aligator::BoxConstraintTpl< Scalar > Struct Template Reference

Box constraint set \(z \in [z_\min, z_\max]\). More...

#include <aligator/modelling/constraints/box-constraint.hpp>

Inheritance diagram for aligator::BoxConstraintTpl< Scalar >:

Collaboration diagram for aligator::BoxConstraintTpl< Scalar >:

Public Types
using	Base = ConstraintSetTpl<Scalar>
using	ActiveType = typename Base::ActiveType
Public Types inherited from aligator::ConstraintSetTpl< Scalar >
using	Scalar
using	ActiveType

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	BoxConstraintTpl (const ConstVectorRef lower, const ConstVectorRef upper)
	BoxConstraintTpl (const BoxConstraintTpl &)=default
BoxConstraintTpl &	operator= (const BoxConstraintTpl &)=default
	BoxConstraintTpl (BoxConstraintTpl &&)=default
BoxConstraintTpl &	operator= (BoxConstraintTpl &&)=default
decltype(auto)	projection_impl (const ConstVectorRef &z) const
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
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

Public Attributes
VectorXs	lower_limit
VectorXs	upper_limit

Additional Inherited Members
Protected Attributes inherited from aligator::ConstraintSetTpl< Scalar >
Scalar	mu_
Scalar	mu_inv_

Detailed Description

template<typename Scalar>
struct aligator::BoxConstraintTpl< Scalar >

Box constraint set \(z \in [z_\min, z_\max]\).

Definition at line 10 of file box-constraint.hpp.

Member Typedef Documentation

Base

template<typename Scalar>

using aligator::BoxConstraintTpl< Scalar >::Base = ConstraintSetTpl<Scalar>

Definition at line 12 of file box-constraint.hpp.

ActiveType

template<typename Scalar>

using aligator::BoxConstraintTpl< Scalar >::ActiveType = typename Base::ActiveType

Definition at line 13 of file box-constraint.hpp.

Constructor & Destructor Documentation

BoxConstraintTpl() [1/3]

template<typename Scalar>

aligator::BoxConstraintTpl< Scalar >::BoxConstraintTpl ( const ConstVectorRef lower, const ConstVectorRef upper )

inline

Definition at line 18 of file box-constraint.hpp.

BoxConstraintTpl() [2/3]

template<typename Scalar>

aligator::BoxConstraintTpl< Scalar >::BoxConstraintTpl ( const BoxConstraintTpl< Scalar > & )

default

BoxConstraintTpl() [3/3]

template<typename Scalar>

aligator::BoxConstraintTpl< Scalar >::BoxConstraintTpl ( BoxConstraintTpl< Scalar > && )

default

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename Scalar>

aligator::BoxConstraintTpl< Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

operator=() [1/2]

template<typename Scalar>

BoxConstraintTpl & aligator::BoxConstraintTpl< Scalar >::operator= ( const BoxConstraintTpl< Scalar > & )

default

operator=() [2/2]

template<typename Scalar>

BoxConstraintTpl & aligator::BoxConstraintTpl< Scalar >::operator= ( BoxConstraintTpl< Scalar > && )

default

projection_impl()

template<typename Scalar>

decltype(auto) aligator::BoxConstraintTpl< Scalar >::projection_impl ( const ConstVectorRef & z ) const

inline

Definition at line 27 of file box-constraint.hpp.

projection()

template<typename Scalar>

void aligator::BoxConstraintTpl< Scalar >::projection ( const ConstVectorRef & z, VectorRef zout ) const

inlinevirtual

Compute projection of variable z onto the constraint set.

Parameters

[in]	z	Input vector
[out]	zout	Output projection

Implements aligator::ConstraintSetTpl< Scalar >.

Definition at line 31 of file box-constraint.hpp.

normalConeProjection()

template<typename Scalar>

void aligator::BoxConstraintTpl< 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]	z	Input vector
[out]	zout	Output projection on the normal projection

Implements aligator::ConstraintSetTpl< Scalar >.

Definition at line 35 of file box-constraint.hpp.

computeActiveSet()

template<typename Scalar>

void aligator::BoxConstraintTpl< Scalar >::computeActiveSet ( const ConstVectorRef & z, Eigen::Ref< ActiveType > out ) const

inlinevirtual

Compute the active set of the constraint. Active means the Jacobian of the proximal operator is nonzero.

Implements aligator::ConstraintSetTpl< Scalar >.

Definition at line 39 of file box-constraint.hpp.

Member Data Documentation

lower_limit

template<typename Scalar>

VectorXs aligator::BoxConstraintTpl< Scalar >::lower_limit

Definition at line 15 of file box-constraint.hpp.

upper_limit

template<typename Scalar>

VectorXs aligator::BoxConstraintTpl< Scalar >::upper_limit

Definition at line 16 of file box-constraint.hpp.

---

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

• include/aligator/modelling/constraints/box-constraint.hpp