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