nonlinear_program.hpp

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#ifndef NONLINEARPROGRAM_HPP_
#define NONLINEARPROGRAM_HPP_

#include <Eigen/Dense>

namespace DirectTrajectoryOptimization {

class nonlinearprogram {

public:

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    nonlinearprogram(bool v=false);
    ~nonlinearprogram(){ };

    void SetVariablesSize(const int & n_vars);
    void SetConstraintsSize(const int & n_const);
    void SetVariablesBounds(const Eigen::VectorXd & lb, const Eigen::VectorXd & ub);
    void SetConstraintsBounds(const Eigen::VectorXd & lb, const Eigen::VectorXd & ub);

    void SetGSize(const int & g_size);
    void setGcostSize(const int & gcost_size);

    inline int GetNumVars() {
        return num_vars;
    }
    inline int GetNumF() {
        return num_F;
    }
    inline int GetDimG() {
        return lenG;
    }
    inline int GetDimGCost() {
        return lenG_cost;
    }
    double* GetXlb_p() {
        return x_lb.data();
    }
    double* GetXub_p() {
        return x_ub.data();
    }
    double* GetFlb_p() {
        return Flb.data();
    }
    double* GetFub_p() {
        return Fub.data();
    }
    int* GetiGfun_p() {
        return iGfun.data();
    }
    int* GetjGvar_p() {
        return jGvar.data();
    }

    // I think I can delete these
    Eigen::VectorXd GetFlb() {
        return Flb;
    }
    Eigen::VectorXd GetFub() {
        return Fub;
    }
    Eigen::VectorXi GetiGfun() {
        return iGfun;
    }
    Eigen::VectorXi GetjGvar() {
        return jGvar;
    }
    Eigen::VectorXi GetjGvarCost() {
        return jG_cost;
    }
    Eigen::VectorXd GetDecisionVariables() {
        return x_decision_variables;
    }

    /* size of problem */
    int num_vars = 0;
    int num_F = 0;
    int lenG = 0;
    int lenG_cost = 0;

    // constraints vector value/bounds
    Eigen::VectorXd F;
    Eigen::VectorXd Flb;
    Eigen::VectorXd Fub;

    // constraint Jacobian matrix and nnz element indices
    Eigen::VectorXd G;
    Eigen::VectorXi iGfun;
    Eigen::VectorXi jGvar;

    Eigen::VectorXd G_cost;
    Eigen::VectorXi jG_cost;

    // Optimization vector bounds
    Eigen::VectorXd x_lb;
    Eigen::VectorXd x_ub;

    // Decision variables
    Eigen::VectorXd x_decision_variables;

    bool nlp_verbosity;
};

nonlinearprogram::nonlinearprogram(bool verb /*= false */):nlp_verbosity(verb) {

    //during construction
    std::cout << "dummy" << std::endl;

}

void nonlinearprogram::SetVariablesSize(const int & n_vars) {

    num_vars = n_vars;
    x_lb.resize(n_vars);
    x_ub.resize(n_vars);

    if(nlp_verbosity) {
        std::cout << "[VERBOSE] num_vars : " << num_vars << std::endl;
    }

}

void nonlinearprogram::SetConstraintsSize(const int & n_const) {

    num_F = n_const;
    F.resize(n_const);
    Flb.resize(n_const);
    Fub.resize(n_const);

    if(nlp_verbosity) {
    std::cout << " [VERBOSE] num_F : " << num_F << std::endl;
    }
}

void nonlinearprogram::SetVariablesBounds(const Eigen::VectorXd & lb , const Eigen::VectorXd &ub) {

    x_lb = lb;
    x_ub = ub;

    if(nlp_verbosity) {
        std::cout << " [VERBOSE] xlb : " << x_lb.transpose() << std::endl;
        std::cout << " [VERBOSE] xup : " << x_ub.transpose() << std::endl;
    }
}

void nonlinearprogram::SetConstraintsBounds(const Eigen::VectorXd & lb, const Eigen::VectorXd & ub) {

    Flb = lb;
    Fub = ub;

    if(nlp_verbosity) {
        std::cout << " [VERBOSE] Fub : " << Fub.transpose() << std::endl;
        std::cout << " [VERBOSE] Flb : " << Flb.transpose() << std::endl;
    }
}

void nonlinearprogram::SetGSize(const int & g_size) {

    lenG = g_size;

    G.resize(g_size);
    iGfun.resize(g_size);
    jGvar.resize(lenG);

}

void nonlinearprogram::setGcostSize(const int & gcost_size) {

    lenG_cost = gcost_size;

    G_cost.resize(gcost_size);
    jG_cost.resize(gcost_size);
}


}
#endif /* NONLINEARPROGRAM_HPP_ */