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trajopt
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trajopt
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Holds all the data for a trajectory optimization problem so you can modify it programmatically, e.g. More...
#include <problem_description.hpp>
Public Member Functions | |
| TrajOptProb (int n_steps, ConfigurationPtr rad) | |
| VarVector | GetVarRow (int i) |
| Var & | GetVar (int i, int j) |
| VarArray & | GetVars () |
| int | GetNumSteps () |
| int | GetNumDOF () |
| ConfigurationPtr | GetRAD () |
| OR::EnvironmentBasePtr | GetEnv () |
| void | SetInitTraj (const TrajArray &x) |
| TrajArray | GetInitTraj () |
| TrajPlotterPtr | GetPlotter () |
 Public Member Functions inherited from sco::OptProb | |
| VarVector | createVariables (const vector< string > &names) |
| create variables with bounds [-INFINITY, INFINITY] | |
| VarVector | createVariables (const vector< string > &names, const vector< double > &lb, const vector< double > &ub) |
| create variables with bounds [lb[i], ub[i] | |
| void | setLowerBounds (const vector< double > &lb) |
| set the lower bounds of all the variables | |
| void | setUpperBounds (const vector< double > &ub) |
| set the upper bounds of all the variables | |
| void | setLowerBounds (const vector< double > &lb, const vector< Var > &vars) |
| set lower bounds of some of the variables | |
| void | setUpperBounds (const vector< double > &ub, const vector< Var > &vars) |
| set upper bounds of some of the variables | |
| void | addLinearConstraint (const AffExpr &, ConstraintType type) |
| Note: in the current implementation, this function just adds the constraint to the model. | |
| void | addCost (CostPtr) |
| Add nonlinear cost function. | |
| void | addConstraint (ConstraintPtr) |
| Add nonlinear constraint function. | |
| void | addEqConstraint (ConstraintPtr) |
| void | addIneqConstraint (ConstraintPtr) |
| vector< double > | getCentralFeasiblePoint (const vector< double > &x) |
| Find closest point to solution vector x that satisfies linear inequality constraints. | |
| vector< double > | getClosestFeasiblePoint (const vector< double > &x) |
| vector< ConstraintPtr > | getConstraints () const |
| vector< CostPtr > & | getCosts () |
| vector< ConstraintPtr > & | getIneqConstraints () |
| vector< ConstraintPtr > & | getEqConstraints () |
| DblVec & | getLowerBounds () |
| DblVec & | getUpperBounds () |
| ModelPtr | getModel () |
| vector< Var > & | getVars () |
| int | getNumCosts () |
| int | getNumConstraints () |
| int | getNumVars () |
Friends | |
| TrajOptProbPtr | ConstructProblem (const ProblemConstructionInfo &) |
Additional Inherited Members | |
| Protected Member Functions inherited from sco::OptProb | |
| OptProb (OptProb &) | |
| Protected Attributes inherited from sco::OptProb | |
| ModelPtr | model_ |
| vector< Var > | vars_ |
| vector< double > | lower_bounds_ |
| vector< double > | upper_bounds_ |
| vector< CostPtr > | costs_ |
| vector< ConstraintPtr > | eqcnts_ |
| vector< ConstraintPtr > | ineqcnts_ |
Holds all the data for a trajectory optimization problem so you can modify it programmatically, e.g.
add your own costs
1.8.3
