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:

icub-main/src/libraries/optimization/src/affinity.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AffinityWithMatchedPointsNLP()

Member Function Documentation

◆ eval_f()

◆ eval_g()

◆ eval_grad_f()

◆ eval_h()

◆ eval_jac_g()

◆ finalize_solution()

◆ get_bounds_info()

◆ get_nlp_info()

◆ get_result()

◆ get_starting_point()

◆ set_A0()

Member Data Documentation

◆ A

◆ A0

◆ dA

◆ max

◆ min

◆ p0

◆ p1