37 using namespace ifopt;
49 std::cout << nlp.
GetOptVariables()->GetValues().transpose() << std::endl;
void AddCostSet(CostTerm::Ptr cost_set)
static void Solve(Problem &nlp)
Creates a snoptProblemA from nlp and solves it.
void AddConstraintSet(ConstraintSet::Ptr constraint_set)
void AddVariableSet(VariableSet::Ptr variable_set)
Composite::Ptr GetOptVariables() const