time_discretization_constraint.h
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29 
30 #ifndef TOWR_CONSTRAINTS_TIME_DISCRETIZATION_CONSTRAINT_H_
31 #define TOWR_CONSTRAINTS_TIME_DISCRETIZATION_CONSTRAINT_H_
32 
33 #include <string>
34 #include <vector>
35 
36 #include <ifopt/constraint_set.h>
37 
38 namespace towr {
39 
51 public:
52  using VecTimes = std::vector<double>;
54 
61  TimeDiscretizationConstraint (double T, double dt, std::string constraint_name);
62 
68  TimeDiscretizationConstraint (const VecTimes& dts, std::string name);
69  virtual ~TimeDiscretizationConstraint () = default;
70 
71  Eigen::VectorXd GetValues() const override;
72  VecBound GetBounds() const override;
73  void FillJacobianBlock (std::string var_set, Jacobian&) const override;
74 
75 protected:
76  int GetNumberOfNodes() const;
78 
79 private:
87  virtual void UpdateConstraintAtInstance(double t, int k, VectorXd& g) const = 0;
88 
96  virtual void UpdateBoundsAtInstance(double t, int k, VecBound& b) const = 0;
97 
106  virtual void UpdateJacobianAtInstance(double t, int k, std::string var_set,
107  Jacobian& jac) const = 0;
108 };
109 
110 } /* namespace towr */
111 
112 #endif /* TOWR_CONSTRAINTS_TIME_DISCRETIZATION_CONSTRAINT_H_ */
virtual void UpdateBoundsAtInstance(double t, int k, VecBound &b) const =0
Sets upper/lower bound a specific time t, corresponding to node k.
void FillJacobianBlock(std::string var_set, Jacobian &) const override
Constraints evaluated at discretized times along a trajectory.
TimeDiscretizationConstraint(double T, double dt, std::string constraint_name)
Constructs a constraint for ifopt.
Eigen::VectorXd GetValues() const override
virtual void UpdateJacobianAtInstance(double t, int k, std::string var_set, Jacobian &jac) const =0
Sets Jacobian rows at a specific time t, corresponding to node k.
Eigen::VectorXd VectorXd
Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
virtual ~TimeDiscretizationConstraint()=default
VecTimes dts_
times at which the constraint is evaluated.
std::vector< Bounds > VecBound
virtual void UpdateConstraintAtInstance(double t, int k, VectorXd &g) const =0
Sets the constraint value a specific time t, corresponding to node k.
Eigen::VectorXd VectorXd


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