An abstract base class which serves as a container for all the discrete constraints used in the NLP. More...

#include <DiscreteConstraintContainerBase.h>

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

Public Types
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 >

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

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

virtual void	prepareEvaluation ()=0
	Gets called before the constraint evaluation. This method should contain all the calculations needed to evaluate the constraints. More...

virtual void	prepareJacobianEvaluation ()=0
	Gets called before the constraint jacobian evaluation. This method should contain all the calculations needed to evaluate the constraint jacobian. 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...

Protected Attributes
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 ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >

An abstract base class which serves as a container for all the discrete constraints used in the NLP.

Member Typedef Documentation

◆ VectorXs

template<typename SCALAR >

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

◆ VectorXi

template<typename SCALAR >

using ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::VectorXi = Eigen::Matrix<int, Eigen::Dynamic, 1>

◆ MapVecXs

template<typename SCALAR >

using ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::MapVecXs = Eigen::Map<VectorXs>

◆ MapVecXi

template<typename SCALAR >

using ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::MapVecXi = Eigen::Map<VectorXi>

Constructor & Destructor Documentation

◆ DiscreteConstraintContainerBase()

template<typename SCALAR >

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

default

Default constructor.

◆ ~DiscreteConstraintContainerBase()

template<typename SCALAR >

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

virtualdefault

Destructor.

Member Function Documentation

◆ prepareEvaluation()

template<typename SCALAR >

virtual void ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::prepareEvaluation ( )

pure virtual

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

Implemented in ExampleConstraintsContainer< SCALAR >, ExampleConstraintsContainer< SCALAR >, and ct::optcon::ConstraintsContainerDms< STATE_DIM, CONTROL_DIM, SCALAR >.

Referenced by ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::evalConstraints().

◆ prepareJacobianEvaluation()

template<typename SCALAR >

virtual void ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::prepareJacobianEvaluation ( )

pure virtual

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

Implemented in ExampleConstraintsContainer< SCALAR >, ExampleConstraintsContainer< SCALAR >, and ct::optcon::ConstraintsContainerDms< STATE_DIM, CONTROL_DIM, SCALAR >.

Referenced by ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::evalSparseJacobian().

◆ evalConstraints() [1/2]

template<typename SCALAR >

void ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::evalConstraints ( MapVecXs & c_nlp )

inline

Writes the constraint evaluations into the large constraint optimization vector.

Parameters

[out] c_nlp The constraint vector used in the NLP

References ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::constraints_, and ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::prepareEvaluation().

◆ evalConstraints() [2/2]

template<typename SCALAR >

void ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::evalConstraints ( VectorXs & c_nlp )

inline

References ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::constraints_, and ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::prepareEvaluation().

◆ evalSparseJacobian()

template<typename SCALAR >

void ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::evalSparseJacobian	(	MapVecXs &	jac_nlp,
		const int	nzz_jac_g
	)

inline

Evaluates the jacobian of the constraints and writes them into the nlp vector.

Parameters

[out]	jac_nlp	The constraint jacobian vector used in NLP
[in]	nzz_jac_g	The number of non zero elements in the jacobian

References ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::constraints_, and ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::prepareJacobianEvaluation().

◆ getSparsityPattern()

template<typename SCALAR >

void ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::getSparsityPattern	(	Eigen::Map< Eigen::VectorXi > &	iRow_nlp,
		Eigen::Map< Eigen::VectorXi > &	jCol_nlp,
		const int	nnz_jac_g
	)

inline

Retrieves the sparsity pattern of the constraint Jacobian and writes them into the nlp vectors.

Parameters

[out]	iRow_nlp	The vector containing the row indices of the non zero entries of the constraint jacobian
[out]	jCol_nlp	The vector containing the column indices of the non zero entries of the constraint jacobian
[in]	nnz_jac_g	The number of non zero elements in the constraint jacobian

References ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::constraints_.

◆ getConstraintsCount()

template<typename SCALAR >

size_t ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::getConstraintsCount ( ) const

inline

Returns the number of constraints in the NLP.

Returns: The number of constraint in the NLP

References ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::constraints_.

◆ getNonZerosJacobianCount()

template<typename SCALAR >

size_t ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::getNonZerosJacobianCount ( ) const

inline

Returns the number of non zeros in the constraint jacobian.

Returns: The number of non zeros in the constraint jacobian

References ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::constraints_.

◆ getSparsityPatternHessian()

template<typename SCALAR >

void ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::getSparsityPatternHessian	(	Eigen::VectorXi &	iRow,
		Eigen::VectorXi &	jCol,
		size_t	numOptVar
	)

inline

creates the combined hessian sparsity pattern from a number of constraint terms

Returns: The number of non zeros in the constraint jacobian

References ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::constraints_, i, ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::iRowHessianStdVec_, and ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::jColHessianStdVec_.

◆ sparseHessianValues()

template<typename SCALAR >

Eigen::VectorXd ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::sparseHessianValues	(	const Eigen::VectorXd &	optVec,
		const Eigen::VectorXd &	lambda
	)

inline

Evaluates the constraint Hessian.

Parameters

[in]	optVec	The optimization variables
[in]	lambda	multipliers for Hessian matrix
[out]	hes	The cost Hessian matrix coefficients

References ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::constraints_, i, and ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::jColHessianStdVec_.

◆ getBounds()

template<typename SCALAR >

void ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::getBounds	(	MapVecXs &	lowerBound,
		MapVecXs &	upperBound
	)

inline

Retrieves the constraint bounds and writes them into the vectors used in the NLP.

Parameters

[out]	lowerBound	The lower constraint bound
[out]	upperBound	The lower constraint bound

References ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::constraints_.

Member Data Documentation

◆ constraints_

template<typename SCALAR >

std::vector<std::shared_ptr<DiscreteConstraintBase<SCALAR> > > ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::constraints_

protected

Container which holds all the constraints of the NLP.

◆ iRowHessianStdVec_

template<typename SCALAR >

std::vector<int> ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::iRowHessianStdVec_

protected

Referenced by ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::getSparsityPatternHessian().

◆ jColHessianStdVec_

template<typename SCALAR >

std::vector<int> ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::jColHessianStdVec_

protected

Referenced by ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::getSparsityPatternHessian(), and ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >::sparseHessianValues().

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/DiscreteConstraintContainerBase.h

Public Types

Public Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ VectorXs

◆ VectorXi

◆ MapVecXs

◆ MapVecXi

Constructor & Destructor Documentation

◆ DiscreteConstraintContainerBase()

◆ ~DiscreteConstraintContainerBase()

Member Function Documentation

◆ prepareEvaluation()

◆ prepareJacobianEvaluation()

◆ evalConstraints() [1/2]

◆ evalConstraints() [2/2]

◆ evalSparseJacobian()

◆ getSparsityPattern()

◆ getConstraintsCount()

◆ getNonZerosJacobianCount()

◆ getSparsityPatternHessian()

◆ sparseHessianValues()

◆ getBounds()

Member Data Documentation

◆ constraints_

◆ iRowHessianStdVec_

◆ jColHessianStdVec_

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