30 #ifndef IFOPT_INCLUDE_IFOPT_VARIABLE_SET_H_ 31 #define IFOPT_INCLUDE_IFOPT_VARIABLE_SET_H_ 58 throw std::runtime_error(
"not implemented for variables");
VariableSet(int n_var, const std::string &name)
Creates a set of variables representing a single concept.
virtual ~VariableSet()=default
Declares the classes Composite and Component used as variables, costs and constraints.
Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
Interface representing either Variable, Cost or Constraint.
A container holding a set of related optimization variables.
virtual Jacobian GetJacobian() const overridefinal
Returns derivatives of each row w.r.t. the variables.