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Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
HeadCenter_NLP Class Reference
+ Inheritance diagram for HeadCenter_NLP:

Public Member Functions

 HeadCenter_NLP (iKinChain &c, const Vector &_q0, Vector &_xd)
 
Vector get_qd ()
 
void set_scaling (double _obj_scaling, double _x_scaling, double _g_scaling)
 
void set_bound_inf (double lower, double upper)
 
bool get_nlp_info (Ipopt::Index &n, Ipopt::Index &m, Ipopt::Index &nnz_jac_g, Ipopt::Index &nnz_h_lag, IndexStyleEnum &index_style) override
 
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) override
 
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) override
 
bool eval_f (Ipopt::Index n, const Ipopt::Number *x, bool new_x, Ipopt::Number &obj_value) override
 
bool eval_grad_f (Ipopt::Index n, const Ipopt::Number *x, bool new_x, Ipopt::Number *grad_f) override
 
bool eval_g (Ipopt::Index n, const Ipopt::Number *x, bool new_x, Ipopt::Index m, Ipopt::Number *g) override
 
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) override
 
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) override
 
bool get_scaling_parameters (Ipopt::Number &obj_scaling, bool &use_x_scaling, Ipopt::Index n, Ipopt::Number *x_scaling, bool &use_g_scaling, Ipopt::Index m, Ipopt::Number *g_scaling) override
 
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) override
 
void setGravityDirection (const Vector &gDir)
 
virtual ~HeadCenter_NLP ()
 

Protected Member Functions

void computeQuantities (const Ipopt::Number *x)
 

Protected Attributes

iKinChain & chain
 
unsigned int dim
 
Vector & xd
 
Vector qd
 
Vector q0
 
Vector q
 
Vector qRest
 
Matrix Hxd
 
Matrix GeoJacobP
 
Matrix AnaJacobZ
 
double mod
 
double cosAng
 
double fPitch
 
double dfPitch
 
double __obj_scaling
 
double __x_scaling
 
double __g_scaling
 
double lowerBoundInf
 
double upperBoundInf
 
bool firstGo
 

Detailed Description

Definition at line 32 of file gazeNlp.cpp.

Constructor & Destructor Documentation

◆ HeadCenter_NLP()

HeadCenter_NLP::HeadCenter_NLP ( iKinChain &  c,
const Vector &  _q0,
Vector &  _xd 
)
inline

Definition at line 105 of file gazeNlp.cpp.

◆ ~HeadCenter_NLP()

virtual HeadCenter_NLP::~HeadCenter_NLP ( )
inlinevirtual

Definition at line 327 of file gazeNlp.cpp.

Member Function Documentation

◆ computeQuantities()

void HeadCenter_NLP::computeQuantities ( const Ipopt::Number *  x)
inlineprotected

Definition at line 66 of file gazeNlp.cpp.

◆ eval_f()

bool HeadCenter_NLP::eval_f ( Ipopt::Index  n,
const Ipopt::Number *  x,
bool  new_x,
Ipopt::Number &  obj_value 
)
inlineoverride

Definition at line 190 of file gazeNlp.cpp.

◆ eval_g()

bool HeadCenter_NLP::eval_g ( Ipopt::Index  n,
const Ipopt::Number *  x,
bool  new_x,
Ipopt::Index  m,
Ipopt::Number *  g 
)
inlineoverride

Definition at line 217 of file gazeNlp.cpp.

◆ eval_grad_f()

bool HeadCenter_NLP::eval_grad_f ( Ipopt::Index  n,
const Ipopt::Number *  x,
bool  new_x,
Ipopt::Number *  grad_f 
)
inlineoverride

Definition at line 207 of file gazeNlp.cpp.

◆ eval_h()

bool HeadCenter_NLP::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 
)
inlineoverride

Definition at line 272 of file gazeNlp.cpp.

◆ eval_jac_g()

bool HeadCenter_NLP::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 
)
inlineoverride

Definition at line 230 of file gazeNlp.cpp.

◆ finalize_solution()

void HeadCenter_NLP::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 
)
inlineoverride

Definition at line 300 of file gazeNlp.cpp.

◆ get_bounds_info()

bool HeadCenter_NLP::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 
)
inlineoverride

Definition at line 161 of file gazeNlp.cpp.

◆ get_nlp_info()

bool HeadCenter_NLP::get_nlp_info ( Ipopt::Index &  n,
Ipopt::Index &  m,
Ipopt::Index &  nnz_jac_g,
Ipopt::Index &  nnz_h_lag,
IndexStyleEnum &  index_style 
)
inlineoverride

Definition at line 148 of file gazeNlp.cpp.

◆ get_qd()

Vector HeadCenter_NLP::get_qd ( )
inline

Definition at line 130 of file gazeNlp.cpp.

◆ get_scaling_parameters()

bool HeadCenter_NLP::get_scaling_parameters ( Ipopt::Number &  obj_scaling,
bool &  use_x_scaling,
Ipopt::Index  n,
Ipopt::Number *  x_scaling,
bool &  use_g_scaling,
Ipopt::Index  m,
Ipopt::Number *  g_scaling 
)
inlineoverride

Definition at line 281 of file gazeNlp.cpp.

◆ get_starting_point()

bool HeadCenter_NLP::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 
)
inlineoverride

Definition at line 179 of file gazeNlp.cpp.

◆ set_bound_inf()

void HeadCenter_NLP::set_bound_inf ( double  lower,
double  upper 
)
inline

Definition at line 141 of file gazeNlp.cpp.

◆ set_scaling()

void HeadCenter_NLP::set_scaling ( double  _obj_scaling,
double  _x_scaling,
double  _g_scaling 
)
inline

Definition at line 133 of file gazeNlp.cpp.

◆ setGravityDirection()

void HeadCenter_NLP::setGravityDirection ( const Vector &  gDir)
inline

Definition at line 313 of file gazeNlp.cpp.

Member Data Documentation

◆ __g_scaling

double HeadCenter_NLP::__g_scaling
protected

Definition at line 60 of file gazeNlp.cpp.

◆ __obj_scaling

double HeadCenter_NLP::__obj_scaling
protected

Definition at line 58 of file gazeNlp.cpp.

◆ __x_scaling

double HeadCenter_NLP::__x_scaling
protected

Definition at line 59 of file gazeNlp.cpp.

◆ AnaJacobZ

Matrix HeadCenter_NLP::AnaJacobZ
protected

Definition at line 51 of file gazeNlp.cpp.

◆ chain

iKinChain& HeadCenter_NLP::chain
protected

Definition at line 41 of file gazeNlp.cpp.

◆ cosAng

double HeadCenter_NLP::cosAng
protected

Definition at line 54 of file gazeNlp.cpp.

◆ dfPitch

double HeadCenter_NLP::dfPitch
protected

Definition at line 56 of file gazeNlp.cpp.

◆ dim

unsigned int HeadCenter_NLP::dim
protected

Definition at line 42 of file gazeNlp.cpp.

◆ firstGo

bool HeadCenter_NLP::firstGo
protected

Definition at line 63 of file gazeNlp.cpp.

◆ fPitch

double HeadCenter_NLP::fPitch
protected

Definition at line 55 of file gazeNlp.cpp.

◆ GeoJacobP

Matrix HeadCenter_NLP::GeoJacobP
protected

Definition at line 50 of file gazeNlp.cpp.

◆ Hxd

Matrix HeadCenter_NLP::Hxd
protected

Definition at line 49 of file gazeNlp.cpp.

◆ lowerBoundInf

double HeadCenter_NLP::lowerBoundInf
protected

Definition at line 61 of file gazeNlp.cpp.

◆ mod

double HeadCenter_NLP::mod
protected

Definition at line 53 of file gazeNlp.cpp.

◆ q

Vector HeadCenter_NLP::q
protected

Definition at line 47 of file gazeNlp.cpp.

◆ q0

Vector HeadCenter_NLP::q0
protected

Definition at line 46 of file gazeNlp.cpp.

◆ qd

Vector HeadCenter_NLP::qd
protected

Definition at line 45 of file gazeNlp.cpp.

◆ qRest

Vector HeadCenter_NLP::qRest
protected

Definition at line 48 of file gazeNlp.cpp.

◆ upperBoundInf

double HeadCenter_NLP::upperBoundInf
protected

Definition at line 62 of file gazeNlp.cpp.

◆ xd

Vector& HeadCenter_NLP::xd
protected

Definition at line 44 of file gazeNlp.cpp.

The documentation for this class was generated from the following file:
Generated on Fri Sep 26 2025 14:18:35 for iCub-main by doxygen 1.9.8