Struct IpoptInterfaceData

Defined in File ipopt-iface.hpp

Struct Documentation

struct IpoptInterfaceData

Public Functions

inline EIGEN_MAKE_ALIGNED_OPERATOR_NEW IpoptInterfaceData(const std::size_t nx, const std::size_t ndx, const std::size_t nu)

inline void resize(const std::size_t nx, const std::size_t ndx, const std::size_t nu)

Public Members

Eigen::VectorXd x: Integrated state.

Eigen::VectorXd xnext: Integrated state at next node.

Eigen::VectorXd dx: Increment in the tangent space.

Eigen::VectorXd dxnext: Increment in the tangent space at next node.

Eigen::VectorXd x_diff: State difference.

Eigen::VectorXd u: Control.

Eigen::MatrixXd Jint_dx: Jacobian of the sum operation w.r.t dx.

Eigen::MatrixXd Jint_dxnext: Jacobian of the sum operation w.r.t dx at next node.

Eigen::MatrixXd Jdiff_x: Jacobian of the diff operation w.r.t the first element.

Eigen::MatrixXd Jdiff_xnext: Jacobian of the diff operation w.r.t the first element at the next node

Eigen::MatrixXd Jg_dx: Jacobian of the dynamic constraint w.r.t dx.

Eigen::MatrixXd Jg_dxnext: Jacobian of the dynamic constraint w.r.t dxnext.

Eigen::MatrixXd Jg_u: Jacobian of the dynamic constraint w.r.t u.

Eigen::MatrixXd Jg_ic: Jacobian of the initial condition constraint w.r.t dx.

Eigen::MatrixXd FxJint_dx: Intermediate computation needed for Jg_ic.

Eigen::VectorXd Ldx: Jacobian of the cost w.r.t dx.

Eigen::MatrixXd Ldxdx: Hessian of the cost w.r.t dxdx.

Eigen::MatrixXd Ldxu: Hessian of the cost w.r.t dxu.