  VecBound GetBounds() const override;
63  void FillJacobianBlock (std::string var_set, Jacobian&) const override;
64 
65 private:
67  double T_total_;
69 };
70 
71 } // namespace towr
72 
73 #endif /* TOWR_CONSTRAINTS_TOTAL_DURATION_CONSTRAINT_H_ */
Composite::Ptr VariablesPtr
TotalDurationConstraint(double T_total, int ee)
std::shared_ptr< PhaseDurations > Ptr
void FillJacobianBlock(std::string var_set, Jacobian &) const override
Makes sure all the phase durations sum up to the total time.
Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
void InitVariableDependedQuantities(const VariablesPtr &x) override
std::vector< Bounds > VecBound
Eigen::VectorXd VectorXd


towr
Author(s): Alexander W. Winkler
autogenerated on Sat Apr 13 2019 02:28:00