linear_constraint.h
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29 
30 #ifndef TOWR_CONSTRAINTS_LINEAR_CONSTRAINT_H_
31 #define TOWR_CONSTRAINTS_LINEAR_CONSTRAINT_H_
32 
33 #include <ifopt/constraint_set.h>
34 
35 namespace towr {
36 
40 class LinearEqualityConstraint : public ifopt::ConstraintSet {
41 public:
42  using MatrixXd = Eigen::MatrixXd;
43 
52  const VectorXd& v,
53  const std::string& variable_set);
54  virtual ~LinearEqualityConstraint () = default;
55 
56  VectorXd GetValues() const override final;
57  VecBound GetBounds() const override final;
58  void FillJacobianBlock (std::string var_set, Jacobian&) const override final;
59 
60 private:
63  std::string variable_name_;
64 };
65 
66 } /* namespace towr */
67 
68 #endif /* TOWR_CONSTRAINTS_LINEAR_CONSTRAINT_H_ */
VectorXd GetValues() const overridefinal
Eigen::VectorXd VectorXd
void FillJacobianBlock(std::string var_set, Jacobian &) const overridefinal
LinearEqualityConstraint(const MatrixXd &M, const VectorXd &v, const std::string &variable_set)
Defines the elements of the linear constraint as g = Mx+v = 0.
virtual ~LinearEqualityConstraint()=default
Calculates the constraint violations for linear constraints.
VecBound GetBounds() const overridefinal


towr_core
Author(s): Alexander W. Winkler
autogenerated on Sat Apr 7 2018 02:15:57