negative-orthant.hpp

Go to the documentation of this file.

#pragma once
 
#include "aligator/core/constraint-set.hpp"
 
namespace aligator {

template <typename _Scalar>
struct NegativeOrthantTpl : ConstraintSetTpl<_Scalar> {
  using Scalar = _Scalar;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
 
  NegativeOrthantTpl() = default;
  NegativeOrthantTpl(const NegativeOrthantTpl &) = default;
  NegativeOrthantTpl &operator=(const NegativeOrthantTpl &) = default;
  NegativeOrthantTpl(NegativeOrthantTpl &&) = default;
  NegativeOrthantTpl &operator=(NegativeOrthantTpl &&) = default;
 
  using Base = ConstraintSetTpl<Scalar>;
  using ActiveType = typename Base::ActiveType;
 
  void projection(const ConstVectorRef &z, VectorRef zout) const {
    zout = z.cwiseMin(static_cast<Scalar>(0.));
  }
 
  void normalConeProjection(const ConstVectorRef &z, VectorRef zout) const {
    zout = z.cwiseMax(static_cast<Scalar>(0.));
  }

  void computeActiveSet(const ConstVectorRef &z,
                        Eigen::Ref<ActiveType> out) const {
    out.array() = (z.array() > static_cast<Scalar>(0.));
  }
};
 
} // namespace aligator