DirectTrajectoryOptimization::BaseClass::GenericConstraintsBase Class Reference

Base Class to define vector of constraints and its derivatives. More...

#include <GenericConstraintsBase.hpp>

Inheritance diagram for DirectTrajectoryOptimization::BaseClass::GenericConstraintsBase:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	GenericConstraintsBase (int num_eq, int num_var)
	Generic Constraint Constructor. More...
virtual Eigen::VectorXd	Evalfx (const Eigen::VectorXd &input)=0
	To be overloaded by the derived class. More...
virtual void	fx (const Eigen::VectorXd &in, Eigen::VectorXd &out) override
	Overload this method in the derived class to obtain numerical approximation of the gradient.
virtual Eigen::MatrixXd	EvalFxJacobian (const Eigen::VectorXd &input)
	To be overloaded by the derived class in case NumDiff is not required. More...
Eigen::VectorXd	GetConstraintsLowerBound ()
	Method to get the lower bound of the constraint. More...
Eigen::VectorXd	GetConstraintsUpperBound ()
	Method to get the upper bound of the constraint. More...
void	SetConstraintsLowerBound (const Eigen::VectorXd &g_lb_candidate)
	Method to set the lower bound of the constraint. More...
void	setConstraintsUpperBound (const Eigen::VectorXd &g_ub_candidate)
	Method to set the upper bound of the constraint. More...
void	initialize_num_diff ()
	Overload this method to define the local pointers. More...

Additional Inherited Members
Public Attributes inherited from DirectTrajectoryOptimization::BaseClass::NumDiffDerivativesBase
std::shared_ptr< FunctionOperator >	numdifoperator
std::shared_ptr < Eigen::NumericalDiff < FunctionOperator > >	numDiff

Detailed Description

Base Class to define vector of constraints and its derivatives.

Constructor & Destructor Documentation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW DirectTrajectoryOptimization::BaseClass::GenericConstraintsBase::GenericConstraintsBase ( int  num_eq, int  num_var  )

inline

Generic Constraint Constructor.

Parameters

[in]	num_eq	The size of the vector of constraints
[in]	num_var	The number of variables

Member Function Documentation

virtual Eigen::VectorXd DirectTrajectoryOptimization::BaseClass::GenericConstraintsBase::Evalfx ( const Eigen::VectorXd &  input )

pure virtual

To be overloaded by the derived class.

Constraint function to be evaluated

Implemented in DirectTrajectoryOptimization::ShootingConstraint< DIMENSIONS >.

Referenced by fx().

Eigen::MatrixXd DirectTrajectoryOptimization::BaseClass::GenericConstraintsBase::EvalFxJacobian ( const Eigen::VectorXd &  input )

virtual

To be overloaded by the derived class in case NumDiff is not required.

Returns

The Jacobian matrix of the constraint

References DirectTrajectoryOptimization::BaseClass::NumDiffDerivativesBase::numDiff.

Eigen::VectorXd DirectTrajectoryOptimization::BaseClass::GenericConstraintsBase::GetConstraintsLowerBound ( )

inline

Method to get the lower bound of the constraint.

Returns

The vector of lower bounds of the constraint set

Eigen::VectorXd DirectTrajectoryOptimization::BaseClass::GenericConstraintsBase::GetConstraintsUpperBound ( )

inline

Method to get the upper bound of the constraint.

Returns

The vector of upper bounds of the constraint set

void DirectTrajectoryOptimization::BaseClass::GenericConstraintsBase::initialize_num_diff ( )

virtual

Overload this method to define the local pointers.

numdifoperator and numDiff need to be defined in this method

Implements DirectTrajectoryOptimization::BaseClass::NumDiffDerivativesBase.

References DirectTrajectoryOptimization::BaseClass::NumDiffDerivativesBase::numDiff, and DirectTrajectoryOptimization::BaseClass::NumDiffDerivativesBase::numdifoperator.

void DirectTrajectoryOptimization::BaseClass::GenericConstraintsBase::SetConstraintsLowerBound

(

const Eigen::VectorXd &

g_lb_candidate

)

Method to set the lower bound of the constraint.

Parameters

[in]

g_lb_candidate

Eigen vector of dynamic size

void DirectTrajectoryOptimization::BaseClass::GenericConstraintsBase::setConstraintsUpperBound

(

const Eigen::VectorXd &

g_ub_candidate

)

Method to set the upper bound of the constraint.

Parameters

[in]

g_ub_candidate

Eigen vector of dynamic size

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

• /home/depardo/catkin_ws/src/direct_trajectoryoptimization/include/optimization/constraints/GenericConstraintsBase.hpp