traj_opt::IneqConstraint Class Reference

#include <nonlinear_solver.h>

Inheritance diagram for traj_opt::IneqConstraint:

Public Attributes
int	id

Protected Member Functions
virtual decimal_t	evaluate ()=0
virtual ETV	gradient ()=0
virtual ETV	hessian ()=0
void	update_slack ()

Protected Attributes
Variable *	var_u
Variable *	var_s
std::vector< Variable * >	vars

Friends
class	NonlinearSolver

Member Function Documentation

evaluate()

virtual decimal_t traj_opt::IneqConstraint::evaluate ( )

protectedpure virtual

Implemented in traj_opt::TimeBound, and traj_opt::PosTimeConstraint.

gradient()

virtual ETV traj_opt::IneqConstraint::gradient ( )

protectedpure virtual

Implemented in traj_opt::TimeBound, and traj_opt::PosTimeConstraint.

hessian()

virtual ETV traj_opt::IneqConstraint::hessian ( )

protectedpure virtual

Implemented in traj_opt::TimeBound, and traj_opt::PosTimeConstraint.

update_slack()

void traj_opt::IneqConstraint::update_slack ( )

protected

Friends And Related Function Documentation

NonlinearSolver

friend class NonlinearSolver

friend

Member Data Documentation

id

int traj_opt::IneqConstraint::id

var_s

Variable* traj_opt::IneqConstraint::var_s

protected

var_u

Variable* traj_opt::IneqConstraint::var_u

protected

vars

std::vector<Variable *> traj_opt::IneqConstraint::vars

protected

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

• mobility/planner_qp/traj_opt_pro/include/traj_opt_pro/nonlinear_solver.h
• mobility/planner_qp/traj_opt_pro/src/nonlinear_solver.cpp