iCub-main
Public Member Functions | Protected Attributes | List of all members
iCub::optimization::AffinityWithMatchedPointsNLP Class Reference
+ Inheritance diagram for iCub::optimization::AffinityWithMatchedPointsNLP:

Public Member Functions

 AffinityWithMatchedPointsNLP (const deque< Vector > &_p0, const deque< Vector > &_p1, const Matrix &_min, const Matrix &_max)
 
virtual void set_A0 (const Matrix &A0)
 
virtual Matrix get_result () const
 
bool get_nlp_info (Ipopt::Index &n, Ipopt::Index &m, Ipopt::Index &nnz_jac_g, Ipopt::Index &nnz_h_lag, IndexStyleEnum &index_style)
 
bool get_bounds_info (Ipopt::Index n, Ipopt::Number *x_l, Ipopt::Number *x_u, Ipopt::Index m, Ipopt::Number *g_l, Ipopt::Number *g_u)
 
bool get_starting_point (Ipopt::Index n, bool init_x, Ipopt::Number *x, bool init_z, Ipopt::Number *z_L, Ipopt::Number *z_U, Ipopt::Index m, bool init_lambda, Ipopt::Number *lambda)
 
bool eval_f (Ipopt::Index n, const Ipopt::Number *x, bool new_x, Ipopt::Number &obj_value)
 
bool eval_grad_f (Ipopt::Index n, const Ipopt::Number *x, bool new_x, Ipopt::Number *grad_f)
 
bool eval_g (Ipopt::Index n, const Ipopt::Number *x, bool new_x, Ipopt::Index m, Ipopt::Number *g)
 
bool eval_jac_g (Ipopt::Index n, const Ipopt::Number *x, bool new_x, Ipopt::Index m, Ipopt::Index nele_jac, Ipopt::Index *iRow, Ipopt::Index *jCol, Ipopt::Number *values)
 
bool eval_h (Ipopt::Index n, const Ipopt::Number *x, bool new_x, Ipopt::Number obj_factor, Ipopt::Index m, const Ipopt::Number *lambda, bool new_lambda, Ipopt::Index nele_hess, Ipopt::Index *iRow, Ipopt::Index *jCol, Ipopt::Number *values)
 
void finalize_solution (Ipopt::SolverReturn status, Ipopt::Index n, const Ipopt::Number *x, const Ipopt::Number *z_L, const Ipopt::Number *z_U, Ipopt::Index m, const Ipopt::Number *g, const Ipopt::Number *lambda, Ipopt::Number obj_value, const Ipopt::IpoptData *ip_data, Ipopt::IpoptCalculatedQuantities *ip_cq)
 

Protected Attributes

const deque< Vector > & p0
 
const deque< Vector > & p1
 
deque< Matrix > dA
 
Matrix min
 
Matrix max
 
Matrix A0
 
Matrix A
 

Detailed Description

Definition at line 54 of file affinity.cpp.

Constructor & Destructor Documentation

◆ AffinityWithMatchedPointsNLP()

iCub::optimization::AffinityWithMatchedPointsNLP::AffinityWithMatchedPointsNLP ( const deque< Vector > &  _p0,
const deque< Vector > &  _p1,
const Matrix &  _min,
const Matrix &  _max 
)
inline

Definition at line 68 of file affinity.cpp.

Member Function Documentation

◆ eval_f()

bool iCub::optimization::AffinityWithMatchedPointsNLP::eval_f ( Ipopt::Index  n,
const Ipopt::Number *  x,
bool  new_x,
Ipopt::Number &  obj_value 
)
inline

Definition at line 146 of file affinity.cpp.

◆ eval_g()

bool iCub::optimization::AffinityWithMatchedPointsNLP::eval_g ( Ipopt::Index  n,
const Ipopt::Number *  x,
bool  new_x,
Ipopt::Index  m,
Ipopt::Number *  g 
)
inline

Definition at line 188 of file affinity.cpp.

◆ eval_grad_f()

bool iCub::optimization::AffinityWithMatchedPointsNLP::eval_grad_f ( Ipopt::Index  n,
const Ipopt::Number *  x,
bool  new_x,
Ipopt::Number *  grad_f 
)
inline

Definition at line 164 of file affinity.cpp.

◆ eval_h()

bool iCub::optimization::AffinityWithMatchedPointsNLP::eval_h ( Ipopt::Index  n,
const Ipopt::Number *  x,
bool  new_x,
Ipopt::Number  obj_factor,
Ipopt::Index  m,
const Ipopt::Number *  lambda,
bool  new_lambda,
Ipopt::Index  nele_hess,
Ipopt::Index *  iRow,
Ipopt::Index *  jCol,
Ipopt::Number *  values 
)
inline

Definition at line 203 of file affinity.cpp.

◆ eval_jac_g()

bool iCub::optimization::AffinityWithMatchedPointsNLP::eval_jac_g ( Ipopt::Index  n,
const Ipopt::Number *  x,
bool  new_x,
Ipopt::Index  m,
Ipopt::Index  nele_jac,
Ipopt::Index *  iRow,
Ipopt::Index *  jCol,
Ipopt::Number *  values 
)
inline

Definition at line 195 of file affinity.cpp.

◆ finalize_solution()

void iCub::optimization::AffinityWithMatchedPointsNLP::finalize_solution ( Ipopt::SolverReturn  status,
Ipopt::Index  n,
const Ipopt::Number *  x,
const Ipopt::Number *  z_L,
const Ipopt::Number *  z_U,
Ipopt::Index  m,
const Ipopt::Number *  g,
const Ipopt::Number *  lambda,
Ipopt::Number  obj_value,
const Ipopt::IpoptData *  ip_data,
Ipopt::IpoptCalculatedQuantities *  ip_cq 
)
inline

Definition at line 212 of file affinity.cpp.

◆ get_bounds_info()

bool iCub::optimization::AffinityWithMatchedPointsNLP::get_bounds_info ( Ipopt::Index  n,
Ipopt::Number *  x_l,
Ipopt::Number *  x_u,
Ipopt::Index  m,
Ipopt::Number *  g_l,
Ipopt::Number *  g_u 
)
inline

Definition at line 113 of file affinity.cpp.

◆ get_nlp_info()

bool iCub::optimization::AffinityWithMatchedPointsNLP::get_nlp_info ( Ipopt::Index &  n,
Ipopt::Index &  m,
Ipopt::Index &  nnz_jac_g,
Ipopt::Index &  nnz_h_lag,
IndexStyleEnum &  index_style 
)
inline

Definition at line 102 of file affinity.cpp.

◆ get_result()

virtual Matrix iCub::optimization::AffinityWithMatchedPointsNLP::get_result ( ) const
inlinevirtual

Definition at line 96 of file affinity.cpp.

◆ get_starting_point()

bool iCub::optimization::AffinityWithMatchedPointsNLP::get_starting_point ( Ipopt::Index  n,
bool  init_x,
Ipopt::Number *  x,
bool  init_z,
Ipopt::Number *  z_L,
Ipopt::Number *  z_U,
Ipopt::Index  m,
bool  init_lambda,
Ipopt::Number *  lambda 
)
inline

Definition at line 131 of file affinity.cpp.

◆ set_A0()

virtual void iCub::optimization::AffinityWithMatchedPointsNLP::set_A0 ( const Matrix &  A0)
inlinevirtual

Definition at line 88 of file affinity.cpp.

Member Data Documentation

◆ A

Matrix iCub::optimization::AffinityWithMatchedPointsNLP::A
protected

Definition at line 64 of file affinity.cpp.

◆ A0

Matrix iCub::optimization::AffinityWithMatchedPointsNLP::A0
protected

Definition at line 63 of file affinity.cpp.

◆ dA

deque<Matrix> iCub::optimization::AffinityWithMatchedPointsNLP::dA
protected

Definition at line 60 of file affinity.cpp.

◆ max

Matrix iCub::optimization::AffinityWithMatchedPointsNLP::max
protected

Definition at line 62 of file affinity.cpp.

◆ min

Matrix iCub::optimization::AffinityWithMatchedPointsNLP::min
protected

Definition at line 61 of file affinity.cpp.

◆ p0

const deque<Vector>& iCub::optimization::AffinityWithMatchedPointsNLP::p0
protected

Definition at line 57 of file affinity.cpp.

◆ p1

const deque<Vector>& iCub::optimization::AffinityWithMatchedPointsNLP::p1
protected

Definition at line 58 of file affinity.cpp.


The documentation for this class was generated from the following file: