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 
50 class TotalDurationConstraint : public ifopt::ConstraintSet {
51 public:
52  using EE = uint;
53 
54  TotalDurationConstraint(double T_total, int ee);
55  ~TotalDurationConstraint() = default;
56 
57  virtual void InitVariableDependedQuantities(const VariablesPtr& x) override;
58 
59  VectorXd GetValues() const override;
60  VecBound GetBounds() const override;
61  void FillJacobianBlock (std::string var_set, Jacobian&) const override;
62 
63 private:
65  double T_total_;
67 };
68 
69 } // namespace towr
70 
71 #endif /* TOWR_CONSTRAINTS_TOTAL_DURATION_CONSTRAINT_H_ */
TotalDurationConstraint(double T_total, int ee)
std::shared_ptr< PhaseDurations > Ptr
Eigen::VectorXd VectorXd
void FillJacobianBlock(std::string var_set, Jacobian &) const override
Makes sure all the phase durations sum up to the total time.
virtual void InitVariableDependedQuantities(const VariablesPtr &x) override


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