cpp_robotics::OCPConstraint

#include <ocp_constraint.hpp>

Inherited by cpp_robotics::OCPFunctionalConstraint, cpp_robotics::OCPInputIndexedBoundConstraint, cpp_robotics::OCPStateIndexedBoundConstraint

Public Types

	Name
using std::shared_ptr< OCPConstraint >	SharedPtr

Public Functions

	Name
	OCPConstraint()
	OCPConstraint(OCPConstraintType type)
virtual double	eval(const Eigen::VectorXd & x, const Eigen::VectorXd & u) const =0
bool	satisfy(const Eigen::VectorXd & x, const Eigen::VectorXd & u, const double tol) const
virtual Eigen::VectorXd	grad_x(const Eigen::VectorXd & x, const Eigen::VectorXd & u) const
virtual Eigen::VectorXd	grad_u(const Eigen::VectorXd & x, const Eigen::VectorXd & u) const
virtual Eigen::MatrixXd	hessian_xx(const Eigen::VectorXd & x, const Eigen::VectorXd & u) const
virtual Eigen::MatrixXd	hessian_uu(const Eigen::VectorXd & x, const Eigen::VectorXd & u) const
virtual Eigen::MatrixXd	hessian_ux(const Eigen::VectorXd & x, const Eigen::VectorXd & u) const

Public Attributes

	Name
double	eps
OCPConstraintType	type

Public Types Documentation

using SharedPtr

using cpp_robotics::OCPConstraint::SharedPtr =  std::shared_ptr<OCPConstraint>;

Public Functions Documentation

function OCPConstraint

inline OCPConstraint()

function OCPConstraint

inline OCPConstraint(
    OCPConstraintType type
)

function eval

virtual double eval(
    const Eigen::VectorXd & x,
    const Eigen::VectorXd & u
) const =0

Reimplemented by: cpp_robotics::OCPFunctionalConstraint::eval, cpp_robotics::OCPInputIndexedBoundConstraint::eval, cpp_robotics::OCPStateIndexedBoundConstraint::eval

function satisfy

inline bool satisfy(
    const Eigen::VectorXd & x,
    const Eigen::VectorXd & u,
    const double tol
) const

function grad_x

inline virtual Eigen::VectorXd grad_x(
    const Eigen::VectorXd & x,
    const Eigen::VectorXd & u
) const

Reimplemented by: cpp_robotics::OCPFunctionalConstraint::grad_x, cpp_robotics::OCPInputIndexedBoundConstraint::grad_x, cpp_robotics::OCPStateIndexedBoundConstraint::grad_x

function grad_u

inline virtual Eigen::VectorXd grad_u(
    const Eigen::VectorXd & x,
    const Eigen::VectorXd & u
) const

Reimplemented by: cpp_robotics::OCPFunctionalConstraint::grad_u, cpp_robotics::OCPInputIndexedBoundConstraint::grad_u, cpp_robotics::OCPStateIndexedBoundConstraint::grad_u

function hessian_xx

inline virtual Eigen::MatrixXd hessian_xx(
    const Eigen::VectorXd & x,
    const Eigen::VectorXd & u
) const

Reimplemented by: cpp_robotics::OCPFunctionalConstraint::hessian_xx, cpp_robotics::OCPInputIndexedBoundConstraint::hessian_xx, cpp_robotics::OCPStateIndexedBoundConstraint::hessian_xx

function hessian_uu

inline virtual Eigen::MatrixXd hessian_uu(
    const Eigen::VectorXd & x,
    const Eigen::VectorXd & u
) const

Reimplemented by: cpp_robotics::OCPFunctionalConstraint::hessian_uu, cpp_robotics::OCPInputIndexedBoundConstraint::hessian_uu, cpp_robotics::OCPStateIndexedBoundConstraint::hessian_uu

function hessian_ux

inline virtual Eigen::MatrixXd hessian_ux(
    const Eigen::VectorXd & x,
    const Eigen::VectorXd & u
) const

Reimplemented by: cpp_robotics::OCPFunctionalConstraint::hessian_ux, cpp_robotics::OCPInputIndexedBoundConstraint::hessian_ux, cpp_robotics::OCPStateIndexedBoundConstraint::hessian_ux

Public Attributes Documentation

variable eps

double eps = 1e-6;

variable type

OCPConstraintType type;

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Updated on 2024-05-28 at 06:55:39 +0000