This class sets up the constraints and its first order derivatives described previously. More...

Inheritance diagram for ExampleConstraints< SCALAR >:

Public Types
using	VectorXs = Eigen::Matrix< SCALAR, Eigen::Dynamic, 1 >

using	VectorXs = Eigen::Matrix< SCALAR, Eigen::Dynamic, 1 >

Public Types inherited from ct::optcon::tpl::DiscreteConstraintBase< SCALAR >
using	VectorXs = Eigen::Matrix< SCALAR, Eigen::Dynamic, 1 >

Public Member Functions
	ExampleConstraints (std::shared_ptr< tpl::OptVector< SCALAR >> optVector)

	~ExampleConstraints () override=default

VectorXs	getLowerBound () override
	Returns the lower bound of the constraint. More...

VectorXs	getUpperBound () override
	Returns the upper bound of the constraint. More...

VectorXs	eval () override
	Evaluates the constraint violation. More...

VectorXs	evalSparseJacobian () override
	Returns the non zero elements of the eval method with respect to the optimization variables. More...

size_t	getConstraintSize () override
	Returns size of the constraint vector. More...

size_t	getNumNonZerosJacobian () override
	Returns the number of non zero elements of the jacobian. More...

void	genSparsityPattern (Eigen::VectorXi &iRow_vec, Eigen::VectorXi &jCol_vec) override
	Returns the sparsity structure of the constraint jacobian. More...

void	sparseHessianValues (const Eigen::VectorXd &optVec, const Eigen::VectorXd &lambda, Eigen::VectorXd &sparseHes) override
	Returns the non zero elements (values) of the Hessian matrix of this constraint. More...

void	genSparsityPatternHessian (Eigen::VectorXi &iRow_vec, Eigen::VectorXi &jCol_vec) override
	Returns the sparsity structure of the constraint hessian. More...

	ExampleConstraints (std::shared_ptr< tpl::OptVector< SCALAR >> optVector)

	~ExampleConstraints () override=default

VectorXs	getLowerBound () override
	Returns the lower bound of the constraint. More...

VectorXs	getUpperBound () override
	Returns the upper bound of the constraint. More...

VectorXs	eval () override
	Evaluates the constraint violation. More...

size_t	getConstraintSize () override
	Returns size of the constraint vector. More...

size_t	getNumNonZerosJacobian () override
	Returns the number of non zero elements of the jacobian. More...

void	genSparsityPattern (Eigen::VectorXi &iRow_vec, Eigen::VectorXi &jCol_vec) override
	Returns the sparsity structure of the constraint jacobian. More...

VectorXs	evalSparseJacobian () override
	Returns the non zero elements of the eval method with respect to the optimization variables. More...

void	genSparsityPatternHessian (Eigen::VectorXi &iRow_vec, Eigen::VectorXi &jCol_vec) override

void	sparseHessianValues (const Eigen::VectorXd &optVec, const Eigen::VectorXd &lambda, Eigen::VectorXd &sparseHes) override

Public Member Functions inherited from ct::optcon::tpl::DiscreteConstraintBase< SCALAR >
	DiscreteConstraintBase ()=default
	Default constructor. More...

virtual	~DiscreteConstraintBase ()=default
	Destructor. More...

Eigen::VectorXi &	iRowHessian ()

Eigen::VectorXi &	jColHessian ()

Static Public Attributes
static const size_t	dimConstraints = 2

static const size_t	nnzJac = 6

static const size_t	nnzHes = 3

Additional Inherited Members
Protected Member Functions inherited from ct::optcon::tpl::DiscreteConstraintBase< SCALAR >
size_t	genDiagonalIndices (const size_t col_start, const size_t num_elements, Eigen::VectorXi &iRow_vec, Eigen::VectorXi &jCol_vec, const size_t indexNumber)
	This method generates Row and Column vectors which indicate the sparsity pattern of the constraint jacobian for a quadratic matrix block containing diagonal entries only. More...

size_t	genBlockIndices (const size_t col_start, const size_t num_rows, const size_t num_cols, Eigen::VectorXi &iRow_vec, Eigen::VectorXi &jCol_vec, const size_t indexNumber)
	This method generates Row and Column vectors which indicate the sparsity pattern of the constraint jacobian for an arbitrary dense matrix block. More...

Protected Attributes inherited from ct::optcon::tpl::DiscreteConstraintBase< SCALAR >
Eigen::VectorXi	iRowHessian_

Eigen::VectorXi	jColHessian_

Detailed Description

template<typename SCALAR>
class ExampleConstraints< SCALAR >

This class sets up the constraints and its first order derivatives described previously.

Template Parameters

SCALAR Scalar type

Member Typedef Documentation

◆ VectorXs [1/2]

template<typename SCALAR >

using ExampleConstraints< SCALAR >::VectorXs = Eigen::Matrix<SCALAR, Eigen::Dynamic, 1>

◆ VectorXs [2/2]

template<typename SCALAR >

using ExampleConstraints< SCALAR >::VectorXs = Eigen::Matrix<SCALAR, Eigen::Dynamic, 1>

Constructor & Destructor Documentation

◆ ExampleConstraints() [1/2]

template<typename SCALAR >

ExampleConstraints< SCALAR >::ExampleConstraints ( std::shared_ptr< tpl::OptVector< SCALAR >> optVector )

inline

◆ ~ExampleConstraints() [1/2]

template<typename SCALAR >

ExampleConstraints< SCALAR >::~ExampleConstraints ( )

overridedefault

◆ ExampleConstraints() [2/2]

template<typename SCALAR >

ExampleConstraints< SCALAR >::ExampleConstraints ( std::shared_ptr< tpl::OptVector< SCALAR >> optVector )

inline

◆ ~ExampleConstraints() [2/2]

template<typename SCALAR >

ExampleConstraints< SCALAR >::~ExampleConstraints ( )

overridedefault

Member Function Documentation

◆ getLowerBound() [1/2]

template<typename SCALAR >

VectorXs ExampleConstraints< SCALAR >::getLowerBound ( )

inlineoverridevirtual

Returns the lower bound of the constraint.

Returns: The lower constraint bound

Implements ct::optcon::tpl::DiscreteConstraintBase< SCALAR >.

◆ getUpperBound() [1/2]

template<typename SCALAR >

VectorXs ExampleConstraints< SCALAR >::getUpperBound ( )

inlineoverridevirtual

Returns the upper bound of the constraint.

Returns: The upper constraint bound

Implements ct::optcon::tpl::DiscreteConstraintBase< SCALAR >.

◆ eval() [1/2]

template<typename SCALAR >

VectorXs ExampleConstraints< SCALAR >::eval ( )

inlineoverridevirtual

Evaluates the constraint violation.

Returns: A vector of the evaluated constraint violation

Implements ct::optcon::tpl::DiscreteConstraintBase< SCALAR >.

◆ evalSparseJacobian() [1/2]

template<typename SCALAR >

VectorXs ExampleConstraints< SCALAR >::evalSparseJacobian ( )

inlineoverridevirtual

Returns the non zero elements of the eval method with respect to the optimization variables.

Returns: A vector of the non zero elements of the constraint jacobian

Implements ct::optcon::tpl::DiscreteConstraintBase< SCALAR >.

◆ getConstraintSize() [1/2]

template<typename SCALAR >

size_t ExampleConstraints< SCALAR >::getConstraintSize ( )

inlineoverridevirtual

Returns size of the constraint vector.

Returns: The size of the constraint vector (should be equal to the size of the return value of the eval method)

Implements ct::optcon::tpl::DiscreteConstraintBase< SCALAR >.

◆ getNumNonZerosJacobian() [1/2]

template<typename SCALAR >

size_t ExampleConstraints< SCALAR >::getNumNonZerosJacobian ( )

inlineoverridevirtual

Returns the number of non zero elements of the jacobian.

Returns: The number of non zero elements of the jacobian (which should be equal to the return value of evalSparseJacobian)

Implements ct::optcon::tpl::DiscreteConstraintBase< SCALAR >.

◆ genSparsityPattern() [1/2]

template<typename SCALAR >

void ExampleConstraints< SCALAR >::genSparsityPattern	(	Eigen::VectorXi &	iRow_vec,
		Eigen::VectorXi &	jCol_vec
	)

inlineoverridevirtual

Returns the sparsity structure of the constraint jacobian.

Parameters

[out]	iRow_vec	A vector containing the row indices of the non zero elements of the constraint jacobian
[out]	jCol_vec	A vector containing the column indices of the non zero elements of the constraint jacobian

Implements ct::optcon::tpl::DiscreteConstraintBase< SCALAR >.

◆ sparseHessianValues() [1/2]

template<typename SCALAR >

void ExampleConstraints< SCALAR >::sparseHessianValues	(	const Eigen::VectorXd &	optVec,
		const Eigen::VectorXd &	lambda,
		Eigen::VectorXd &	sparseHes
	)

inlineoverridevirtual

Returns the non zero elements (values) of the Hessian matrix of this constraint.

Parameters

[in]	optVec	A vector holding the current optimization variable vector
[in]	lambda	A vector holding the current constraint multipliers (one scalar for each row of constraints)
[out]	sparseHes	The sparse hessian values

Reimplemented from ct::optcon::tpl::DiscreteConstraintBase< SCALAR >.

◆ genSparsityPatternHessian() [1/2]

template<typename SCALAR >

void ExampleConstraints< SCALAR >::genSparsityPatternHessian	(	Eigen::VectorXi &	iRow_vec,
		Eigen::VectorXi &	jCol_vec
	)

inlineoverridevirtual

Returns the sparsity structure of the constraint hessian.

Parameters

[out]	iRow_vec	A vector containing the row indices of the non zero elements of the constraint hessian
[out]	jCol_vec	A vector containing the column indices of the non zero elements of the constraint hessian

Reimplemented from ct::optcon::tpl::DiscreteConstraintBase< SCALAR >.

◆ getLowerBound() [2/2]

template<typename SCALAR >

VectorXs ExampleConstraints< SCALAR >::getLowerBound ( )

inlineoverridevirtual

Returns the lower bound of the constraint.

Returns: The lower constraint bound

Implements ct::optcon::tpl::DiscreteConstraintBase< SCALAR >.

◆ getUpperBound() [2/2]

template<typename SCALAR >

VectorXs ExampleConstraints< SCALAR >::getUpperBound ( )

inlineoverridevirtual

Returns the upper bound of the constraint.

Returns: The upper constraint bound

Implements ct::optcon::tpl::DiscreteConstraintBase< SCALAR >.

◆ eval() [2/2]

template<typename SCALAR >

VectorXs ExampleConstraints< SCALAR >::eval ( )

inlineoverridevirtual

Evaluates the constraint violation.

Returns: A vector of the evaluated constraint violation

Implements ct::optcon::tpl::DiscreteConstraintBase< SCALAR >.

◆ getConstraintSize() [2/2]

template<typename SCALAR >

size_t ExampleConstraints< SCALAR >::getConstraintSize ( )

inlineoverridevirtual

Returns size of the constraint vector.

Returns: The size of the constraint vector (should be equal to the size of the return value of the eval method)

Implements ct::optcon::tpl::DiscreteConstraintBase< SCALAR >.

◆ getNumNonZerosJacobian() [2/2]

template<typename SCALAR >

size_t ExampleConstraints< SCALAR >::getNumNonZerosJacobian ( )

inlineoverridevirtual

Returns the number of non zero elements of the jacobian.

Returns: The number of non zero elements of the jacobian (which should be equal to the return value of evalSparseJacobian)

Implements ct::optcon::tpl::DiscreteConstraintBase< SCALAR >.

◆ genSparsityPattern() [2/2]

template<typename SCALAR >

void ExampleConstraints< SCALAR >::genSparsityPattern	(	Eigen::VectorXi &	iRow_vec,
		Eigen::VectorXi &	jCol_vec
	)

inlineoverridevirtual

Returns the sparsity structure of the constraint jacobian.

Parameters

[out]	iRow_vec	A vector containing the row indices of the non zero elements of the constraint jacobian
[out]	jCol_vec	A vector containing the column indices of the non zero elements of the constraint jacobian

Implements ct::optcon::tpl::DiscreteConstraintBase< SCALAR >.

◆ evalSparseJacobian() [2/2]

template<typename SCALAR >

VectorXs ExampleConstraints< SCALAR >::evalSparseJacobian ( )

inlineoverridevirtual

Returns the non zero elements of the eval method with respect to the optimization variables.

Returns: A vector of the non zero elements of the constraint jacobian

Implements ct::optcon::tpl::DiscreteConstraintBase< SCALAR >.

◆ genSparsityPatternHessian() [2/2]

template<typename SCALAR >

void ExampleConstraints< SCALAR >::genSparsityPatternHessian	(	Eigen::VectorXi &	iRow_vec,
		Eigen::VectorXi &	jCol_vec
	)

inlineoverridevirtual

generate block-diagonal sparsity pattern for Hessian

Note: this function implementation is only required for the exact-Hessian solver case

Reimplemented from ct::optcon::tpl::DiscreteConstraintBase< SCALAR >.

◆ sparseHessianValues() [2/2]

template<typename SCALAR >

void ExampleConstraints< SCALAR >::sparseHessianValues	(	const Eigen::VectorXd &	optVec,
		const Eigen::VectorXd &	lambda,
		Eigen::VectorXd &	sparseHes
	)

inlineoverridevirtual

Note: this function implementation is only required for the exact-Hessian solver case

Reimplemented from ct::optcon::tpl::DiscreteConstraintBase< SCALAR >.

Member Data Documentation

◆ dimConstraints

template<typename SCALAR >

const size_t ExampleConstraints< SCALAR >::dimConstraints = 2

static

◆ nnzJac

template<typename SCALAR >

const size_t ExampleConstraints< SCALAR >::nnzJac = 6

static

◆ nnzHes

template<typename SCALAR >

const size_t ExampleConstraints< SCALAR >::nnzHes = 3

static

The documentation for this class was generated from the following files:

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/examples/nlp/Nlp2D.cpp
/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/examples/nlp/Nlp3D.cpp

Public Types

Public Member Functions

Static Public Attributes

Additional Inherited Members

Detailed Description

template<typename SCALAR> class ExampleConstraints< SCALAR >

Member Typedef Documentation

◆ VectorXs [1/2]

◆ VectorXs [2/2]

Constructor & Destructor Documentation

◆ ExampleConstraints() [1/2]

◆ ~ExampleConstraints() [1/2]

◆ ExampleConstraints() [2/2]

◆ ~ExampleConstraints() [2/2]

Member Function Documentation

◆ getLowerBound() [1/2]

◆ getUpperBound() [1/2]

◆ eval() [1/2]

◆ evalSparseJacobian() [1/2]

◆ getConstraintSize() [1/2]

◆ getNumNonZerosJacobian() [1/2]

◆ genSparsityPattern() [1/2]

◆ sparseHessianValues() [1/2]

◆ genSparsityPatternHessian() [1/2]

◆ getLowerBound() [2/2]

◆ getUpperBound() [2/2]

◆ eval() [2/2]

◆ getConstraintSize() [2/2]

◆ getNumNonZerosJacobian() [2/2]

◆ genSparsityPattern() [2/2]

◆ evalSparseJacobian() [2/2]

◆ genSparsityPatternHessian() [2/2]

◆ sparseHessianValues() [2/2]

Member Data Documentation

◆ dimConstraints

◆ nnzJac

◆ nnzHes

template<typename SCALAR>
class ExampleConstraints< SCALAR >