aligator  0.14.0
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
 
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aligator::NegativeOrthantTpl< _Scalar > Struct Template Reference

Negative orthant, for constraints \(h(x)\leq 0\). More...

#include <aligator/modelling/constraints/negative-orthant.hpp>

Inheritance diagram for aligator::NegativeOrthantTpl< _Scalar >:
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Collaboration diagram for aligator::NegativeOrthantTpl< _Scalar >:
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Public Types

using Scalar = _Scalar
 
using Base = ConstraintSetTpl<Scalar>
 
using ActiveType = typename Base::ActiveType
 
- Public Types inherited from aligator::ConstraintSetTpl< _Scalar >
using Scalar = _Scalar
 
using ActiveType = Eigen::Matrix<bool, Eigen::Dynamic, 1>
 

Public Member Functions

 ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
 
 NegativeOrthantTpl ()=default
 
 NegativeOrthantTpl (const NegativeOrthantTpl &)=default
 
NegativeOrthantTploperator= (const NegativeOrthantTpl &)=default
 
 NegativeOrthantTpl (NegativeOrthantTpl &&)=default
 
NegativeOrthantTploperator= (NegativeOrthantTpl &&)=default
 
void projection (const ConstVectorRef &z, VectorRef zout) const
 Compute projection of variable z onto the constraint set.
 
void normalConeProjection (const ConstVectorRef &z, VectorRef zout) const
 Compute projection of z onto the normal cone to the set. The default implementation is just \( \mathrm{id} - P\).
 
void computeActiveSet (const ConstVectorRef &z, Eigen::Ref< ActiveType > out) const
 The elements of the active set are the components such that \(z_i > 0\).
 
- Public Member Functions inherited from aligator::ConstraintSetTpl< _Scalar >
 ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
 
 ConstraintSetTpl ()=default
 
virtual bool disableGaussNewton () const
 
virtual Scalar evaluate (const ConstVectorRef &) const
 
virtual void applyProjectionJacobian (const ConstVectorRef &z, MatrixRef Jout) const
 Apply a jacobian of the projection/proximal operator to a matrix.
 
virtual void applyNormalConeProjectionJacobian (const ConstVectorRef &z, MatrixRef Jout) const
 Apply the jacobian of the projection on the normal cone.
 
void setProxParameter (const Scalar mu) const
 Update proximal parameter; this applies to when this class is a proximal operator that isn't a projection (e.g. \( \ell_1 \)).
 
virtual ~ConstraintSetTpl ()=default
 
bool operator== (const ConstraintSetTpl< Scalar > &rhs)
 
Scalar evaluateMoreauEnvelope (const ConstVectorRef &zin, const ConstVectorRef &zproj) const
 Evaluate the Moreau envelope with parameter mu for the given contraint set or nonsmooth penalty \(g\) at point zin.
 
Scalar computeMoreauEnvelope (const ConstVectorRef &zin, VectorRef zprojout) const
 Evaluate the Moreau envelope with parameter mu for the given contraint set or nonsmooth penalty \(g\) at point zin. This variant evaluates the prox map.
 
Scalar mu () const
 
Scalar mu_inv () const
 

Additional Inherited Members

- Protected Attributes inherited from aligator::ConstraintSetTpl< _Scalar >
Scalar mu_ = 0.
 
Scalar mu_inv_
 

Detailed Description

template<typename _Scalar>
struct aligator::NegativeOrthantTpl< _Scalar >

Negative orthant, for constraints \(h(x)\leq 0\).

Negative orthant, corresponding to constraints of the form

\[ h(x) \leq 0 \]

where \(h : \mathcal{X} \to \RR^p\) is a given residual.

Definition at line 19 of file negative-orthant.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar>
using aligator::NegativeOrthantTpl< _Scalar >::Scalar = _Scalar

Definition at line 20 of file negative-orthant.hpp.

◆ Base

template<typename _Scalar>
using aligator::NegativeOrthantTpl< _Scalar >::Base = ConstraintSetTpl<Scalar>

Definition at line 29 of file negative-orthant.hpp.

◆ ActiveType

template<typename _Scalar>
using aligator::NegativeOrthantTpl< _Scalar >::ActiveType = typename Base::ActiveType

Definition at line 30 of file negative-orthant.hpp.

Constructor & Destructor Documentation

◆ NegativeOrthantTpl() [1/3]

template<typename _Scalar>
aligator::NegativeOrthantTpl< _Scalar >::NegativeOrthantTpl ( )
default

◆ NegativeOrthantTpl() [2/3]

template<typename _Scalar>
aligator::NegativeOrthantTpl< _Scalar >::NegativeOrthantTpl ( const NegativeOrthantTpl< _Scalar > & )
default

◆ NegativeOrthantTpl() [3/3]

template<typename _Scalar>
aligator::NegativeOrthantTpl< _Scalar >::NegativeOrthantTpl ( NegativeOrthantTpl< _Scalar > && )
default

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>
aligator::NegativeOrthantTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ operator=() [1/2]

template<typename _Scalar>
NegativeOrthantTpl & aligator::NegativeOrthantTpl< _Scalar >::operator= ( const NegativeOrthantTpl< _Scalar > & )
default

◆ operator=() [2/2]

template<typename _Scalar>
NegativeOrthantTpl & aligator::NegativeOrthantTpl< _Scalar >::operator= ( NegativeOrthantTpl< _Scalar > && )
default

◆ projection()

template<typename _Scalar>
void aligator::NegativeOrthantTpl< _Scalar >::projection ( const ConstVectorRef & z,
VectorRef zout ) const
inlinevirtual

Compute projection of variable z onto the constraint set.

Parameters
[in]zInput vector
[out]zoutOutput projection

Implements aligator::ConstraintSetTpl< _Scalar >.

Definition at line 32 of file negative-orthant.hpp.

◆ normalConeProjection()

template<typename _Scalar>
void aligator::NegativeOrthantTpl< _Scalar >::normalConeProjection ( const ConstVectorRef & z,
VectorRef zout ) const
inlinevirtual

Compute projection of z onto the normal cone to the set. The default implementation is just \( \mathrm{id} - P\).

Parameters
[in]zInput vector
[out]zoutOutput projection on the normal projection

Implements aligator::ConstraintSetTpl< _Scalar >.

Definition at line 36 of file negative-orthant.hpp.

◆ computeActiveSet()

template<typename _Scalar>
void aligator::NegativeOrthantTpl< _Scalar >::computeActiveSet ( const ConstVectorRef & z,
Eigen::Ref< ActiveType > out ) const
inlinevirtual

The elements of the active set are the components such that \(z_i > 0\).

Implements aligator::ConstraintSetTpl< _Scalar >.

Definition at line 41 of file negative-orthant.hpp.


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