ExampleConstraintsContainer< SCALAR > Class Template Reference

This class acts as a container for multiple constraints. In this example we capture all the constraints in one constraint clas. More...

Inheritance diagram for ExampleConstraintsContainer< SCALAR >:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ExampleConstraintsContainer (std::shared_ptr< tpl::OptVector< SCALAR >> optVector)
	~ExampleConstraintsContainer () override=default
void	prepareEvaluation () override
	Gets called before the constraint evaluation. This method should contain all the calculations needed to evaluate the constraints. More...
void	prepareJacobianEvaluation () override
	Gets called before the constraint jacobian evaluation. This method should contain all the calculations needed to evaluate the constraint jacobian. More...
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ExampleConstraintsContainer (std::shared_ptr< tpl::OptVector< SCALAR >> optVector)
	~ExampleConstraintsContainer () override=default
void	prepareEvaluation () override
	Gets called before the constraint evaluation. This method should contain all the calculations needed to evaluate the constraints. More...
void	prepareJacobianEvaluation () override
	Gets called before the constraint jacobian evaluation. This method should contain all the calculations needed to evaluate the constraint jacobian. More...
Public Member Functions inherited from ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >
	DiscreteConstraintContainerBase ()=default
	Default constructor. More...
virtual	~DiscreteConstraintContainerBase ()=default
	Destructor. More...
void	evalConstraints (MapVecXs &c_nlp)
	Writes the constraint evaluations into the large constraint optimization vector. More...
void	evalConstraints (VectorXs &c_nlp)
void	evalSparseJacobian (MapVecXs &jac_nlp, const int nzz_jac_g)
	Evaluates the jacobian of the constraints and writes them into the nlp vector. More...
void	getSparsityPattern (Eigen::Map< Eigen::VectorXi > &iRow_nlp, Eigen::Map< Eigen::VectorXi > &jCol_nlp, const int nnz_jac_g)
	Retrieves the sparsity pattern of the constraint Jacobian and writes them into the nlp vectors. More...
size_t	getConstraintsCount () const
	Returns the number of constraints in the NLP. More...
size_t	getNonZerosJacobianCount () const
	Returns the number of non zeros in the constraint jacobian. More...
void	getSparsityPatternHessian (Eigen::VectorXi &iRow, Eigen::VectorXi &jCol, size_t numOptVar)
	creates the combined hessian sparsity pattern from a number of constraint terms More...
Eigen::VectorXd	sparseHessianValues (const Eigen::VectorXd &optVec, const Eigen::VectorXd &lambda)
	Evaluates the constraint Hessian. More...
void	getBounds (MapVecXs &lowerBound, MapVecXs &upperBound)
	Retrieves the constraint bounds and writes them into the vectors used in the NLP. More...

Additional Inherited Members
Public Types inherited from ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >
using	VectorXs = Eigen::Matrix< SCALAR, Eigen::Dynamic, 1 >
using	VectorXi = Eigen::Matrix< int, Eigen::Dynamic, 1 >
using	MapVecXs = Eigen::Map< VectorXs >
using	MapVecXi = Eigen::Map< VectorXi >
Protected Attributes inherited from ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >
std::vector< std::shared_ptr< DiscreteConstraintBase< SCALAR > > >	constraints_
	Container which holds all the constraints of the NLP. More...
std::vector< int >	iRowHessianStdVec_
std::vector< int >	jColHessianStdVec_

Detailed Description

template<typename SCALAR>
class ExampleConstraintsContainer< SCALAR >

This class acts as a container for multiple constraints. In this example we capture all the constraints in one constraint clas.

Template Parameters

SCALAR

Scalar type

Constructor & Destructor Documentation

ExampleConstraintsContainer() [1/2]

template<typename SCALAR >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW ExampleConstraintsContainer< SCALAR >::ExampleConstraintsContainer ( std::shared_ptr< tpl::OptVector< SCALAR >>  optVector )

inline

~ExampleConstraintsContainer() [1/2]

template<typename SCALAR >

ExampleConstraintsContainer< SCALAR >::~ExampleConstraintsContainer ( )

overridedefault

ExampleConstraintsContainer() [2/2]

template<typename SCALAR >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW ExampleConstraintsContainer< SCALAR >::ExampleConstraintsContainer ( std::shared_ptr< tpl::OptVector< SCALAR >>  optVector )

inline

~ExampleConstraintsContainer() [2/2]

template<typename SCALAR >

ExampleConstraintsContainer< SCALAR >::~ExampleConstraintsContainer ( )

overridedefault

Member Function Documentation

prepareEvaluation() [1/2]

template<typename SCALAR >

void ExampleConstraintsContainer< SCALAR >::prepareEvaluation ( )

inlineoverridevirtual

Gets called before the constraint evaluation. This method should contain all the calculations needed to evaluate the constraints.

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

prepareJacobianEvaluation() [1/2]

template<typename SCALAR >

void ExampleConstraintsContainer< SCALAR >::prepareJacobianEvaluation ( )

inlineoverridevirtual

Gets called before the constraint jacobian evaluation. This method should contain all the calculations needed to evaluate the constraint jacobian.

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

prepareEvaluation() [2/2]

template<typename SCALAR >

void ExampleConstraintsContainer< SCALAR >::prepareEvaluation ( )

inlineoverridevirtual

Gets called before the constraint evaluation. This method should contain all the calculations needed to evaluate the constraints.

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

prepareJacobianEvaluation() [2/2]

template<typename SCALAR >

void ExampleConstraintsContainer< SCALAR >::prepareJacobianEvaluation ( )

inlineoverridevirtual

Gets called before the constraint jacobian evaluation. This method should contain all the calculations needed to evaluate the constraint jacobian.

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

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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