ModRussel_NLP Class Reference

Implementation of the Modified Russel beam problem, using the IPOPT TNLP structure. More...

#include <ModRussel_NLP.hpp>

Inherits TNLP.

Public Member Functions
	ModRussel_NLP (std::shared_ptr< BeamGeometry > geomPtr, std::shared_ptr< BeamObstaclePlane > obstaclePtr, rw::math::Transform3D<> planeTbeam, const std::vector< int > &integralIndices)

Overloaded from TNLP
virtual bool	get_nlp_info (Ipopt::Index &n, Ipopt::Index &m, Ipopt::Index &nnz_jac_g, Ipopt::Index &nnz_h_lag, IndexStyleEnum &index_style)
virtual 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)
virtual 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)
virtual bool	eval_f (Ipopt::Index n, const Ipopt::Number *x, bool new_x, Ipopt::Number &obj_value)
virtual bool	eval_grad_f (Ipopt::Index n, const Ipopt::Number *x, bool new_x, Ipopt::Number *grad_f)
virtual bool	eval_g (Ipopt::Index n, const Ipopt::Number *x, bool new_x, Ipopt::Index m, Ipopt::Number *g)
virtual 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)
virtual 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)
virtual 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)
std::shared_ptr< BeamGeometry >	getGeometry (void) const
	returns the geometry used More...
std::shared_ptr< BeamObstaclePlane >	getObstacle (void) const
	returns the obstacle used More...
rw::math::Transform3D	get_planeTbeam (void) const
	get the plane to beam transform More...
const Eigen::VectorXd &	getSolution (void) const
	returns the solution vector More...
double	getEnergyElastic (void) const
	returns the total elastic energy for the last solution More...
void	setStartingGuess (const Eigen::VectorXd &xinituser)
	sets the starting guess for the optimization More...

Detailed Description

Implementation of the Modified Russel beam problem, using the IPOPT TNLP structure.

Member Function Documentation

eval_f()

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

virtual

Method to return the objective value

eval_g()

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

virtual

Method to return the constraint residuals

eval_grad_f()

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

virtual

Method to return the gradient of the objective

eval_h()

virtual 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  )

virtual

Method to return: 1) The structure of the hessian of the lagrangian (if "values" is NULL) 2) The values of the hessian of the lagrangian (if "values" is not NULL)

eval_jac_g()

virtual 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  )

virtual

Method to return: 1) The structure of the jacobian (if "values" is NULL) 2) The values of the jacobian (if "values" is not NULL)

finalize_solution()

virtual 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  )

virtual

This method is called when the algorithm is complete so the TNLP can store/write the solution

get_bounds_info()

virtual 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  )

virtual

Method to return the bounds for my problem

get_nlp_info()

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

virtual

Method to return some info about the nlp

get_planeTbeam()

rw::math::Transform3D get_planeTbeam

(

void

)

const

get the plane to beam transform

Returns

the plane to beam transform

get_starting_point()

virtual 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  )

virtual

Method to return the starting point for the algorithm

getEnergyElastic()

double getEnergyElastic

(

void

)

const

returns the total elastic energy for the last solution

returns the total elastic energy for the last solution. The energy returned is in units of [kg mm^ 2 / s^2]

Returns

total elastic energy

getGeometry()

std::shared_ptr<BeamGeometry> getGeometry

(

void

)

const

returns the geometry used

Returns

the geometry used

getObstacle()

std::shared_ptr<BeamObstaclePlane> getObstacle

(

void

)

const

returns the obstacle used

Returns

the obstacle used

getSolution()

const Eigen::VectorXd& getSolution

(

void

)

const

returns the solution vector

Returns

solution vector

setStartingGuess()

void setStartingGuess

(

const Eigen::VectorXd &

xinituser

)

sets the starting guess for the optimization

Parameters

xinituser

vector of deformation angles to be used as starting guess

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

• ModRussel_NLP.hpp