#include <test_vars_constr_cost.h>
Public Member Functions | |
| ExConstraint () | |
| ExConstraint (const std::string &name) | |
| void | FillJacobianBlock (std::string var_set, Jacobian &jac_block) const override |
| Set individual Jacobians corresponding to each decision variable set. More... | |
| VecBound | GetBounds () const override |
| Returns the "bounds" of this component. More... | |
| VectorXd | GetValues () const override |
| Returns the "values" of whatever this component represents. More... | |
 Public Member Functions inherited from ifopt::ConstraintSet | |
| ConstraintSet (int n_constraints, const std::string &name) | |
Creates constraints on the variables x. More... | |
| Jacobian | GetJacobian () const final |
| The matrix of derivatives for these constraints and variables. More... | |
| void | LinkWithVariables (const VariablesPtr &x) |
| Connects the constraint with the optimization variables. More... | |
| virtual | ~ConstraintSet ()=default |
| Public Member Functions inherited from ifopt::Component | |
| Component (int num_rows, const std::string &name) | |
| Creates a component. More... | |
| std::string | GetName () const |
| Returns the name (id) of this component. More... | |
| int | GetRows () const |
| Returns the number of rows of this component. More... | |
| virtual void | Print (double tolerance, int &index_start) const |
| Prints the relevant information (name, rows, values) of this component. More... | |
| void | SetRows (int num_rows) |
| Sets the number of rows of this component. More... | |
| virtual | ~Component ()=default |
Additional Inherited Members | |
| Public Types inherited from ifopt::ConstraintSet | |
| using | Ptr = std::shared_ptr< ConstraintSet > |
| using | VariablesPtr = Composite::Ptr |
| Public Types inherited from ifopt::Component | |
| using | Jacobian = Eigen::SparseMatrix< double, Eigen::RowMajor > |
| using | Ptr = std::shared_ptr< Component > |
| using | VecBound = std::vector< Bounds > |
| using | VectorXd = Eigen::VectorXd |
| Static Public Attributes inherited from ifopt::Component | |
| static const int | kSpecifyLater = -1 |
| Protected Member Functions inherited from ifopt::ConstraintSet | |
| const VariablesPtr | GetVariables () const |
| Read access to the value of the optimization variables. More... | |
Detailed Description
Definition at line 104 of file test_vars_constr_cost.h.
Constructor & Destructor Documentation
◆ ExConstraint() [1/2]
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inline |
Definition at line 106 of file test_vars_constr_cost.h.
◆ ExConstraint() [2/2]
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inline |
Definition at line 110 of file test_vars_constr_cost.h.
Member Function Documentation
◆ FillJacobianBlock()
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inlineoverridevirtual |
Set individual Jacobians corresponding to each decision variable set.
- Parameters
-
var_set Set of variables the current Jacobian block belongs to. jac_block Columns of the overall Jacobian affected by var_set.
A convenience function so the user does not have to worry about the ordering of variable sets. All that is required is that the user knows the internal ordering of variables in each individual set and provides the Jacobian of the constraints w.r.t. this set (starting at column 0). GetJacobian() then inserts these columns at the correct position in the overall Jacobian.
If the constraint doen't depend on a var_set, this function should simply do nothing.
Attention: jac_bock is a sparse matrix, and must always have the same sparsity pattern. Therefore, it's better not to build a dense matrix and call .sparseView(), because if some entries happen to be zero for some iteration, that changes the sparsity pattern. A more robust way is to directly set as follows (which can also be set =0.0 without erros): jac_block.coeffRef(1, 3) = ...
Implements ifopt::ConstraintSet.
Definition at line 136 of file test_vars_constr_cost.h.
◆ GetBounds()
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inlineoverridevirtual |
Returns the "bounds" of this component.
- For Variable these are the upper and lower variable bound.
- For Constraint this represents the constraint bounds.
- For Cost these done't exists (set to infinity).
Implements ifopt::Component.
Definition at line 124 of file test_vars_constr_cost.h.
◆ GetValues()
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inlineoverridevirtual |
Returns the "values" of whatever this component represents.
- For Variable this represents the actual optimization values.
- For Constraint this represents the constraint value g.
- For Cost this represents the cost value.
Implements ifopt::Component.
Definition at line 113 of file test_vars_constr_cost.h.
The documentation for this class was generated from the following file: