cpp_robotics::OCPFunctionalConstraint

#include <ocp_constraint.hpp>

Inherits from cpp_robotics::OCPConstraint

Public Types

	Name
using std::function< double(const Eigen::VectorXd &, const Eigen::VectorXd &)>	func_t
using std::function< Eigen::VectorXd(const Eigen::VectorXd &, const Eigen::VectorXd &)>	grad_func_t
using std::function< Eigen::MatrixXd(const Eigen::VectorXd &, const Eigen::VectorXd &)>	hessian_func_t

Public Functions

	Name
	OCPFunctionalConstraint(OCPConstraintType type, func_t f)
virtual double	eval(const Eigen::VectorXd & x, const Eigen::VectorXd & u) const override
virtual Eigen::VectorXd	grad_x(const Eigen::VectorXd & x, const Eigen::VectorXd & u) const override
virtual Eigen::VectorXd	grad_u(const Eigen::VectorXd & x, const Eigen::VectorXd & u) const override
virtual Eigen::MatrixXd	hessian_xx(const Eigen::VectorXd & x, const Eigen::VectorXd & u) const override
virtual Eigen::MatrixXd	hessian_uu(const Eigen::VectorXd & x, const Eigen::VectorXd & u) const override
virtual Eigen::MatrixXd	hessian_ux(const Eigen::VectorXd & x, const Eigen::VectorXd & u) const override

Public Attributes

	Name
func_t	f
std::optional< grad_func_t >	f_grad_x
std::optional< grad_func_t >	f_grad_u
std::optional< hessian_func_t >	f_hessian_xx
std::optional< hessian_func_t >	f_hessian_ux
std::optional< hessian_func_t >	f_hessian_uu

Additional inherited members

Public Types inherited from cpp_robotics::OCPConstraint

	Name
using std::shared_ptr< OCPConstraint >	SharedPtr

Public Functions inherited from cpp_robotics::OCPConstraint

	Name
	OCPConstraint()
	OCPConstraint(OCPConstraintType type)
bool	satisfy(const Eigen::VectorXd & x, const Eigen::VectorXd & u, const double tol) const

Public Attributes inherited from cpp_robotics::OCPConstraint

	Name
double	eps
OCPConstraintType	type

Public Types Documentation

using func_t

using cpp_robotics::OCPFunctionalConstraint::func_t =  std::function<double(const Eigen::VectorXd &, const Eigen::VectorXd &)>;

using grad_func_t

using cpp_robotics::OCPFunctionalConstraint::grad_func_t =  std::function<Eigen::VectorXd(const Eigen::VectorXd &, const Eigen::VectorXd &)>;

using hessian_func_t

using cpp_robotics::OCPFunctionalConstraint::hessian_func_t =  std::function<Eigen::MatrixXd(const Eigen::VectorXd &, const Eigen::VectorXd &)>;

Public Functions Documentation

function OCPFunctionalConstraint

inline OCPFunctionalConstraint(
    OCPConstraintType type,
    func_t f
)

function eval

inline virtual double eval(
    const Eigen::VectorXd & x,
    const Eigen::VectorXd & u
) const override

Reimplements: cpp_robotics::OCPConstraint::eval

function grad_x

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

Reimplements: cpp_robotics::OCPConstraint::grad_x

function grad_u

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

Reimplements: cpp_robotics::OCPConstraint::grad_u

function hessian_xx

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

Reimplements: cpp_robotics::OCPConstraint::hessian_xx

function hessian_uu

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

Reimplements: cpp_robotics::OCPConstraint::hessian_uu

function hessian_ux

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

Reimplements: cpp_robotics::OCPConstraint::hessian_ux

Public Attributes Documentation

variable f

func_t f;

variable f_grad_x

std::optional< grad_func_t > f_grad_x;

variable f_grad_u

std::optional< grad_func_t > f_grad_u;

variable f_hessian_xx

std::optional< hessian_func_t > f_hessian_xx;

variable f_hessian_ux

std::optional< hessian_func_t > f_hessian_ux;

variable f_hessian_uu

std::optional< hessian_func_t > f_hessian_uu;

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