A container holding a set of related optimization variables. More...
#include <variable_set.h>
Inheritance diagram for ifopt::VariableSet:
Public Member Functions | |
| Jacobian | GetJacobian () const final |
| Returns derivatives of each row w.r.t. the variables. More... | |
| VariableSet (int n_var, const std::string &name) | |
| Creates a set of variables representing a single concept. More... | |
| virtual | ~VariableSet ()=default |
 Public Member Functions inherited from ifopt::Component | |
| Component (int num_rows, const std::string &name) | |
| Creates a component. More... | |
| virtual VecBound | GetBounds () const =0 |
| Returns the "bounds" of this 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 VectorXd | GetValues () const =0 |
| Returns the "values" of whatever this component represents. 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 void | SetVariables (const VectorXd &x)=0 |
| Sets the optimization variables from an Eigen vector. More... | |
| virtual | ~Component ()=default |
Additional Inherited Members | |
| 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 |
Detailed Description
A container holding a set of related optimization variables.
This is a single set of variables representing a single concept, e.g "spline coefficients" or "step durations".
- See also
- Component
Definition at line 73 of file variable_set.h.
Constructor & Destructor Documentation
◆ VariableSet()
| ifopt::VariableSet::VariableSet | ( | int | n_var, |
| const std::string & | name | ||
| ) |
◆ ~VariableSet()
|
virtualdefault |
Member Function Documentation
◆ GetJacobian()
|
inlinefinalvirtual |
Returns derivatives of each row w.r.t. the variables.
- For Constraint this is a matrix with one row per constraint.
- For a Cost this is a row vector (gradient transpose).
- Not sensible for Variable.
Implements ifopt::Component.
Definition at line 111 of file variable_set.h.
The documentation for this class was generated from the following files: