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sco::ConstraintFromFunc Class Reference
Inheritance diagram for sco::ConstraintFromFunc:
sco::Constraint trajopt::FootHeightConstraint

Public Member Functions

 ConstraintFromFunc (VectorOfVectorPtr f, const VarVector &vars, const VectorXd &coeffs, ConstraintType type, const std::string &name)
 supply error function, obtain derivative numerically
 
 ConstraintFromFunc (VectorOfVectorPtr f, MatrixOfVectorPtr dfdx, const VarVector &vars, const VectorXd &coeffs, ConstraintType type, const std::string &name)
 supply error function and gradient
 
vector< double > value (const vector< double > &x)
 Evaluate at solution vector x.
 
ConvexConstraintsPtr convex (const vector< double > &x, Model *model)
 Convexify at solution vector x.
 
ConstraintType type ()
 inequality vs equality
 
- Public Member Functions inherited from sco::Constraint
vector< double > violations (const vector< double > &x)
 Calculate constraint violations (positive part for inequality constraint, absolute value for inequality constraint)
 
double violation (const vector< double > &x)
 Sum of violations.
 
string name ()
 
void setName (const string &name)
 
 Constraint (const string &name)
 

Protected Attributes

VectorOfVectorPtr f_
 
MatrixOfVectorPtr dfdx_
 
VarVector vars_
 
VectorXd coeffs_
 
ConstraintType type_
 
double epsilon_
 
VectorXd scaling_
 
- Protected Attributes inherited from sco::Constraint
string name_
 

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