time_discretization_constraint.cc
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29 
31 
32 #include <cmath>
33 
34 namespace towr {
35 
36 
38  std::string name)
39  :ConstraintSet(kSpecifyLater, name)
40 {
41  double t = 0.0;
42  dts_ = {t};
43 
44  for (int i=0; i<floor(T/dt); ++i) {
45  t += dt;
46  dts_.push_back(t);
47  }
48 
49  dts_.push_back(T); // also ensure constraints at very last node/time.
50 }
51 
53  std::string name)
54  :ConstraintSet(kSpecifyLater, name) // just placeholder
55 {
56  dts_ = times;
57 }
58 
59 int
61 {
62  return dts_.size();
63 }
64 
67 {
68  VectorXd g = VectorXd::Zero(GetRows());
69 
70  int k = 0;
71  for (double t : dts_)
72  UpdateConstraintAtInstance(t, k++, g);
73 
74  return g;
75 }
76 
79 {
80  VecBound bounds(GetRows());
81 
82  int k = 0;
83  for (double t : dts_)
84  UpdateBoundsAtInstance(t, k++, bounds);
85 
86  return bounds;
87 }
88 
89 void
91  Jacobian& jac) const
92 {
93  int k = 0;
94  for (double t : dts_)
95  UpdateJacobianAtInstance(t, k++, var_set, jac);
96 }
97 
98 } /* namespace towr */
99 
100 
virtual void UpdateBoundsAtInstance(double t, int k, VecBound &b) const =0
Sets upper/lower bound a specific time t, corresponding to node k.
void FillJacobianBlock(std::string var_set, Jacobian &) const override
TimeDiscretizationConstraint(double T, double dt, std::string constraint_name)
Constructs a constraint for ifopt.
Eigen::VectorXd GetValues() const override
static const int kSpecifyLater
virtual void UpdateJacobianAtInstance(double t, int k, std::string var_set, Jacobian &jac) const =0
Sets Jacobian rows at a specific time t, corresponding to node k.
ConstraintSet(int n_constraints, const std::string &name)
Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
VecTimes dts_
times at which the constraint is evaluated.
std::vector< Bounds > VecBound
int GetRows() const
virtual void UpdateConstraintAtInstance(double t, int k, VectorXd &g) const =0
Sets the constraint value a specific time t, corresponding to node k.
Eigen::VectorXd VectorXd


towr
Author(s): Alexander W. Winkler
autogenerated on Sat Apr 13 2019 02:28:00