#include <IKNLP.h>

Inheritance diagram for ct::rbd::IKNLP< KINEMATICS, SCALAR >:

Public Types
using	Scalar_t = SCALAR

using	Kinematics_t = KINEMATICS

using	InverseKinematicsBase = ct::rbd::InverseKinematicsBase< KINEMATICS::NJOINTS, SCALAR >

using	JointPosition_t = typename InverseKinematicsBase::JointPosition_t

using	JointPositionsVector_t = typename InverseKinematicsBase::JointPositionsVector_t

using	RigidBodyPoseTpl = typename InverseKinematicsBase::RigidBodyPoseTpl

Public Types inherited from ct::optcon::tpl::Nlp< SCALAR >
typedef Eigen::Matrix< SCALAR, Eigen::Dynamic, 1 >	VectorXs

typedef Eigen::Matrix< int, Eigen::Dynamic, 1 >	VectorXi

typedef Eigen::Map< VectorXs >	MapVecXs

typedef Eigen::Map< VectorXi >	MapVecXi

typedef Eigen::Map< const VectorXs >	MapConstVecXs

Public Member Functions
	IKNLP (std::shared_ptr< ct::rbd::IKCostEvaluator< KINEMATICS, SCALAR >> costEvaluator, const JointPosition_t &lowerBound, const JointPosition_t &upperBound)
	constructor More...

	~IKNLP () override=default

void	updateProblem () override

JointPosition_t	getSolution ()

void	printSolution () const
	print the solution to command line More...

void	setInitialGuess (const JointPosition_t &q_init)

std::shared_ptr< ct::rbd::IKCostEvaluator< KINEMATICS, SCALAR > >	getIKCostEvaluator ()

std::shared_ptr< ct::rbd::IKConstraintsContainer< KINEMATICS, SCALAR > >	getIKConstraintContainer ()

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

virtual	~Nlp ()=default

SCALAR	evaluateCostFun ()

void	evaluateCostGradient (const size_t n, MapVecXs &grad)

void	evaluateConstraints (MapVecXs &values)

void	evaluateConstraintJacobian (const int nele_jac, MapVecXs &jac)

void	evaluateHessian (const int nele_hes, MapVecXs &hes, const SCALAR obj_fac, MapConstVecXs &lambda)

void	getSparsityPatternJacobian (const int nele_jac, MapVecXi &iRow, MapVecXi &jCol) const

void	getSparsityPatternHessian (const int nele_hes, MapVecXi &iRow, MapVecXi &jCol) const

size_t	getConstraintsCount () const

size_t	getNonZeroJacobianCount () const

size_t	getNonZeroHessianCount ()

void	getConstraintBounds (MapVecXs &lowerBound, MapVecXs &upperBound, const size_t m) const

size_t	getVarCount () const

void	getVariableBounds (MapVecXs &lowerBound, MapVecXs &upperBound, const size_t n) const

void	extractOptimizationVars (const MapConstVecXs &x, bool isNew)

void	getInitialGuess (const size_t n, MapVecXs &x) const

void	getOptimizationMultState (const size_t n, MapVecXs &xMul, MapVecXi &xState) const

void	getConstraintsMultState (const size_t m, MapVecXs &zMul, MapVecXi &zState) const

void	getBoundMultipliers (size_t n, MapVecXs &zLow, MapVecXs &zUp) const

void	getLambdaVars (size_t m, MapVecXs &lambda) const

void	extractIpoptSolution (const MapConstVecXs &x, const MapConstVecXs &zL, const MapConstVecXs &zU, const MapConstVecXs &lambda)

void	extractSnoptSolution (const MapVecXs &x, const MapVecXs &xMul, const MapVecXi &xState, const MapVecXs &fMul, const MapVecXi &fState)

Additional Inherited Members
Protected Attributes inherited from ct::optcon::tpl::Nlp< SCALAR >
std::shared_ptr< DiscreteCostEvaluatorBase< SCALAR > >	costEvaluator_

std::shared_ptr< OptVector< SCALAR > >	optVariables_

std::shared_ptr< DiscreteConstraintContainerBase< SCALAR > >	constraints_

Eigen::VectorXi	iRowHessianCost_

Eigen::VectorXi	iRowHessianConstraints_

Eigen::VectorXi	jColHessianCost_

Eigen::VectorXi	jColHessianConstraints_

Eigen::VectorXi	iRowHessian_

Eigen::VectorXi	jColHessian_