linear_constraint.h
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29 
30 #ifndef TOWR_CONSTRAINTS_LINEAR_CONSTRAINT_H_
31 #define TOWR_CONSTRAINTS_LINEAR_CONSTRAINT_H_
32 
33 #include <ifopt/constraint_set.h>
34 
35 namespace towr {
36 
43 public:
44  using MatrixXd = Eigen::MatrixXd;
45 
54  const VectorXd& v,
55  const std::string& variable_set);
56  virtual ~LinearEqualityConstraint () = default;
57 
58  VectorXd GetValues() const final;
59  VecBound GetBounds() const final;
60  void FillJacobianBlock (std::string var_set, Jacobian&) const final;
61 
62 private:
65  std::string variable_name_;
66 };
67 
68 } /* namespace towr */
69 
70 #endif /* TOWR_CONSTRAINTS_LINEAR_CONSTRAINT_H_ */
VecBound GetBounds() const final
Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
LinearEqualityConstraint(const MatrixXd &M, const VectorXd &v, const std::string &variable_set)
Defines the elements of the linear constraint as g = Mx+v = 0.
void FillJacobianBlock(std::string var_set, Jacobian &) const final
VectorXd GetValues() const final
virtual ~LinearEqualityConstraint()=default
Calculates the constraint violations for linear constraints.
std::vector< Bounds > VecBound
Eigen::VectorXd VectorXd


towr
Author(s): Alexander W. Winkler
autogenerated on Fri Apr 2 2021 02:14:16