Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	IpoptInterfaceData (const std::size_t nx, const std::size_t ndx, const std::size_t nu)

void	resize (const std::size_t nx, const std::size_t ndx, const std::size_t nu)

Public Attributes
Eigen::VectorXd	dx
	Increment in the tangent space.

Eigen::VectorXd	dxnext
	Increment in the tangent space at next node.

Eigen::MatrixXd	FxJint_dx
	Intermediate computation needed for Jg_ic.

Eigen::MatrixXd	Jdiff_x
	Jacobian of the diff operation w.r.t the first element.

Eigen::MatrixXd	Jdiff_xnext

Eigen::MatrixXd	Jg_dx
	Jacobian of the dynamic constraint w.r.t dx.

Eigen::MatrixXd	Jg_dxnext
	Jacobian of the dynamic constraint w.r.t dxnext.

Eigen::MatrixXd	Jg_ic
	Jacobian of the initial condition constraint w.r.t dx.

Eigen::MatrixXd	Jg_u
	Jacobian of the dynamic constraint w.r.t u.

Eigen::MatrixXd	Jint_dx
	Jacobian of the sum operation w.r.t dx.

Eigen::MatrixXd	Jint_dxnext
	Jacobian of the sum operation w.r.t dx at next node.

Eigen::VectorXd	Ldx
	Jacobian of the cost w.r.t dx.

Eigen::MatrixXd	Ldxdx
	Hessian of the cost w.r.t dxdx.

Eigen::MatrixXd	Ldxu
	Hessian of the cost w.r.t dxu.

Eigen::VectorXd	u
	Control.

Eigen::VectorXd	x
	Integrated state.

Eigen::VectorXd	x_diff
	State difference.

Eigen::VectorXd	xnext
	Integrated state at next node.

Detailed Description

Definition at line 478 of file ipopt-iface.hpp.

Constructor & Destructor Documentation

◆ IpoptInterfaceData()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW IpoptInterfaceData	(	const std::size_t	nx,
		const std::size_t	ndx,
		const std::size_t	nu
	)

inline

Definition at line 481 of file ipopt-iface.hpp.

Member Function Documentation

◆ resize()

void resize	(	const std::size_t	nx,
		const std::size_t	ndx,
		const std::size_t	nu
	)

inline

Definition at line 521 of file ipopt-iface.hpp.

Member Data Documentation

◆ x

Eigen::VectorXd x

Integrated state.

Definition at line 543 of file ipopt-iface.hpp.

◆ xnext

Eigen::VectorXd xnext

Integrated state at next node.

Definition at line 544 of file ipopt-iface.hpp.

◆ dx

Eigen::VectorXd dx

Increment in the tangent space.

Definition at line 545 of file ipopt-iface.hpp.

◆ dxnext

Eigen::VectorXd dxnext

Increment in the tangent space at next node.

Definition at line 546 of file ipopt-iface.hpp.

◆ x_diff

Eigen::VectorXd x_diff

State difference.

Definition at line 547 of file ipopt-iface.hpp.

◆ u

Eigen::VectorXd u

Control.

Definition at line 548 of file ipopt-iface.hpp.

◆ Jint_dx

Eigen::MatrixXd Jint_dx

Jacobian of the sum operation w.r.t dx.

Definition at line 549 of file ipopt-iface.hpp.

◆ Jint_dxnext

Eigen::MatrixXd Jint_dxnext

Jacobian of the sum operation w.r.t dx at next node.

Definition at line 551 of file ipopt-iface.hpp.

◆ Jdiff_x

Eigen::MatrixXd Jdiff_x

Jacobian of the diff operation w.r.t the first element.

Definition at line 553 of file ipopt-iface.hpp.

◆ Jdiff_xnext

Eigen::MatrixXd Jdiff_xnext

Jacobian of the diff operation w.r.t the first element at the next node

Definition at line 554 of file ipopt-iface.hpp.

◆ Jg_dx

Eigen::MatrixXd Jg_dx

Jacobian of the dynamic constraint w.r.t dx.

Definition at line 556 of file ipopt-iface.hpp.

◆ Jg_dxnext

Eigen::MatrixXd Jg_dxnext

Jacobian of the dynamic constraint w.r.t dxnext.

Definition at line 558 of file ipopt-iface.hpp.

◆ Jg_u

Eigen::MatrixXd Jg_u

Jacobian of the dynamic constraint w.r.t u.

Definition at line 559 of file ipopt-iface.hpp.

◆ Jg_ic

Eigen::MatrixXd Jg_ic

Jacobian of the initial condition constraint w.r.t dx.

Definition at line 561 of file ipopt-iface.hpp.

◆ FxJint_dx

Eigen::MatrixXd FxJint_dx

Intermediate computation needed for Jg_ic.

Definition at line 562 of file ipopt-iface.hpp.

◆ Ldx

Eigen::VectorXd Ldx

Jacobian of the cost w.r.t dx.

Definition at line 563 of file ipopt-iface.hpp.

◆ Ldxdx

Eigen::MatrixXd Ldxdx

Hessian of the cost w.r.t dxdx.

Definition at line 564 of file ipopt-iface.hpp.

◆ Ldxu

Eigen::MatrixXd Ldxu

Hessian of the cost w.r.t dxu.

Definition at line 565 of file ipopt-iface.hpp.

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

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/solvers/ipopt/ipopt-iface.hpp

Public Member Functions

Public Attributes