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

Public Member Functions

 iKin_NLP (iKinChain &c, unsigned int _ctrlPose, const yarp::sig::Vector &_q0, yarp::sig::Vector &_xd, double _weight2ndTask, iKinChain &_chain2ndTask, yarp::sig::Vector &_xd_2nd, yarp::sig::Vector &_w_2nd, double _weight3rdTask, yarp::sig::Vector &_qd_3rd, yarp::sig::Vector &_w_3rd, iKinLinIneqConstr &_LIC, bool *_exhalt=NULL)
 
yarp::sig::Vector get_qd ()
 
void set_callback (iKinIterateCallback *_callback)
 
void set_scaling (double _obj_scaling, double _x_scaling, double _g_scaling)
 
void set_bound_inf (double lower, double upper)
 
bool set_posePriority (const string &priority)
 
bool get_nlp_info (Index &n, Index &m, Index &nnz_jac_g, Index &nnz_h_lag, IndexStyleEnum &index_style)
 
bool get_bounds_info (Index n, Number *x_l, Number *x_u, Index m, Number *g_l, Number *g_u)
 
bool get_starting_point (Index n, bool init_x, Number *x, bool init_z, Number *z_L, Number *z_U, Index m, bool init_lambda, Number *lambda)
 
bool eval_f (Index n, const Number *x, bool new_x, Number &obj_value)
 
bool eval_grad_f (Index n, const Number *x, bool new_x, Number *grad_f)
 
bool eval_g (Index n, const Number *x, bool new_x, Index m, Number *g)
 
bool eval_jac_g (Index n, const Number *x, bool new_x, Index m, Index nele_jac, Index *iRow, Index *jCol, Number *values)
 
bool eval_h (Index n, const Number *x, bool new_x, Number obj_factor, Index m, const Number *lambda, bool new_lambda, Index nele_hess, Index *iRow, Index *jCol, Number *values)
 
bool intermediate_callback (AlgorithmMode mode, Index iter, Number obj_value, Number inf_pr, Number inf_du, Number mu, Number d_norm, Number regularization_size, Number alpha_du, Number alpha_pr, Index ls_trials, const IpoptData *ip_data, IpoptCalculatedQuantities *ip_cq)
 
bool get_scaling_parameters (Number &obj_scaling, bool &use_x_scaling, Index n, Number *x_scaling, bool &use_g_scaling, Index m, Number *g_scaling)
 
void finalize_solution (SolverReturn status, Index n, const Number *x, const Number *z_L, const Number *z_U, Index m, const Number *g, const Number *lambda, Number obj_value, const IpoptData *ip_data, IpoptCalculatedQuantities *ip_cq)
 
virtual ~iKin_NLP ()
 

Protected Member Functions

virtual void computeQuantities (const Number *x)
 

Protected Attributes

iKinChain & chain
 
iKinChain & chain2ndTask
 
iKinLinIneqConstr & LIC
 
unsigned int dim
 
unsigned int dim_2nd
 
unsigned int ctrlPose
 
yarp::sig::Vector & xd
 
yarp::sig::Vector & xd_2nd
 
yarp::sig::Vector & w_2nd
 
yarp::sig::Vector & qd_3rd
 
yarp::sig::Vector & w_3rd
 
yarp::sig::Vector qd
 
yarp::sig::Vector q0
 
yarp::sig::Vector q
 
bool * exhalt
 
yarp::sig::Vector e_zero
 
yarp::sig::Vector e_xyz
 
yarp::sig::Vector e_ang
 
yarp::sig::Vector e_2nd
 
yarp::sig::Vector e_3rd
 
yarp::sig::Matrix J_zero
 
yarp::sig::Matrix J_xyz
 
yarp::sig::Matrix J_ang
 
yarp::sig::Matrix J_2nd
 
yarp::sig::Vector * e_1st
 
yarp::sig::Matrix * J_1st
 
yarp::sig::Vector * e_cst
 
yarp::sig::Matrix * J_cst
 
yarp::sig::Vector linC
 
double __obj_scaling
 
double __x_scaling
 
double __g_scaling
 
double lowerBoundInf
 
double upperBoundInf
 
iKinIterateCallback * callback
 
double weight2ndTask
 
double weight3rdTask
 
bool firstGo
 

Detailed Description

Definition at line 231 of file iKinIpOpt.cpp.

Constructor & Destructor Documentation

◆ iKin_NLP()

iKin_NLP::iKin_NLP ( iKinChain &  c,
unsigned int  _ctrlPose,
const yarp::sig::Vector &  _q0,
yarp::sig::Vector &  _xd,
double  _weight2ndTask,
iKinChain &  _chain2ndTask,
yarp::sig::Vector &  _xd_2nd,
yarp::sig::Vector &  _w_2nd,
double  _weight3rdTask,
yarp::sig::Vector &  _qd_3rd,
yarp::sig::Vector &  _w_3rd,
iKinLinIneqConstr &  _LIC,
bool *  _exhalt = NULL 
)
inline

Definition at line 355 of file iKinIpOpt.cpp.

◆ ~iKin_NLP()

virtual iKin_NLP::~iKin_NLP ( )
inlinevirtual

Definition at line 791 of file iKinIpOpt.cpp.

Member Function Documentation

◆ computeQuantities()

virtual void iKin_NLP::computeQuantities ( const Number *  x)
inlineprotectedvirtual

Definition at line 290 of file iKinIpOpt.cpp.

◆ eval_f()

bool iKin_NLP::eval_f ( Index  n,
const Number *  x,
bool  new_x,
Number &  obj_value 
)
inline

Definition at line 558 of file iKinIpOpt.cpp.

◆ eval_g()

bool iKin_NLP::eval_g ( Index  n,
const Number *  x,
bool  new_x,
Index  m,
Number *  g 
)
inline

Definition at line 593 of file iKinIpOpt.cpp.

◆ eval_grad_f()

bool iKin_NLP::eval_grad_f ( Index  n,
const Number *  x,
bool  new_x,
Number *  grad_f 
)
inline

Definition at line 574 of file iKinIpOpt.cpp.

◆ eval_h()

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

Definition at line 664 of file iKinIpOpt.cpp.

◆ eval_jac_g()

bool iKin_NLP::eval_jac_g ( Index  n,
const Number *  x,
bool  new_x,
Index  m,
Index  nele_jac,
Index *  iRow,
Index *  jCol,
Number *  values 
)
inline

Definition at line 614 of file iKinIpOpt.cpp.

◆ finalize_solution()

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

Definition at line 779 of file iKinIpOpt.cpp.

◆ get_bounds_info()

bool iKin_NLP::get_bounds_info ( Index  n,
Number *  x_l,
Number *  x_u,
Index  m,
Number *  g_l,
Number *  g_u 
)
inline

Definition at line 518 of file iKinIpOpt.cpp.

◆ get_nlp_info()

bool iKin_NLP::get_nlp_info ( Index &  n,
Index &  m,
Index &  nnz_jac_g,
Index &  nnz_h_lag,
IndexStyleEnum &  index_style 
)
inline

Definition at line 490 of file iKinIpOpt.cpp.

◆ get_qd()

yarp::sig::Vector iKin_NLP::get_qd ( )
inline

Definition at line 428 of file iKinIpOpt.cpp.

◆ get_scaling_parameters()

bool iKin_NLP::get_scaling_parameters ( Number &  obj_scaling,
bool &  use_x_scaling,
Index  n,
Number *  x_scaling,
bool &  use_g_scaling,
Index  m,
Number *  g_scaling 
)
inline

Definition at line 761 of file iKinIpOpt.cpp.

◆ get_starting_point()

bool iKin_NLP::get_starting_point ( Index  n,
bool  init_x,
Number *  x,
bool  init_z,
Number *  z_L,
Number *  z_U,
Index  m,
bool  init_lambda,
Number *  lambda 
)
inline

Definition at line 547 of file iKinIpOpt.cpp.

◆ intermediate_callback()

bool iKin_NLP::intermediate_callback ( AlgorithmMode  mode,
Index  iter,
Number  obj_value,
Number  inf_pr,
Number  inf_du,
Number  mu,
Number  d_norm,
Number  regularization_size,
Number  alpha_du,
Number  alpha_pr,
Index  ls_trials,
const IpoptData *  ip_data,
IpoptCalculatedQuantities *  ip_cq 
)
inline

Definition at line 745 of file iKinIpOpt.cpp.

◆ set_bound_inf()

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

Definition at line 442 of file iKinIpOpt.cpp.

◆ set_callback()

void iKin_NLP::set_callback ( iKinIterateCallback *  _callback)
inline

Definition at line 431 of file iKinIpOpt.cpp.

◆ set_posePriority()

bool iKin_NLP::set_posePriority ( const string &  priority)
inline

Definition at line 449 of file iKinIpOpt.cpp.

◆ set_scaling()

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

Definition at line 434 of file iKinIpOpt.cpp.

Member Data Documentation

◆ __g_scaling

double iKin_NLP::__g_scaling
protected

Definition at line 279 of file iKinIpOpt.cpp.

◆ __obj_scaling

double iKin_NLP::__obj_scaling
protected

Definition at line 277 of file iKinIpOpt.cpp.

◆ __x_scaling

double iKin_NLP::__x_scaling
protected

Definition at line 278 of file iKinIpOpt.cpp.

◆ callback

iKinIterateCallback* iKin_NLP::callback
protected

Definition at line 283 of file iKinIpOpt.cpp.

◆ chain

iKinChain& iKin_NLP::chain
protected

Definition at line 240 of file iKinIpOpt.cpp.

◆ chain2ndTask

iKinChain& iKin_NLP::chain2ndTask
protected

Definition at line 241 of file iKinIpOpt.cpp.

◆ ctrlPose

unsigned int iKin_NLP::ctrlPose
protected

Definition at line 247 of file iKinIpOpt.cpp.

◆ dim

unsigned int iKin_NLP::dim
protected

Definition at line 245 of file iKinIpOpt.cpp.

◆ dim_2nd

unsigned int iKin_NLP::dim_2nd
protected

Definition at line 246 of file iKinIpOpt.cpp.

◆ e_1st

yarp::sig::Vector* iKin_NLP::e_1st
protected

Definition at line 270 of file iKinIpOpt.cpp.

◆ e_2nd

yarp::sig::Vector iKin_NLP::e_2nd
protected

Definition at line 262 of file iKinIpOpt.cpp.

◆ e_3rd

yarp::sig::Vector iKin_NLP::e_3rd
protected

Definition at line 263 of file iKinIpOpt.cpp.

◆ e_ang

yarp::sig::Vector iKin_NLP::e_ang
protected

Definition at line 261 of file iKinIpOpt.cpp.

◆ e_cst

yarp::sig::Vector* iKin_NLP::e_cst
protected

Definition at line 272 of file iKinIpOpt.cpp.

◆ e_xyz

yarp::sig::Vector iKin_NLP::e_xyz
protected

Definition at line 260 of file iKinIpOpt.cpp.

◆ e_zero

yarp::sig::Vector iKin_NLP::e_zero
protected

Definition at line 259 of file iKinIpOpt.cpp.

◆ exhalt

bool* iKin_NLP::exhalt
protected

Definition at line 257 of file iKinIpOpt.cpp.

◆ firstGo

bool iKin_NLP::firstGo
protected

Definition at line 287 of file iKinIpOpt.cpp.

◆ J_1st

yarp::sig::Matrix* iKin_NLP::J_1st
protected

Definition at line 271 of file iKinIpOpt.cpp.

◆ J_2nd

yarp::sig::Matrix iKin_NLP::J_2nd
protected

Definition at line 268 of file iKinIpOpt.cpp.

◆ J_ang

yarp::sig::Matrix iKin_NLP::J_ang
protected

Definition at line 267 of file iKinIpOpt.cpp.

◆ J_cst

yarp::sig::Matrix* iKin_NLP::J_cst
protected

Definition at line 273 of file iKinIpOpt.cpp.

◆ J_xyz

yarp::sig::Matrix iKin_NLP::J_xyz
protected

Definition at line 266 of file iKinIpOpt.cpp.

◆ J_zero

yarp::sig::Matrix iKin_NLP::J_zero
protected

Definition at line 265 of file iKinIpOpt.cpp.

◆ LIC

iKinLinIneqConstr& iKin_NLP::LIC
protected

Definition at line 243 of file iKinIpOpt.cpp.

◆ linC

yarp::sig::Vector iKin_NLP::linC
protected

Definition at line 275 of file iKinIpOpt.cpp.

◆ lowerBoundInf

double iKin_NLP::lowerBoundInf
protected

Definition at line 280 of file iKinIpOpt.cpp.

◆ q

yarp::sig::Vector iKin_NLP::q
protected

Definition at line 256 of file iKinIpOpt.cpp.

◆ q0

yarp::sig::Vector iKin_NLP::q0
protected

Definition at line 255 of file iKinIpOpt.cpp.

◆ qd

yarp::sig::Vector iKin_NLP::qd
protected

Definition at line 254 of file iKinIpOpt.cpp.

◆ qd_3rd

yarp::sig::Vector& iKin_NLP::qd_3rd
protected

Definition at line 252 of file iKinIpOpt.cpp.

◆ upperBoundInf

double iKin_NLP::upperBoundInf
protected

Definition at line 281 of file iKinIpOpt.cpp.

◆ w_2nd

yarp::sig::Vector& iKin_NLP::w_2nd
protected

Definition at line 251 of file iKinIpOpt.cpp.

◆ w_3rd

yarp::sig::Vector& iKin_NLP::w_3rd
protected

Definition at line 253 of file iKinIpOpt.cpp.

◆ weight2ndTask

double iKin_NLP::weight2ndTask
protected

Definition at line 285 of file iKinIpOpt.cpp.

◆ weight3rdTask

double iKin_NLP::weight3rdTask
protected

Definition at line 286 of file iKinIpOpt.cpp.

◆ xd

yarp::sig::Vector& iKin_NLP::xd
protected

Definition at line 249 of file iKinIpOpt.cpp.

◆ xd_2nd

yarp::sig::Vector& iKin_NLP::xd_2nd
protected

Definition at line 250 of file iKinIpOpt.cpp.

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