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

A base function for linear constraint functions which have a first derivative. More...

#include <LinearConstraintContainer.h>

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

Public Types
typedef core::ControlVector< CONTROL_DIM, SCALAR >	input_vector_t
typedef LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR > *	LinearConstraintContainer_Raw_Ptr_t
typedef Eigen::Matrix< SCALAR, Eigen::Dynamic, 1 >	VectorXs
typedef Eigen::Matrix< SCALAR, Eigen::Dynamic, Eigen::Dynamic >	MatrixXs
Public Types inherited from ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >
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
	LinearConstraintContainer ()
	Default constructor. More...
	LinearConstraintContainer (const LinearConstraintContainer &arg)
	Copy constructor. More...
virtual	~LinearConstraintContainer ()
	Destructor. More...
virtual LinearConstraintContainer_Raw_Ptr_t	clone () const =0
virtual VectorXs	jacobianStateSparseIntermediate ()=0
	Evaluates the constraint jacobian wrt the state using sparse representation. More...
virtual MatrixXs	jacobianStateIntermediate ()=0
	Evaluates the constraint jacobian wrt the state. More...
virtual VectorXs	jacobianStateSparseTerminal ()=0
	Evaluates the constraint jacobian wrt the state using sparse representation. More...
virtual MatrixXs	jacobianStateTerminal ()=0
	Evaluates the constraint jacobian wrt the state. More...
virtual VectorXs	jacobianInputSparseIntermediate ()=0
	Evaluates the constraint jacobian wrt the control input using sparse representation. More...
virtual MatrixXs	jacobianInputIntermediate ()=0
	Evaluates the constraint jacobian wrt the control input. More...
virtual VectorXs	jacobianInputSparseTerminal ()=0
	Evaluates the constraint jacobian wrt the control input using sparse representation. More...
virtual MatrixXs	jacobianInputTerminal ()=0
	Evaluates the constraint jacobian wrt the control input. More...
virtual void	sparsityPatternStateIntermediate (Eigen::VectorXi &iRows, Eigen::VectorXi &jCols)=0
	Returns the sparsity pattern for the jacobian wrt state. More...
virtual void	sparsityPatternStateTerminal (Eigen::VectorXi &iRows, Eigen::VectorXi &jCols)=0
	Returns the sparsity pattern for the jacobian wrt state. More...
virtual void	sparsityPatternInputIntermediate (Eigen::VectorXi &iRows, Eigen::VectorXi &jCols)=0
	Returns the sparsity pattern for the jacobian wrt control. More...
virtual void	sparsityPatternInputTerminal (Eigen::VectorXi &iRows, Eigen::VectorXi &jCols)=0
	Returns the sparsity pattern for the jacobian wrt control. More...
virtual size_t	getJacobianStateNonZeroCountIntermediate ()=0
	Returns the number of non zero elements in the constraint jacobian wrt state. More...
virtual size_t	getJacobianStateNonZeroCountTerminal ()=0
	Returns the number of non zero elements in the constraint jacobian wrt state. More...
virtual size_t	getJacobianInputNonZeroCountIntermediate ()=0
	Returns the number of non zero elements in the constraint jacobian wrt input. More...
virtual size_t	getJacobianInputNonZeroCountTerminal ()=0
	Returns the number of non zero elements in the constraint jacobian wrt input. More...
size_t	getJacNonZeroCount ()
	Returns the number of non zeros in the constraint jacobian wrt to state and input. More...
void	initialize ()
	Initializes the constraint container. More...
virtual bool	initializeIntermediate ()=0
	Initializes the intermediate constraints. More...
virtual bool	initializeTerminal ()=0
	Initializes the terminal constraints. More...
bool	isInitialized ()
	Checks if the constraint container is initialized. More...
void	printout ()
	Print out sparsity patterns, jacobians, etc. Serves for quick visual inspection. More...
Public Member Functions inherited from ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >
	ConstraintContainerBase ()
	Default constructor. More...
	ConstraintContainerBase (const ConstraintContainerBase &arg)
	copy constructor More...
virtual	~ConstraintContainerBase ()
	Destructor. More...
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
Public Attributes inherited from ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef core::StateVector< STATE_DIM, SCALAR >	state_vector_t

Protected Attributes
bool	initializedIntermediate_
bool	initializedTerminal_
Protected Attributes inherited from ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >
state_vector_t	x_
input_vector_t	u_
SCALAR	t_
VectorXs	lowerBoundsIntermediate_
VectorXs	lowerBoundsTerminal_
VectorXs	upperBoundsIntermediate_
VectorXs	upperBoundsTerminal_

Additional Inherited Members
Protected Member Functions inherited from ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >
virtual void	update ()=0
	Gets called by the setCurrentStateAndControl method. Can be used to update container properties. More...

Detailed Description

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

A base function for linear constraint functions which have a first derivative.

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

Template Parameters

STATE_DIM	Dimension of the state vector
CONTROL_DIM	Dimension of the control input vector

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::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::input_vector_t

LinearConstraintContainer_Raw_Ptr_t

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

typedef LinearConstraintContainer<STATE_DIM, CONTROL_DIM, SCALAR>* ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::LinearConstraintContainer_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::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXs

MatrixXs

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

typedef Eigen::Matrix<SCALAR, Eigen::Dynamic, Eigen::Dynamic> ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::MatrixXs

Constructor & Destructor Documentation

LinearConstraintContainer() [1/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

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

(

)

Default constructor.

LinearConstraintContainer() [2/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

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

(

const LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR > &

arg

)

Copy constructor.

Parameters

[in]

arg

The object to be copied

~LinearConstraintContainer()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

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

virtual

Destructor.

Member Function Documentation

clone()

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

virtual LinearConstraintContainer_Raw_Ptr_t ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::clone ( ) const

pure virtual

Clones the linear constraint class

Returns

pointer to the clone

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

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

jacobianStateSparseIntermediate()

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

virtual VectorXs ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianStateSparseIntermediate ( )

pure virtual

Evaluates the constraint jacobian wrt the state using sparse representation.

Parameters

jacVec	The sparse jacobian vector
count	The size of jacVec

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

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

jacobianStateIntermediate()

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

virtual MatrixXs ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianStateIntermediate ( )

pure virtual

Evaluates the constraint jacobian wrt the state.

Returns

The jacobian wrt state

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

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

jacobianStateSparseTerminal()

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

virtual VectorXs ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianStateSparseTerminal ( )

pure virtual

Evaluates the constraint jacobian wrt the state using sparse representation.

Parameters

jacVec	The sparse jacobian vector
count	The size of jacVec

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

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

jacobianStateTerminal()

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

virtual MatrixXs ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianStateTerminal ( )

pure virtual

Evaluates the constraint jacobian wrt the state.

Returns

The jacobian wrt state

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

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

jacobianInputSparseIntermediate()

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

virtual VectorXs ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInputSparseIntermediate ( )

pure virtual

Evaluates the constraint jacobian wrt the control input using sparse representation.

Parameters

jacVec	The sparse jacobian vector
count	The size of jacVec

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

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

jacobianInputIntermediate()

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

virtual MatrixXs ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInputIntermediate ( )

pure virtual

Evaluates the constraint jacobian wrt the control input.

Returns

The jacobian wrt control

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

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

jacobianInputSparseTerminal()

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

virtual VectorXs ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInputSparseTerminal ( )

pure virtual

Evaluates the constraint jacobian wrt the control input using sparse representation.

Parameters

jacVec	The sparse jacobian vector
count	The size of jacVec

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

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

jacobianInputTerminal()

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

virtual MatrixXs ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInputTerminal ( )

pure virtual

Evaluates the constraint jacobian wrt the control input.

Returns

The jacobian wrt control

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

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

sparsityPatternStateIntermediate()

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

virtual void ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::sparsityPatternStateIntermediate ( Eigen::VectorXi &  iRows, Eigen::VectorXi &  jCols  )

pure virtual

Returns the sparsity pattern for the jacobian wrt state.

Parameters

iRows	The vector of the row indices containing non zero elements in the constraint jacobian
jCols	The vector of the column indices containing non zero elements in the constraint jacobian

Returns

The size of iRow and jCols

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

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

sparsityPatternStateTerminal()

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

virtual void ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::sparsityPatternStateTerminal ( Eigen::VectorXi &  iRows, Eigen::VectorXi &  jCols  )

pure virtual

Returns the sparsity pattern for the jacobian wrt state.

Parameters

iRows	The vector of the row indices containing non zero elements in the constraint jacobian
jCols	The vector of the column indices containing non zero elements in the constraint jacobian

Returns

The size of iRow and jCols

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

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

sparsityPatternInputIntermediate()

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

virtual void ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::sparsityPatternInputIntermediate ( Eigen::VectorXi &  iRows, Eigen::VectorXi &  jCols  )

pure virtual

Returns the sparsity pattern for the jacobian wrt control.

Parameters

iRows	The vector of the row indices containing non zero elements in the constraint jacobian
jCols	The vector of the column indices containing non zero elements in the constraint jacobian

Returns

The size of iRow and jCols

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

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

sparsityPatternInputTerminal()

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

virtual void ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::sparsityPatternInputTerminal ( Eigen::VectorXi &  iRows, Eigen::VectorXi &  jCols  )

pure virtual

Returns the sparsity pattern for the jacobian wrt control.

Parameters

iRows	The vector of the row indices containing non zero elements in the constraint jacobian
jCols	The vector of the column indices containing non zero elements in the constraint jacobian

Returns

The size of iRow and jCols

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

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

getJacobianStateNonZeroCountIntermediate()

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

virtual size_t ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::getJacobianStateNonZeroCountIntermediate ( )

pure virtual

Returns the number of non zero elements in the constraint jacobian wrt state.

Returns

The number of the non zeros

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

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

getJacobianStateNonZeroCountTerminal()

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

virtual size_t ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::getJacobianStateNonZeroCountTerminal ( )

pure virtual

Returns the number of non zero elements in the constraint jacobian wrt state.

Returns

The number of the non zeros

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

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

getJacobianInputNonZeroCountIntermediate()

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

virtual size_t ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::getJacobianInputNonZeroCountIntermediate ( )

pure virtual

Returns the number of non zero elements in the constraint jacobian wrt input.

Returns

The number of the non zeros

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

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

getJacobianInputNonZeroCountTerminal()

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

virtual size_t ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::getJacobianInputNonZeroCountTerminal ( )

pure virtual

Returns the number of non zero elements in the constraint jacobian wrt input.

Returns

The number of the non zeros

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

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

getJacNonZeroCount()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

size_t ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::getJacNonZeroCount

(

)

Returns the number of non zeros in the constraint jacobian wrt to state and input.

Returns

The number of the non zeros

References ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::getJacobianInputNonZeroCountIntermediate(), ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::getJacobianInputNonZeroCountTerminal(), ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::getJacobianStateNonZeroCountIntermediate(), and ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::getJacobianStateNonZeroCountTerminal().

initialize()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::initialize

(

)

Initializes the constraint container.

References ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::initializedIntermediate_, ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::initializedTerminal_, ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::initializeIntermediate(), and ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::initializeTerminal().

initializeIntermediate()

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

virtual bool ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::initializeIntermediate ( )

pure virtual

Initializes the intermediate constraints.

Returns

Returns true if the initialization was successful

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

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

initializeTerminal()

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

virtual bool ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::initializeTerminal ( )

pure virtual

Initializes the terminal constraints.

Returns

Returns true if the initialization was successful

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

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

isInitialized()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

bool ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::isInitialized

(

)

Checks if the constraint container is initialized.

Returns

Returns true if initialized

References ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::initializedIntermediate_, and ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::initializedTerminal_.

printout()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::printout

(

)

Print out sparsity patterns, jacobians, etc. Serves for quick visual inspection.

References ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::getJacobianInputNonZeroCountIntermediate(), ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::getJacobianInputNonZeroCountTerminal(), ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::getJacobianStateNonZeroCountIntermediate(), ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::getJacobianStateNonZeroCountTerminal(), ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getLowerBoundsIntermediate(), ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getLowerBoundsTerminal(), ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getUpperBoundsIntermediate(), ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::getUpperBoundsTerminal(), ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInputIntermediate(), ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInputSparseIntermediate(), ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInputSparseTerminal(), ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInputTerminal(), ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianStateIntermediate(), ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianStateSparseIntermediate(), ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianStateSparseTerminal(), ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianStateTerminal(), ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::sparsityPatternInputIntermediate(), ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::sparsityPatternInputTerminal(), ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::sparsityPatternStateIntermediate(), and ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::sparsityPatternStateTerminal().

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::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_t

initializedIntermediate_

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

bool ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::initializedIntermediate_

protected

Referenced by ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::addIntermediateConstraint(), ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::initialize(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::initializeTerminal(), and ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::isInitialized().

initializedTerminal_

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

bool ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::initializedTerminal_

protected

Referenced by ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::addTerminalConstraint(), ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::initialize(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::initializeTerminal(), ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::isInitialized(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::sparsityPatternInputTerminal(), and ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::sparsityPatternStateTerminal().

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