soft_constraint.h
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29 
30 #ifndef TOWR_COSTS_SOFT_CONSTRAINT_H_
31 #define TOWR_COSTS_SOFT_CONSTRAINT_H_
32 
33 #include <ifopt/cost_term.h>
34 
35 namespace towr {
36 
60 public:
61  using ConstraintPtr = Component::Ptr;
62 
70  SoftConstraint (const ConstraintPtr& constraint);
71  virtual ~SoftConstraint () = default;
72 
73 private:
77 
83  VectorXd GetValues () const override;
84 
90  Jacobian GetJacobian() const override;
91 
92  // doesn't exist for cost, generated run-time error when used
93  VecBound GetBounds() const final { return VecBound(GetRows(), ifopt::NoBound); };
94  void SetVariables(const VectorXd& x) final { assert(false); };
95 };
96 
97 } /* namespace towr */
98 
99 #endif /* TOWR_COSTS_SOFT_CONSTRAINT_H_ */
Jacobian GetJacobian() const override
The row-vector of derivatives of the cost term.
VecBound GetBounds() const final
virtual ~SoftConstraint()=default
ConstraintPtr constraint_
Component::Ptr ConstraintPtr
static const Bounds NoBound
SoftConstraint(const ConstraintPtr &constraint)
Creates a soft constraint (=cost) from a hard constraint.
Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
void SetVariables(const VectorXd &x) final
std::vector< Bounds > VecBound
int GetRows() const
VectorXd GetValues() const override
average value of each upper and lower bound.
Converts a constraint to a cost by weighing the quadratic violations.
Eigen::VectorXd VectorXd
VectorXd W_
weights how each constraint violation contributes to the cost.


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