Sets up the nlp to be solved by an nlpsolver. More...

Inheritance diagram for ExampleProblem< SCALAR >:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ExampleProblem ()

	~ExampleProblem () override=default

void	updateProblem () override
	{ This method gets called at each update of the Optimization variables. This can be used to distribute or rearrange the optimization variables appropriately } More...

Eigen::VectorXd	getSolution ()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ExampleProblem ()

	~ExampleProblem () override=default

void	updateProblem () override
	{ This method gets called at each update of the Optimization variables. This can be used to distribute or rearrange the optimization variables appropriately } More...

Eigen::VectorXd	getSolution ()

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

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

SCALAR	evaluateCostFun ()
	{ Evaluates the costfunction at the current nlp iteration } More...

void	evaluateCostGradient (const size_t n, MapVecXs &grad)
	{ Evaluates the gradient of the costfunction} More...

void	evaluateConstraints (MapVecXs &values)
	{ Evaluates the constraints } More...

void	evaluateConstraintJacobian (const int nele_jac, MapVecXs &jac)
	{ Evaluates the constraint jacobian } More...

void	evaluateHessian (const int nele_hes, MapVecXs &hes, const SCALAR obj_fac, MapConstVecXs &lambda)
	Evaluates the hessian of the lagrangian. More...

void	getSparsityPatternJacobian (const int nele_jac, MapVecXi &iRow, MapVecXi &jCol) const
	Gets the sparsity pattern. More...

void	getSparsityPatternHessian (const int nele_hes, MapVecXi &iRow, MapVecXi &jCol) const
	Gets the sparsity pattern of the Hessian of the Lagrangian. More...

size_t	getConstraintsCount () const
	Returns the number of constraints in the NLP. More...

size_t	getNonZeroJacobianCount () const
	Returns the number of the non zero elements of the constraint jacobian. More...

size_t	getNonZeroHessianCount ()
	Returns the number of non zeros in the Hessian. More...

void	getConstraintBounds (MapVecXs &lowerBound, MapVecXs &upperBound, const size_t m) const
	Reads the bounds of the constraints. More...

size_t	getVarCount () const
	Returns the number of Optimization optimization variables. More...

void	getVariableBounds (MapVecXs &lowerBound, MapVecXs &upperBound, const size_t n) const
	Reads the bounds on the Optimization optimization variables. More...

void	extractOptimizationVars (const MapConstVecXs &x, bool isNew)
	{Extracts the Optimization optimization variables from the nlp solvers between nlp iterations} More...

void	getInitialGuess (const size_t n, MapVecXs &x) const
	Gets the Optimization variables. More...

void	getOptimizationMultState (const size_t n, MapVecXs &xMul, MapVecXi &xState) const
	Gets the variable multiplier and the variable state, used in the NLP solver SNOPT. See the snopt documentation for further explanations. More...

void	getConstraintsMultState (const size_t m, MapVecXs &zMul, MapVecXi &zState) const
	Gets the constraint multiplier and state, used in the NLP solver SNOPT. More...

void	getBoundMultipliers (size_t n, MapVecXs &zLow, MapVecXs &zUp) const
	Gets the bound multipliers used in the NLP solver IPOPT. More...

void	getLambdaVars (size_t m, MapVecXs &lambda) const
	Gets the values of the constraint multipliers. More...

void	extractIpoptSolution (const MapConstVecXs &x, const MapConstVecXs &zL, const MapConstVecXs &zU, const MapConstVecXs &lambda)
	{ Extracts the solution values from IPOPT } More...

void	extractSnoptSolution (const MapVecXs &x, const MapVecXs &xMul, const MapVecXi &xState, const MapVecXs &fMul, const MapVecXi &fState)
	{ Extracts the solution values from SNOPT } More...

Additional Inherited Members
Public Types inherited from ct::optcon::tpl::Nlp< 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 >

using	MapConstVecXs = Eigen::Map< const VectorXs >

Protected Attributes inherited from ct::optcon::tpl::Nlp< SCALAR >
std::shared_ptr< DiscreteCostEvaluatorBase< SCALAR > >	costEvaluator_
	Ptr to cost evaluator, which approximates the cost evaluation for the discrete problem. More...

std::shared_ptr< OptVector< SCALAR > >	optVariables_
	Ptr to optimization variable container, which holds the optimization variables used in the NLP solvers. More...

std::shared_ptr< DiscreteConstraintContainerBase< SCALAR > >	constraints_
	Ptr to constraint container, which contains the discretized constraints for the problem. More...

Eigen::VectorXi	iRowHessianCost_
	helper containers for calculating the sparsity patterns More...

Eigen::VectorXi	iRowHessianConstraints_

Eigen::VectorXi	jColHessianCost_

Eigen::VectorXi	jColHessianConstraints_

Eigen::VectorXi	iRowHessian_
	combined Hessian sparsity pattern gets stored here More...

Eigen::VectorXi	jColHessian_

Detailed Description

template<typename SCALAR>
class ExampleProblem< SCALAR >

Sets up the nlp to be solved by an nlpsolver.

Template Parameters

SCALAR Scalar type

Constructor & Destructor Documentation

◆ ExampleProblem() [1/2]

template<typename SCALAR >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW ExampleProblem< SCALAR >::ExampleProblem ( )

inline

◆ ~ExampleProblem() [1/2]

template<typename SCALAR >

ExampleProblem< SCALAR >::~ExampleProblem ( )

overridedefault

◆ ExampleProblem() [2/2]

template<typename SCALAR >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW ExampleProblem< SCALAR >::ExampleProblem ( )

inline

◆ ~ExampleProblem() [2/2]

template<typename SCALAR >

ExampleProblem< SCALAR >::~ExampleProblem ( )

overridedefault

Member Function Documentation

◆ updateProblem() [1/2]

template<typename SCALAR >

void ExampleProblem< SCALAR >::updateProblem ( )

inlineoverridevirtual

{ This method gets called at each update of the Optimization variables. This can be used to distribute or rearrange the optimization variables appropriately }

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

◆ getSolution() [1/2]

template<typename SCALAR >

Eigen::VectorXd ExampleProblem< SCALAR >::getSolution ( )

inline

◆ updateProblem() [2/2]

template<typename SCALAR >

void ExampleProblem< SCALAR >::updateProblem ( )

inlineoverridevirtual

{ This method gets called at each update of the Optimization variables. This can be used to distribute or rearrange the optimization variables appropriately }

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

◆ getSolution() [2/2]

template<typename SCALAR >

Eigen::VectorXd ExampleProblem< SCALAR >::getSolution ( )

inline

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 Member Functions

Additional Inherited Members

Detailed Description

template<typename SCALAR> class ExampleProblem< SCALAR >

Constructor & Destructor Documentation

◆ ExampleProblem() [1/2]

◆ ~ExampleProblem() [1/2]

◆ ExampleProblem() [2/2]

◆ ~ExampleProblem() [2/2]

Member Function Documentation

◆ updateProblem() [1/2]

◆ getSolution() [1/2]

◆ updateProblem() [2/2]

◆ getSolution() [2/2]

template<typename SCALAR>
class ExampleProblem< SCALAR >