towr::LinearEqualityConstraint Class Reference

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

#include <linear_constraint.h>

Inheritance diagram for towr::LinearEqualityConstraint:

Public Types
using	MatrixXd = Eigen::MatrixXd
Public Types inherited from ifopt::ConstraintSet
typedef std::shared_ptr< ConstraintSet >	Ptr
typedef Composite::Ptr	VariablesPtr
Public Types inherited from ifopt::Component
typedef Eigen::SparseMatrix< double, Eigen::RowMajor >	Jacobian
typedef std::shared_ptr< Component >	Ptr
typedef std::vector< Bounds >	VecBound
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

using towr::LinearEqualityConstraint::MatrixXd = Eigen::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

M	The matrix M defining the slope.
v	The vector v defining the constanct offset.
variable_set	The 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.

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

• linear_constraint.h
• linear_constraint.cc