cpp_robotics::OCPStateIndexedBoundConstraint

#include <ocp_constraint.hpp>

Inherits from cpp_robotics::OCPConstraint

Public Types

	Name
enum uint8_t	BoundType

Public Functions

	Name
	OCPStateIndexedBoundConstraint(BoundType type, size_t index, double bound_val, double scale =1.0)
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

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

enum BoundType

Enumerator	Value	Description
Lower
Upper

Public Functions Documentation

function OCPStateIndexedBoundConstraint

inline OCPStateIndexedBoundConstraint(
    BoundType type,
    size_t index,
    double bound_val,
    double scale =1.0
)

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

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