Template Struct IpoptInterfaceDataTpl

Defined in File ipopt-iface.hpp

Struct Documentation

template<typename _Scalar> struct IpoptInterfaceDataTpl

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

Public Functions

inline IpoptInterfaceDataTpl(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_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

VectorXs x: Integrated state.

VectorXs xnext: Integrated state at next node.

VectorXs dx: Increment in the tangent space.

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

VectorXs x_diff: State difference.

VectorXs u: Control.

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

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

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

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

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

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

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

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

MatrixXs FxJint_dx: Intermediate computation needed for Jg_ic.

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

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

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