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.

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

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