Implements an abstract base class from which all the discrete custom NLP constraints should derive. More...

#include <DiscreteConstraintBase.h>

Inheritance diagram for ct::optcon::tpl::DiscreteConstraintBase< SCALAR >:

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

Public Member Functions
	DiscreteConstraintBase ()=default
	Default constructor. More...

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

virtual VectorXs	eval ()=0
	Evaluates the constraint violation. More...

virtual VectorXs	evalSparseJacobian ()=0
	Returns the non zero elements of the eval method with respect to the optimization variables. More...

virtual size_t	getConstraintSize ()=0
	Returns size of the constraint vector. More...

virtual size_t	getNumNonZerosJacobian ()=0
	Returns the number of non zero elements of the jacobian. More...

virtual void	genSparsityPattern (Eigen::VectorXi &iRow_vec, Eigen::VectorXi &jCol_vec)=0
	Returns the sparsity structure of the constraint jacobian. More...

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

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

virtual VectorXs	getLowerBound ()=0
	Returns the lower bound of the constraint. More...

virtual VectorXs	getUpperBound ()=0
	Returns the upper bound of the constraint. More...

Eigen::VectorXi &	iRowHessian ()

Eigen::VectorXi &	jColHessian ()

Protected Member Functions
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
Eigen::VectorXi	iRowHessian_

Eigen::VectorXi	jColHessian_

Detailed Description

template<typename SCALAR>
class ct::optcon::tpl::DiscreteConstraintBase< SCALAR >

Implements an abstract base class from which all the discrete custom NLP constraints should derive.

Member Typedef Documentation

◆ VectorXs

template<typename SCALAR >

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

Constructor & Destructor Documentation

◆ DiscreteConstraintBase()

template<typename SCALAR >

ct::optcon::tpl::DiscreteConstraintBase< SCALAR >::DiscreteConstraintBase ( )

default

Default constructor.

◆ ~DiscreteConstraintBase()

template<typename SCALAR >

virtual ct::optcon::tpl::DiscreteConstraintBase< SCALAR >::~DiscreteConstraintBase ( )

virtualdefault

Destructor.

Member Function Documentation

◆ eval()

template<typename SCALAR >

virtual VectorXs ct::optcon::tpl::DiscreteConstraintBase< SCALAR >::eval ( )

pure virtual

Evaluates the constraint violation.

Returns: A vector of the evaluated constraint violation

Implemented in ct::optcon::ConstraintDiscretizer< STATE_DIM, CONTROL_DIM, SCALAR >, ct::optcon::ContinuityConstraint< STATE_DIM, CONTROL_DIM, SCALAR >, ct::optcon::InitStateConstraint< STATE_DIM, CONTROL_DIM, SCALAR >, ExampleConstraints< SCALAR >, and ExampleConstraints< SCALAR >.

◆ evalSparseJacobian()

template<typename SCALAR >

virtual VectorXs ct::optcon::tpl::DiscreteConstraintBase< SCALAR >::evalSparseJacobian ( )

pure virtual

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

Implemented in ct::optcon::ConstraintDiscretizer< STATE_DIM, CONTROL_DIM, SCALAR >, ct::optcon::ContinuityConstraint< STATE_DIM, CONTROL_DIM, SCALAR >, ExampleConstraints< SCALAR >, ExampleConstraints< SCALAR >, and ct::optcon::InitStateConstraint< STATE_DIM, CONTROL_DIM, SCALAR >.

◆ getConstraintSize()

template<typename SCALAR >

virtual size_t ct::optcon::tpl::DiscreteConstraintBase< SCALAR >::getConstraintSize ( )

pure virtual

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)

Implemented in ct::optcon::ConstraintDiscretizer< STATE_DIM, CONTROL_DIM, SCALAR >, ct::optcon::ContinuityConstraint< STATE_DIM, CONTROL_DIM, SCALAR >, ExampleConstraints< SCALAR >, ExampleConstraints< SCALAR >, and ct::optcon::InitStateConstraint< STATE_DIM, CONTROL_DIM, SCALAR >.

◆ getNumNonZerosJacobian()

template<typename SCALAR >

virtual size_t ct::optcon::tpl::DiscreteConstraintBase< SCALAR >::getNumNonZerosJacobian ( )

pure virtual

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)

Implemented in ct::optcon::ConstraintDiscretizer< STATE_DIM, CONTROL_DIM, SCALAR >, ct::optcon::ContinuityConstraint< STATE_DIM, CONTROL_DIM, SCALAR >, ExampleConstraints< SCALAR >, ExampleConstraints< SCALAR >, and ct::optcon::InitStateConstraint< STATE_DIM, CONTROL_DIM, SCALAR >.

◆ genSparsityPattern()

template<typename SCALAR >

virtual void ct::optcon::tpl::DiscreteConstraintBase< SCALAR >::genSparsityPattern	(	Eigen::VectorXi &	iRow_vec,
		Eigen::VectorXi &	jCol_vec
	)

pure virtual

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

Implemented in ct::optcon::ConstraintDiscretizer< STATE_DIM, CONTROL_DIM, SCALAR >, ct::optcon::ContinuityConstraint< STATE_DIM, CONTROL_DIM, SCALAR >, ExampleConstraints< SCALAR >, ExampleConstraints< SCALAR >, and ct::optcon::InitStateConstraint< STATE_DIM, CONTROL_DIM, SCALAR >.

◆ genSparsityPatternHessian()

template<typename SCALAR >

virtual void ct::optcon::tpl::DiscreteConstraintBase< SCALAR >::genSparsityPatternHessian	(	Eigen::VectorXi &	iRow_vec,
		Eigen::VectorXi &	jCol_vec
	)

inlinevirtual

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 in ExampleConstraints< SCALAR >, and ExampleConstraints< SCALAR >.

◆ sparseHessianValues()

template<typename SCALAR >

virtual void ct::optcon::tpl::DiscreteConstraintBase< SCALAR >::sparseHessianValues	(	const Eigen::VectorXd &	optVec,
		const Eigen::VectorXd &	lambda,
		Eigen::VectorXd &	sparseHes
	)

inlinevirtual

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 in ExampleConstraints< SCALAR >, and ExampleConstraints< SCALAR >.

References ct::optcon::tpl::DiscreteConstraintBase< SCALAR >::getLowerBound(), and ct::optcon::tpl::DiscreteConstraintBase< SCALAR >::getUpperBound().

◆ getLowerBound()

template<typename SCALAR >

virtual VectorXs ct::optcon::tpl::DiscreteConstraintBase< SCALAR >::getLowerBound ( )

pure virtual

Returns the lower bound of the constraint.

Returns: The lower constraint bound

Implemented in ct::optcon::ConstraintDiscretizer< STATE_DIM, CONTROL_DIM, SCALAR >, ct::optcon::ContinuityConstraint< STATE_DIM, CONTROL_DIM, SCALAR >, ct::optcon::InitStateConstraint< STATE_DIM, CONTROL_DIM, SCALAR >, ExampleConstraints< SCALAR >, and ExampleConstraints< SCALAR >.

Referenced by ct::optcon::tpl::DiscreteConstraintBase< SCALAR >::sparseHessianValues().

◆ getUpperBound()

template<typename SCALAR >

virtual VectorXs ct::optcon::tpl::DiscreteConstraintBase< SCALAR >::getUpperBound ( )

pure virtual

Returns the upper bound of the constraint.

Returns: The upper constraint bound

Implemented in ct::optcon::ConstraintDiscretizer< STATE_DIM, CONTROL_DIM, SCALAR >, ct::optcon::ContinuityConstraint< STATE_DIM, CONTROL_DIM, SCALAR >, ct::optcon::InitStateConstraint< STATE_DIM, CONTROL_DIM, SCALAR >, ExampleConstraints< SCALAR >, and ExampleConstraints< SCALAR >.

Referenced by ct::optcon::tpl::DiscreteConstraintBase< SCALAR >::sparseHessianValues().

◆ iRowHessian()

template<typename SCALAR >

Eigen::VectorXi& ct::optcon::tpl::DiscreteConstraintBase< SCALAR >::iRowHessian ( )

inline

References ct::optcon::tpl::DiscreteConstraintBase< SCALAR >::iRowHessian_.

◆ jColHessian()

template<typename SCALAR >

Eigen::VectorXi& ct::optcon::tpl::DiscreteConstraintBase< SCALAR >::jColHessian ( )

inline

References ct::optcon::tpl::DiscreteConstraintBase< SCALAR >::genBlockIndices(), ct::optcon::tpl::DiscreteConstraintBase< SCALAR >::genDiagonalIndices(), and ct::optcon::tpl::DiscreteConstraintBase< SCALAR >::jColHessian_.

◆ genDiagonalIndices()

template<typename SCALAR >

size_t DiscreteConstraintBase::genDiagonalIndices	(	const size_t	col_start,
		const size_t	num_elements,
		Eigen::VectorXi &	iRow_vec,
		Eigen::VectorXi &	jCol_vec,
		const size_t	indexNumber
	)

inlineprotected

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.

Parameters

[in]	col_start	The starting column of the jCol vec
[in]	num_elements	The size of the matrix block
[out]	iRow_vec	The resulting row vector
[out]	jCol_vec	The resuling column vector
[in]	indexNumber	The starting inserting index for iRow and jCol

Returns: indexnumber plus num_elements

References i.

Referenced by ct::optcon::InitStateConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::genSparsityPattern(), and ct::optcon::tpl::DiscreteConstraintBase< SCALAR >::jColHessian().

◆ genBlockIndices()

template<typename SCALAR >

size_t DiscreteConstraintBase::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
	)

inlineprotected

This method generates Row and Column vectors which indicate the sparsity pattern of the constraint jacobian for an arbitrary dense matrix block.

Parameters

[in]	col_start	The starting column of the jCol vec
[in]	num_rows	The number of rows of the matrix block
[in]	num_cols	The number of columns of the matrix block
[out]	iRow_vec	The resulting row vector
[out]	jCol_vec	The resuling column vector
[in]	indexNumber	The starting inserting index for iRow and jCol

Returns: The indexnumber plus the number of elements contained in the matrix block

Referenced by ct::optcon::tpl::DiscreteConstraintBase< SCALAR >::jColHessian().

Member Data Documentation

◆ iRowHessian_

template<typename SCALAR >

Eigen::VectorXi ct::optcon::tpl::DiscreteConstraintBase< SCALAR >::iRowHessian_

protected

Referenced by ct::optcon::tpl::DiscreteConstraintBase< SCALAR >::iRowHessian().

◆ jColHessian_

template<typename SCALAR >

Eigen::VectorXi ct::optcon::tpl::DiscreteConstraintBase< SCALAR >::jColHessian_

protected

Referenced by ct::optcon::tpl::DiscreteConstraintBase< SCALAR >::jColHessian().

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/nlp/DiscreteConstraintBase.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename SCALAR> class ct::optcon::tpl::DiscreteConstraintBase< SCALAR >

Member Typedef Documentation

◆ VectorXs

Constructor & Destructor Documentation

◆ DiscreteConstraintBase()

◆ ~DiscreteConstraintBase()

Member Function Documentation

◆ eval()

◆ evalSparseJacobian()

◆ getConstraintSize()

◆ getNumNonZerosJacobian()

◆ genSparsityPattern()

◆ genSparsityPatternHessian()

◆ sparseHessianValues()

◆ getLowerBound()

◆ getUpperBound()

◆ iRowHessian()

◆ jColHessian()

◆ genDiagonalIndices()

◆ genBlockIndices()

Member Data Documentation

◆ iRowHessian_

◆ jColHessian_

template<typename SCALAR>
class ct::optcon::tpl::DiscreteConstraintBase< SCALAR >