traj_opt::NonlinearSolver Class Reference

#include <nonlinear_solver.h>

Public Member Functions
	NonlinearSolver (uint max_vars)
Variable *	addVar (decimal_t val=10.0)
void	addConstraint (boost::shared_ptr< IneqConstraint > con)
void	addConstraint (boost::shared_ptr< EqConstraint > con)
void	addConstraint (std::vector< EqConstraint::EqPair > con, decimal_t rhs)
void	setCost (boost::shared_ptr< CostFunction > func)
bool	solve (bool verbose=false, decimal_t epsilon=1e-8, std::vector< Variable * > times=std::vector< Variable * >(), int max_iterations=200)

Static Public Member Functions
static ETV	transpose (const ETV &vec)

Public Attributes
SolverInfo	solver_info

Friends
class	NonlinearTrajectory

Constructor & Destructor Documentation

NonlinearSolver()

traj_opt::NonlinearSolver::NonlinearSolver ( uint  max_vars )

inlineexplicit

Member Function Documentation

addConstraint() [1/3]

void traj_opt::NonlinearSolver::addConstraint

(

boost::shared_ptr< EqConstraint >

con

)

addConstraint() [2/3]

void traj_opt::NonlinearSolver::addConstraint

(

boost::shared_ptr< IneqConstraint >

con

)

addConstraint() [3/3]

void traj_opt::NonlinearSolver::addConstraint	(	std::vector< EqConstraint::EqPair >	con,
		decimal_t	rhs
	)

addVar()

Variable* traj_opt::NonlinearSolver::addVar ( decimal_t  val = 10.0 )

inline

setCost()

void traj_opt::NonlinearSolver::setCost ( boost::shared_ptr< CostFunction >  func )

inline

solve()

bool traj_opt::NonlinearSolver::solve	(	bool	verbose = false,
		decimal_t	epsilon = 1e-8,
		std::vector< Variable * >	times = std::vector<Variable *>(),
		int	max_iterations = 200
	)

transpose()

ETV traj_opt::NonlinearSolver::transpose ( const ETV &  vec )

static

Friends And Related Function Documentation

NonlinearTrajectory

friend class NonlinearTrajectory

friend

Member Data Documentation

solver_info

SolverInfo traj_opt::NonlinearSolver::solver_info

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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