constraint_set.h

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#ifndef IFOPT_INCLUDE_IFOPT_CONSTRAINT_SET_H_
#define IFOPT_INCLUDE_IFOPT_CONSTRAINT_SET_H_
 
#include "composite.h"
 
namespace ifopt {
 
class ConstraintSet : public Component {
 public:
  using Ptr          = std::shared_ptr<ConstraintSet>;
  using VariablesPtr = Composite::Ptr;
 
  ConstraintSet(int n_constraints, const std::string& name);
  virtual ~ConstraintSet() = default;
 
  void LinkWithVariables(const VariablesPtr& x);
 
  Jacobian GetJacobian() const final;
 
  virtual void FillJacobianBlock(std::string var_set,
                                 Jacobian& jac_block) const = 0;
 
 protected:
  const VariablesPtr GetVariables() const { return variables_; };
 
 private:
  VariablesPtr variables_;
 
  virtual void InitVariableDependedQuantities(const VariablesPtr& /*x_init*/){};
 
  // doesn't exist for constraints, generated run-time error when used
  void SetVariables(const VectorXd& /*x*/) final { assert(false); };
};
 
}  // namespace ifopt
 
#endif /* IFOPT_INCLUDE_IFOPT_CONSTRAINT_SET_H_ */