35 #ifndef ACADO_TOOLKIT_CONSTRAINT_ELEMENT_HPP 36 #define ACADO_TOOLKIT_CONSTRAINT_ELEMENT_HPP 195 inline int getNX ()
const;
200 inline int getNXA ()
const;
205 inline int getNU ()
const;
210 inline int getNP ()
const;
215 inline int getNW ()
const;
312 #include <acado/constraint/constraint_element.ipp> 315 #endif // ACADO_TOOLKIT_CONSTRAINT_ELEMENT_HPP
virtual ~ConstraintElement()
Data class for storing generic optimization variables.
Implements a very rudimentary block sparse matrix class.
Allows to setup and evaluate a general function based on SymbolicExpressions.
returnValue init(const OCPiterate &iter)
ConstraintElement & operator=(const ConstraintElement &rhs)
Allows to pass back messages to the calling function.
Allows to setup function evaluation points.
Allows to conveniently handle (one-dimensional) grids consisting of time points.
#define CLOSE_NAMESPACE_ACADO
BooleanType isAffine() const
virtual returnValue setBackwardSeed(BlockMatrix *seed, int order)
virtual returnValue setUnitForwardSeed()
Base class for all kind of constraints (except for bounds) within optimal control problems...
virtual returnValue getResiduum(BlockMatrix &lower_residuum, BlockMatrix &upper_residuum)
virtual returnValue setForwardSeed(BlockMatrix *xSeed_, BlockMatrix *xaSeed_, BlockMatrix *pSeed_, BlockMatrix *uSeed_, BlockMatrix *wSeed_, int order)
virtual returnValue initializeEvaluationPoints(const OCPiterate &iter)
virtual returnValue getBackwardSensitivities(BlockMatrix *D, int order)
void rhs(const real_t *x, real_t *f)
#define BEGIN_NAMESPACE_ACADO
virtual returnValue getForwardSensitivities(BlockMatrix *D, int order)