Public Types | Public Member Functions | Private Attributes | List of all members
towr::LinearEqualityConstraint Class Reference

Calculates the constraint violations for linear constraints. More...

#include <linear_constraint.h>

Inheritance diagram for towr::LinearEqualityConstraint:
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Public Types

using MatrixXd = Eigen::MatrixXd
 
- Public Types inherited from ifopt::ConstraintSet
typedef std::shared_ptr< ConstraintSetPtr
 
typedef Composite::Ptr VariablesPtr
 
- Public Types inherited from ifopt::Component
typedef Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
 
typedef std::shared_ptr< ComponentPtr
 
typedef std::vector< BoundsVecBound
 
typedef Eigen::VectorXd VectorXd
 

Public Member Functions

void FillJacobianBlock (std::string var_set, Jacobian &) const final
 
VecBound GetBounds () const final
 
VectorXd GetValues () const final
 
 LinearEqualityConstraint (const MatrixXd &M, const VectorXd &v, const std::string &variable_set)
 Defines the elements of the linear constraint as g = Mx+v = 0. More...
 
virtual ~LinearEqualityConstraint ()=default
 
- Public Member Functions inherited from ifopt::ConstraintSet
 ConstraintSet (int n_constraints, const std::string &name)
 
Jacobian GetJacobian () const final
 
void LinkWithVariables (const VariablesPtr &x)
 
virtual ~ConstraintSet ()=default
 
- Public Member Functions inherited from ifopt::Component
 Component (int num_rows, const std::string &name)
 
std::string GetName () const
 
int GetRows () const
 
virtual void Print (double tolerance, int &index_start) const
 
void SetRows (int num_rows)
 
virtual ~Component ()=default
 

Private Attributes

MatrixXd M_
 
VectorXd v_
 
std::string variable_name_
 

Additional Inherited Members

- Static Public Attributes inherited from ifopt::Component
static const int kSpecifyLater
 
- Protected Member Functions inherited from ifopt::ConstraintSet
const VariablesPtr GetVariables () const
 

Detailed Description

Calculates the constraint violations for linear constraints.

Definition at line 42 of file linear_constraint.h.

Member Typedef Documentation

◆ MatrixXd

Definition at line 44 of file linear_constraint.h.

Constructor & Destructor Documentation

◆ LinearEqualityConstraint()

towr::LinearEqualityConstraint::LinearEqualityConstraint ( const MatrixXd M,
const VectorXd v,
const std::string &  variable_set 
)

Defines the elements of the linear constraint as g = Mx+v = 0.

Parameters
MThe matrix M defining the slope.
vThe vector v defining the constanct offset.
variable_setThe name of the variables x.

Definition at line 35 of file linear_constraint.cc.

◆ ~LinearEqualityConstraint()

virtual towr::LinearEqualityConstraint::~LinearEqualityConstraint ( )
virtualdefault

Member Function Documentation

◆ FillJacobianBlock()

void towr::LinearEqualityConstraint::FillJacobianBlock ( std::string  var_set,
Jacobian jac 
) const
finalvirtual

Implements ifopt::ConstraintSet.

Definition at line 67 of file linear_constraint.cc.

◆ GetBounds()

LinearEqualityConstraint::VecBound towr::LinearEqualityConstraint::GetBounds ( ) const
finalvirtual

Implements ifopt::Component.

Definition at line 54 of file linear_constraint.cc.

◆ GetValues()

LinearEqualityConstraint::VectorXd towr::LinearEqualityConstraint::GetValues ( ) const
finalvirtual

Implements ifopt::Component.

Definition at line 47 of file linear_constraint.cc.

Member Data Documentation

◆ M_

MatrixXd towr::LinearEqualityConstraint::M_
private

Definition at line 63 of file linear_constraint.h.

◆ v_

VectorXd towr::LinearEqualityConstraint::v_
private

Definition at line 64 of file linear_constraint.h.

◆ variable_name_

std::string towr::LinearEqualityConstraint::variable_name_
private

Definition at line 65 of file linear_constraint.h.


The documentation for this class was generated from the following files:


towr
Author(s): Alexander W. Winkler
autogenerated on Mon Feb 28 2022 23:54:22