Inheritance diagram for HeadCenter_NLP:

Public Member Functions
	HeadCenter_NLP (iKinChain &c, const Vector &_q0, Vector &_xd)

Vector	get_qd ()

void	set_scaling (double _obj_scaling, double _x_scaling, double _g_scaling)

void	set_bound_inf (double lower, double upper)

bool	get_nlp_info (Ipopt::Index &n, Ipopt::Index &m, Ipopt::Index &nnz_jac_g, Ipopt::Index &nnz_h_lag, IndexStyleEnum &index_style) override

bool	get_bounds_info (Ipopt::Index n, Ipopt::Number x_l, Ipopt::Number x_u, Ipopt::Index m, Ipopt::Number g_l, Ipopt::Number g_u) override

bool	get_starting_point (Ipopt::Index n, bool init_x, Ipopt::Number x, bool init_z, Ipopt::Number z_L, Ipopt::Number z_U, Ipopt::Index m, bool init_lambda, Ipopt::Number lambda) override

bool	eval_f (Ipopt::Index n, const Ipopt::Number *x, bool new_x, Ipopt::Number &obj_value) override

bool	eval_grad_f (Ipopt::Index n, const Ipopt::Number x, bool new_x, Ipopt::Number grad_f) override

bool	eval_g (Ipopt::Index n, const Ipopt::Number x, bool new_x, Ipopt::Index m, Ipopt::Number g) override

bool	eval_jac_g (Ipopt::Index n, const Ipopt::Number x, bool new_x, Ipopt::Index m, Ipopt::Index nele_jac, Ipopt::Index iRow, Ipopt::Index jCol, Ipopt::Number values) override

bool	eval_h (Ipopt::Index n, const Ipopt::Number x, bool new_x, Ipopt::Number obj_factor, Ipopt::Index m, const Ipopt::Number lambda, bool new_lambda, Ipopt::Index nele_hess, Ipopt::Index iRow, Ipopt::Index jCol, Ipopt::Number *values) override

bool	get_scaling_parameters (Ipopt::Number &obj_scaling, bool &use_x_scaling, Ipopt::Index n, Ipopt::Number x_scaling, bool &use_g_scaling, Ipopt::Index m, Ipopt::Number g_scaling) override

void	finalize_solution (Ipopt::SolverReturn status, Ipopt::Index n, const Ipopt::Number x, const Ipopt::Number z_L, const Ipopt::Number z_U, Ipopt::Index m, const Ipopt::Number g, const Ipopt::Number lambda, Ipopt::Number obj_value, const Ipopt::IpoptData ip_data, Ipopt::IpoptCalculatedQuantities *ip_cq) override

void	setGravityDirection (const Vector &gDir)

virtual	~HeadCenter_NLP ()

Protected Member Functions
void	computeQuantities (const Ipopt::Number *x)

Protected Attributes
iKinChain &	chain

unsigned int	dim

Vector &	xd

Vector	qd

Vector	q0

Vector	q

Vector	qRest

Matrix	Hxd

Matrix	GeoJacobP

Matrix	AnaJacobZ

double	mod

double	cosAng

double	fPitch

double	dfPitch

double	__obj_scaling

double	__x_scaling

double	__g_scaling

double	lowerBoundInf

double	upperBoundInf

bool	firstGo

Detailed Description

Definition at line 32 of file gazeNlp.cpp.

Constructor & Destructor Documentation

◆ HeadCenter_NLP()

HeadCenter_NLP::HeadCenter_NLP	(	iKinChain &	c,
		const Vector &	_q0,
		Vector &	_xd
	)

inline

Definition at line 105 of file gazeNlp.cpp.

◆ ~HeadCenter_NLP()

virtual HeadCenter_NLP::~HeadCenter_NLP ( )

inlinevirtual

Definition at line 327 of file gazeNlp.cpp.

Member Function Documentation

◆ computeQuantities()

void HeadCenter_NLP::computeQuantities ( const Ipopt::Number * x )

inlineprotected

Definition at line 66 of file gazeNlp.cpp.

◆ eval_f()

bool HeadCenter_NLP::eval_f	(	Ipopt::Index	n,
		const Ipopt::Number *	x,
		bool	new_x,
		Ipopt::Number &	obj_value
	)

inlineoverride

Definition at line 190 of file gazeNlp.cpp.

◆ eval_g()

bool HeadCenter_NLP::eval_g	(	Ipopt::Index	n,
		const Ipopt::Number *	x,
		bool	new_x,
		Ipopt::Index	m,
		Ipopt::Number *	g
	)

inlineoverride

Definition at line 217 of file gazeNlp.cpp.

◆ eval_grad_f()

bool HeadCenter_NLP::eval_grad_f	(	Ipopt::Index	n,
		const Ipopt::Number *	x,
		bool	new_x,
		Ipopt::Number *	grad_f
	)

inlineoverride

Definition at line 207 of file gazeNlp.cpp.

◆ eval_h()

bool HeadCenter_NLP::eval_h	(	Ipopt::Index	n,
		const Ipopt::Number *	x,
		bool	new_x,
		Ipopt::Number	obj_factor,
		Ipopt::Index	m,
		const Ipopt::Number *	lambda,
		bool	new_lambda,
		Ipopt::Index	nele_hess,
		Ipopt::Index *	iRow,
		Ipopt::Index *	jCol,
		Ipopt::Number *	values
	)

inlineoverride

Definition at line 272 of file gazeNlp.cpp.

◆ eval_jac_g()

bool HeadCenter_NLP::eval_jac_g	(	Ipopt::Index	n,
		const Ipopt::Number *	x,
		bool	new_x,
		Ipopt::Index	m,
		Ipopt::Index	nele_jac,
		Ipopt::Index *	iRow,
		Ipopt::Index *	jCol,
		Ipopt::Number *	values
	)

inlineoverride

Definition at line 230 of file gazeNlp.cpp.

◆ finalize_solution()

void HeadCenter_NLP::finalize_solution	(	Ipopt::SolverReturn	status,
		Ipopt::Index	n,
		const Ipopt::Number *	x,
		const Ipopt::Number *	z_L,
		const Ipopt::Number *	z_U,
		Ipopt::Index	m,
		const Ipopt::Number *	g,
		const Ipopt::Number *	lambda,
		Ipopt::Number	obj_value,
		const Ipopt::IpoptData *	ip_data,
		Ipopt::IpoptCalculatedQuantities *	ip_cq
	)

inlineoverride

Definition at line 300 of file gazeNlp.cpp.

◆ get_bounds_info()

bool HeadCenter_NLP::get_bounds_info	(	Ipopt::Index	n,
		Ipopt::Number *	x_l,
		Ipopt::Number *	x_u,
		Ipopt::Index	m,
		Ipopt::Number *	g_l,
		Ipopt::Number *	g_u
	)

inlineoverride

Definition at line 161 of file gazeNlp.cpp.

◆ get_nlp_info()

bool HeadCenter_NLP::get_nlp_info	(	Ipopt::Index &	n,
		Ipopt::Index &	m,
		Ipopt::Index &	nnz_jac_g,
		Ipopt::Index &	nnz_h_lag,
		IndexStyleEnum &	index_style
	)

inlineoverride

Definition at line 148 of file gazeNlp.cpp.

◆ get_qd()

Vector HeadCenter_NLP::get_qd ( )

inline

Definition at line 130 of file gazeNlp.cpp.

◆ get_scaling_parameters()

bool HeadCenter_NLP::get_scaling_parameters	(	Ipopt::Number &	obj_scaling,
		bool &	use_x_scaling,
		Ipopt::Index	n,
		Ipopt::Number *	x_scaling,
		bool &	use_g_scaling,
		Ipopt::Index	m,
		Ipopt::Number *	g_scaling
	)

inlineoverride

Definition at line 281 of file gazeNlp.cpp.

◆ get_starting_point()

bool HeadCenter_NLP::get_starting_point	(	Ipopt::Index	n,
		bool	init_x,
		Ipopt::Number *	x,
		bool	init_z,
		Ipopt::Number *	z_L,
		Ipopt::Number *	z_U,
		Ipopt::Index	m,
		bool	init_lambda,
		Ipopt::Number *	lambda
	)

inlineoverride

Definition at line 179 of file gazeNlp.cpp.

◆ set_bound_inf()

void HeadCenter_NLP::set_bound_inf	(	double	lower,
		double	upper
	)

inline

Definition at line 141 of file gazeNlp.cpp.

◆ set_scaling()

void HeadCenter_NLP::set_scaling	(	double	_obj_scaling,
		double	_x_scaling,
		double	_g_scaling
	)

inline

Definition at line 133 of file gazeNlp.cpp.

◆ setGravityDirection()

void HeadCenter_NLP::setGravityDirection ( const Vector & gDir )

inline

Definition at line 313 of file gazeNlp.cpp.

Member Data Documentation

◆ __g_scaling

double HeadCenter_NLP::__g_scaling

protected

Definition at line 60 of file gazeNlp.cpp.

◆ __obj_scaling

double HeadCenter_NLP::__obj_scaling

protected

Definition at line 58 of file gazeNlp.cpp.

◆ __x_scaling

double HeadCenter_NLP::__x_scaling

protected

Definition at line 59 of file gazeNlp.cpp.

◆ AnaJacobZ

Matrix HeadCenter_NLP::AnaJacobZ

protected

Definition at line 51 of file gazeNlp.cpp.

◆ chain

iKinChain& HeadCenter_NLP::chain

protected

Definition at line 41 of file gazeNlp.cpp.

◆ cosAng

double HeadCenter_NLP::cosAng

protected

Definition at line 54 of file gazeNlp.cpp.

◆ dfPitch

double HeadCenter_NLP::dfPitch

protected

Definition at line 56 of file gazeNlp.cpp.

◆ dim

unsigned int HeadCenter_NLP::dim

protected

Definition at line 42 of file gazeNlp.cpp.

◆ firstGo

bool HeadCenter_NLP::firstGo

protected

Definition at line 63 of file gazeNlp.cpp.

◆ fPitch

double HeadCenter_NLP::fPitch

protected

Definition at line 55 of file gazeNlp.cpp.

◆ GeoJacobP

Matrix HeadCenter_NLP::GeoJacobP

protected

Definition at line 50 of file gazeNlp.cpp.

◆ Hxd

Matrix HeadCenter_NLP::Hxd

protected

Definition at line 49 of file gazeNlp.cpp.

◆ lowerBoundInf

double HeadCenter_NLP::lowerBoundInf

protected

Definition at line 61 of file gazeNlp.cpp.

◆ mod

double HeadCenter_NLP::mod

protected

Definition at line 53 of file gazeNlp.cpp.

◆ q

Vector HeadCenter_NLP::q

protected

Definition at line 47 of file gazeNlp.cpp.

◆ q0

Vector HeadCenter_NLP::q0

protected

Definition at line 46 of file gazeNlp.cpp.

◆ qd

Vector HeadCenter_NLP::qd

protected

Definition at line 45 of file gazeNlp.cpp.

◆ qRest

Vector HeadCenter_NLP::qRest

protected

Definition at line 48 of file gazeNlp.cpp.

◆ upperBoundInf

double HeadCenter_NLP::upperBoundInf

protected

Definition at line 62 of file gazeNlp.cpp.

◆ xd

Vector& HeadCenter_NLP::xd

protected

Definition at line 44 of file gazeNlp.cpp.

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

icub-main/src/modules/iKinGazeCtrl/src/gazeNlp.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ HeadCenter_NLP()

◆ ~HeadCenter_NLP()

Member Function Documentation

◆ computeQuantities()

◆ eval_f()

◆ eval_g()

◆ eval_grad_f()

◆ eval_h()

◆ eval_jac_g()

◆ finalize_solution()

◆ get_bounds_info()

◆ get_nlp_info()

◆ get_qd()

◆ get_scaling_parameters()

◆ get_starting_point()

◆ set_bound_inf()

◆ set_scaling()

◆ setGravityDirection()

Member Data Documentation

◆ __g_scaling

◆ __obj_scaling

◆ __x_scaling

◆ AnaJacobZ

◆ chain

◆ cosAng

◆ dfPitch

◆ dim

◆ firstGo

◆ fPitch

◆ GeoJacobP

◆ Hxd

◆ lowerBoundInf

◆ mod

◆ q

◆ q0

◆ qd

◆ qRest

◆ upperBoundInf

◆ xd