ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR > Class Template Reference

The ConstraintBase Class is the base class for defining the non-linear optimization constraints. More...

#include <ConstraintContainerBase.h>

Inheritance diagram for ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >:

Public Types
typedef core::ControlVector< CONTROL_DIM, SCALAR >	input_vector_t
typedef ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR > *	ConstraintBase_Raw_Ptr_t
typedef Eigen::Matrix< SCALAR, Eigen::Dynamic, 1 >	VectorXs

Public Member Functions
	ConstraintContainerBase ()
	Default constructor. More...
	ConstraintContainerBase (const ConstraintContainerBase &arg)
	copy constructor More...
virtual	~ConstraintContainerBase ()
	Destructor. More...
virtual ConstraintBase_Raw_Ptr_t	clone () const =0
virtual void	setCurrentStateAndControl (const state_vector_t &x, const input_vector_t &u, const SCALAR t=SCALAR(0.0))
virtual VectorXs	evaluateIntermediate ()=0
	Evaluates the intermediate constraints. More...
virtual VectorXs	evaluateTerminal ()=0
	Evaluates the terminal constraints. More...
virtual size_t	getIntermediateConstraintsCount ()=0
	Retrieves the number of intermediate constraints. More...
virtual size_t	getTerminalConstraintsCount ()=0
	Retrieves the number of final constraints. More...
size_t	getConstraintsCount ()
	Retrieves the total number of constraints. More...
VectorXs	getLowerBoundsIntermediate () const
	Retrieves the lower constraint bound on the intermediate constraints. More...
VectorXs	getLowerBoundsTerminal () const
	Retrieves the lower constraint bound on the terminal constraints. More...
VectorXs	getUpperBoundsIntermediate () const
	Retrieves the upper constraint bound on the intermediate constraints. More...
VectorXs	getUpperBoundsTerminal () const
	Retrieves the upper constraint bound on the terminal constraints. More...
VectorXs	getUpperBoundsViolationIntermediate ()
	Retrieves the violation of the upper constraint bound on the intermediate constraints. More...
VectorXs	getLowerBoundsViolationIntermediate ()
	Retrieves the violation of the lower constraint bound on the intermediate constraints. More...
VectorXs	getUpperBoundsViolationTerminal ()
	Retrieves the violation of the upper constraint bound on the terminal constraints. More...
VectorXs	getLowerBoundsViolationTerminal ()
	Retrieves the violation of the lower constraint bound on the terminal constraints. More...
VectorXs	getTotalBoundsViolationIntermediate ()
	Retrieves the total violation of the constraints bounds on the intermediate constraints. More...
VectorXs	getTotalBoundsViolationTerminal ()
	Retrieves the total violation of the constraints bounds on the terminal constraints. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef core::StateVector< STATE_DIM, SCALAR >	state_vector_t

Protected Member Functions
virtual void	update ()=0
	Gets called by the setCurrentStateAndControl method. Can be used to update container properties. More...

Protected Attributes
state_vector_t	x_
input_vector_t	u_
SCALAR	t_
VectorXs	lowerBoundsIntermediate_
VectorXs	lowerBoundsTerminal_
VectorXs	upperBoundsIntermediate_
VectorXs	upperBoundsTerminal_

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
class ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >

The ConstraintBase Class is the base class for defining the non-linear optimization constraints.

• { list_item_description }

Template Parameters

STATE_DIM	Dimension of the state vector
CONTROL_DIM	Dimension of the control input vector An example for usage is given in the unit test @ref ConstraintTest.h

Member Typedef Documentation

input_vector_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef core::ControlVector<CONTROL_DIM, SCALAR> ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::input_vector_t

ConstraintBase_Raw_Ptr_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef ConstraintContainerBase<STATE_DIM, CONTROL_DIM, SCALAR>* ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::ConstraintBase_Raw_Ptr_t

VectorXs

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef Eigen::Matrix<SCALAR, Eigen::Dynamic, 1> ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXs

Constructor & Destructor Documentation

ConstraintContainerBase() [1/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::ConstraintContainerBase

(

)

Default constructor.

Default constructor, sets state, control and time to zero

ConstraintContainerBase() [2/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::ConstraintContainerBase

(

const ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR > &

arg

)

copy constructor

Copy constructor

~ConstraintContainerBase()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::~ConstraintContainerBase ( )

virtual

Destructor.

Destructor

Member Function Documentation

clone()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

virtual ConstraintBase_Raw_Ptr_t ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::clone ( ) const

pure virtual

Clones the constraint.

Returns

Base pointer to the clone

Implemented in ct::optcon::SwitchedLinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >, ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >, and ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >.

setCurrentStateAndControl()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::setCurrentStateAndControl ( const state_vector_t &  x, const input_vector_t &  u, const SCALAR  t = SCALAR(0.0)  )

virtual

This methods updates the current time, state, and input in the class. It also call the user defined update() method, which can be used to make the implementation more efficient by executing shared calculations directly at the time of updating time, state and control.

Parameters

[in]	t	current time
[in]	x	state vector
[in]	x	input vector

References t, ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::t_, u, ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::u_, ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::update(), x, and ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::x_.

evaluateIntermediate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

virtual VectorXs ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateIntermediate ( )

pure virtual

Evaluates the intermediate constraints.

Returns

The evaluation of the intermediate constraints

Implemented in ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >, and ct::optcon::SwitchedLinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >.

Referenced by ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getLowerBoundsViolationIntermediate(), ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getTotalBoundsViolationIntermediate(), and ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getUpperBoundsViolationIntermediate().

evaluateTerminal()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

virtual VectorXs ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateTerminal ( )

pure virtual

Evaluates the terminal constraints.

Returns

The evaluation of the terminal constraints

Implemented in ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >, and ct::optcon::SwitchedLinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >.

Referenced by ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getLowerBoundsViolationTerminal(), ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getTotalBoundsViolationTerminal(), and ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getUpperBoundsViolationTerminal().

getIntermediateConstraintsCount()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

virtual size_t ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getIntermediateConstraintsCount ( )

pure virtual

Retrieves the number of intermediate constraints.

Returns

The number of intermediate constraints

Implemented in ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >, and ct::optcon::SwitchedLinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >.

Referenced by ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getConstraintsCount().

getTerminalConstraintsCount()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

virtual size_t ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getTerminalConstraintsCount ( )

pure virtual

Retrieves the number of final constraints.

Returns

The number of final constraints

Implemented in ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >, and ct::optcon::SwitchedLinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >.

Referenced by ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getConstraintsCount().

getConstraintsCount()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

size_t ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getConstraintsCount

(

)

Retrieves the total number of constraints.

Returns

The total number of constraints

References ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getIntermediateConstraintsCount(), and ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getTerminalConstraintsCount().

getLowerBoundsIntermediate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXs ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getLowerBoundsIntermediate

(

)

const

Retrieves the lower constraint bound on the intermediate constraints.

Returns

The lower bound on the intermediate constraints

References ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::lowerBoundsIntermediate_.

Referenced by ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::printout().

getLowerBoundsTerminal()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXs ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getLowerBoundsTerminal

(

)

const

Retrieves the lower constraint bound on the terminal constraints.

Returns

The lower bound on the terminal constraints

References ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::lowerBoundsTerminal_.

Referenced by ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::printout().

getUpperBoundsIntermediate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXs ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getUpperBoundsIntermediate

(

)

const

Retrieves the upper constraint bound on the intermediate constraints.

Returns

The upper bound on the intermediate constraints

References ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::upperBoundsIntermediate_.

Referenced by ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::printout().

getUpperBoundsTerminal()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXs ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getUpperBoundsTerminal

(

)

const

Retrieves the upper constraint bound on the terminal constraints.

Returns

The upper bound on the terminal constraints

References ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::upperBoundsTerminal_.

Referenced by ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::printout().

getUpperBoundsViolationIntermediate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXs ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getUpperBoundsViolationIntermediate

(

)

Retrieves the violation of the upper constraint bound on the intermediate constraints.

Returns

The upper bound violation on intermediate constraints

References ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateIntermediate(), and ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::upperBoundsIntermediate_.

getLowerBoundsViolationIntermediate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXs ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getLowerBoundsViolationIntermediate

(

)

Retrieves the violation of the lower constraint bound on the intermediate constraints.

Returns

The lower bound violation on intermediate constraints

References ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateIntermediate(), and ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::lowerBoundsIntermediate_.

getUpperBoundsViolationTerminal()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXs ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getUpperBoundsViolationTerminal

(

)

Retrieves the violation of the upper constraint bound on the terminal constraints.

Returns

The upper bound violation on terminal constraints

References ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateTerminal(), and ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::upperBoundsTerminal_.

getLowerBoundsViolationTerminal()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXs ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getLowerBoundsViolationTerminal

(

)

Retrieves the violation of the lower constraint bound on the terminal constraints.

Returns

The lower bound violation on terminal constraints

References ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateTerminal(), and ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::lowerBoundsTerminal_.

getTotalBoundsViolationIntermediate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXs ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getTotalBoundsViolationIntermediate

(

)

Retrieves the total violation of the constraints bounds on the intermediate constraints.

Returns

The total bound violation on intermediate constraints

References ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateIntermediate(), ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::lowerBoundsIntermediate_, and ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::upperBoundsIntermediate_.

getTotalBoundsViolationTerminal()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXs ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getTotalBoundsViolationTerminal

(

)

Retrieves the total violation of the constraints bounds on the terminal constraints.

Returns

The total bound violation on terminal constraints

References ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateTerminal(), ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::lowerBoundsTerminal_, and ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::upperBoundsTerminal_.

update()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

virtual void ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::update ( )

protectedpure virtual

Gets called by the setCurrentStateAndControl method. Can be used to update container properties.

Referenced by ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::setCurrentStateAndControl().

Member Data Documentation

state_vector_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef core::StateVector<STATE_DIM, SCALAR> ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_t

x_

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

state_vector_t ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::x_

protected

Referenced by ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateIntermediate(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateTerminal(), ct::optcon::SwitchedLinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::initializeTerminal(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInputIntermediate(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInputSparseIntermediate(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInputSparseTerminal(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInputTerminal(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianStateIntermediate(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianStateSparseIntermediate(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianStateSparseTerminal(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianStateTerminal(), and ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::setCurrentStateAndControl().

u_

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

input_vector_t ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::u_

protected

state vector

Referenced by ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateIntermediate(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateTerminal(), ct::optcon::SwitchedLinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::initializeTerminal(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInputIntermediate(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInputSparseIntermediate(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInputSparseTerminal(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInputTerminal(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianStateIntermediate(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianStateSparseIntermediate(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianStateSparseTerminal(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianStateTerminal(), and ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::setCurrentStateAndControl().

t_

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

SCALAR ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::t_

protected

control vector

Referenced by ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateIntermediate(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateTerminal(), ct::optcon::SwitchedLinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::initializeTerminal(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInputIntermediate(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInputSparseIntermediate(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInputSparseTerminal(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInputTerminal(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianStateIntermediate(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianStateSparseIntermediate(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianStateSparseTerminal(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianStateTerminal(), and ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::setCurrentStateAndControl().

lowerBoundsIntermediate_

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

VectorXs ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::lowerBoundsIntermediate_

protected

time

Referenced by ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getLowerBoundsIntermediate(), ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getLowerBoundsViolationIntermediate(), ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getTotalBoundsViolationIntermediate(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::initializeIntermediate(), and ct::optcon::SwitchedLinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::initializeTerminal().

lowerBoundsTerminal_

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

VectorXs ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::lowerBoundsTerminal_

protected

Referenced by ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getLowerBoundsTerminal(), ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getLowerBoundsViolationTerminal(), ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getTotalBoundsViolationTerminal(), ct::optcon::SwitchedLinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::initializeTerminal(), and ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::initializeTerminal().

upperBoundsIntermediate_

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

VectorXs ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::upperBoundsIntermediate_

protected

Referenced by ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getTotalBoundsViolationIntermediate(), ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getUpperBoundsIntermediate(), ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getUpperBoundsViolationIntermediate(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::initializeIntermediate(), and ct::optcon::SwitchedLinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::initializeTerminal().

upperBoundsTerminal_

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

VectorXs ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::upperBoundsTerminal_

protected

Referenced by ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getTotalBoundsViolationTerminal(), ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getUpperBoundsTerminal(), ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getUpperBoundsViolationTerminal(), ct::optcon::SwitchedLinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::initializeTerminal(), and ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::initializeTerminal().

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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/include/ct/optcon/constraint/ConstraintContainerBase.h
• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/constraint/ConstraintContainerBase-impl.h