gcop::Constraint< T, _nx, _nu, _np, _ng > Class Template Reference

#include <constraint.h>

List of all members.

Public Types
typedef Matrix< double, _nx, 1 >	Vectornd
typedef Matrix< double, _nu, 1 >	Vectorcd
typedef Matrix< double, _np, 1 >	Vectormd
typedef Matrix< double, _ng, 1 >	Vectorgd
typedef Matrix< double, _ng, _nx >	Matrixgnd
typedef Matrix< double, _ng, _nu >	Matrixgcd
typedef Matrix< double, _ng, _np >	Matrixgmd
typedef Matrix< double, _nx, _nx >	Matrixnd
typedef Matrix< double, _nx, _nu >	Matrixncd
typedef Matrix< double, _nu, _nx >	Matrixcnd
typedef Matrix< double, _nu, _nu >	Matrixcd
typedef Matrix< double, _np, _np >	Matrixmd
typedef Matrix< double, _nx, _np >	Matrixnmd
typedef Matrix< double, _np, _nx >	Matrixmnd
Public Member Functions
	Constraint (int ng=0)
virtual bool	operator() (Vectorgd &g, double t, const T &x, const Vectorcd &u, const Vectormd *p=0, Matrixgnd *dgdx=0, Matrixgcd *dgdu=0, Matrixgmd *dgdp=0)=0
virtual bool	operator() (Vectorgd &g, double t, const T &x, Matrixgnd *dgdx=0)
Public Attributes
int	ng
	constraint dimension

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>
class gcop::Constraint< T, _nx, _nu, _np, _ng >

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Member Typedef Documentation

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _nu, _nu> gcop::Constraint< T, _nx, _nu, _np, _ng >::Matrixcd

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _nu, _nx> gcop::Constraint< T, _nx, _nu, _np, _ng >::Matrixcnd

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _ng, _nu> gcop::Constraint< T, _nx, _nu, _np, _ng >::Matrixgcd

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _ng, _np> gcop::Constraint< T, _nx, _nu, _np, _ng >::Matrixgmd

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _ng, _nx> gcop::Constraint< T, _nx, _nu, _np, _ng >::Matrixgnd

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _np, _np> gcop::Constraint< T, _nx, _nu, _np, _ng >::Matrixmd

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _np, _nx> gcop::Constraint< T, _nx, _nu, _np, _ng >::Matrixmnd

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _nx, _nu> gcop::Constraint< T, _nx, _nu, _np, _ng >::Matrixncd

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _nx, _nx> gcop::Constraint< T, _nx, _nu, _np, _ng >::Matrixnd

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _nx, _np> gcop::Constraint< T, _nx, _nu, _np, _ng >::Matrixnmd

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _nu, 1> gcop::Constraint< T, _nx, _nu, _np, _ng >::Vectorcd

Reimplemented in gcop::PqpDem< T, _nx, _nu, _np >, gcop::Cylinder< T, _nx, _nu, _np >, gcop::Disk< T, _nx, _nu, _np >, and gcop::Shell< T, _nx, _nu, _np >.

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _ng, 1> gcop::Constraint< T, _nx, _nu, _np, _ng >::Vectorgd

Reimplemented in gcop::PqpDem< T, _nx, _nu, _np >, gcop::Cylinder< T, _nx, _nu, _np >, gcop::Disk< T, _nx, _nu, _np >, and gcop::Shell< T, _nx, _nu, _np >.

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _np, 1> gcop::Constraint< T, _nx, _nu, _np, _ng >::Vectormd

Reimplemented in gcop::PqpDem< T, _nx, _nu, _np >, gcop::Cylinder< T, _nx, _nu, _np >, gcop::Disk< T, _nx, _nu, _np >, and gcop::Shell< T, _nx, _nu, _np >.

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _nx, 1> gcop::Constraint< T, _nx, _nu, _np, _ng >::Vectornd

Reimplemented in gcop::PqpDem< T, _nx, _nu, _np >, gcop::Cylinder< T, _nx, _nu, _np >, gcop::Disk< T, _nx, _nu, _np >, and gcop::Shell< T, _nx, _nu, _np >.

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Constructor & Destructor Documentation

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

gcop::Constraint< T, _nx, _nu, _np, _ng >::Constraint

(

int

ng = 0

)

[inline]

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Member Function Documentation

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

virtual bool gcop::Constraint< T, _nx, _nu, _np, _ng >::operator()	(	Vectorgd &	g,
		double	t,
		const T &	x,
		const Vectorcd &	u,
		const Vectormd *	p = 0,
		Matrixgnd *	dgdx = 0,
		Matrixgcd *	dgdu = 0,
		Matrixgmd *	dgdp = 0
	)		[pure virtual]

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

virtual bool gcop::Constraint< T, _nx, _nu, _np, _ng >::operator()	(	Vectorgd &	g,
		double	t,
		const T &	x,
		Matrixgnd *	dgdx = 0
	)		[inline, virtual]

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Member Data Documentation

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

int gcop::Constraint< T, _nx, _nu, _np, _ng >::ng

constraint dimension

Referenced by gcop::ConstraintCost< T, _nx, _nu, _np, _ng >::ConstraintCost().

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

• lib/systems/constraint.h