Inheritance diagram for optas.optimization.MixedIntegerNonlinearCostNonlinearConstrained:

Collaboration diagram for optas.optimization.MixedIntegerNonlinearCostNonlinearConstrained:

Public Member Functions
def	__init__ (self, SXContainer decision_variables, SXContainer parameters, SXContainer cost_terms, SXContainer lin_eq_constraints, SXContainer lin_ineq_constraints, SXContainer eq_constraints, SXContainer ineq_constraints)
	Initializer for the MixedIntegerNonlinearCostNonlinearConstrained class. More...

Public Member Functions inherited from optas.optimization.Optimization
def	__init__ (self, SXContainer decision_variables, SXContainer parameters, SXContainer cost_terms)
	Initializer for the Optimization class. More...

None	set_models (self, List[Model] models)
	Specify the models in the optimization problem. More...

None	specify_quadratic_cost (self)
	Specify the terms P and q of a quadratic cost function. More...

None	specify_linear_constraints (self, lin_ineq_constraints, lin_eq_constraints)
	Setup the constraints k(x, p) = M(p).x + c(p) >= 0, and a(x, p) = A(p).x + b(p) == 0. More...

None	specify_nonlinear_constraints (self, SXContainer ineq_constraints, SXContainer eq_constraints)
	Setup the constraints g(x, p) >= 0, and h(x, p) == 0. More...

None	specify_v (self, List[cs.Function] ineq=[], List[cs.Function] eq=[])
	Specify the vertical constraints vector v. More...

def	has_discrete_variables (self)

Additional Inherited Members
Public Attributes inherited from optas.optimization.Optimization
	models
	A list of the task and robot models (set during build method in the OptimizationBuilder class) More...

	decision_variables
	SXContainer containing decision variables. More...

	parameters
	SXContainer containing parameters. More...

	cost_terms
	SXContainer containing cost terms. More...

	lin_eq_constraints
	SXContainer containing linear equality constraints. More...

	lin_ineq_constraints
	SXContainer containing linear inequality constraints. More...

	eq_constraints
	SXContainer containing equality constraints. More...

	ineq_constraints
	SXContainer containing inequality constraints. More...

	P
	CasADi function that evaluates the P term in the cost function (note, this only applies to problems with a quadratic cost function). More...

	q
	CasADi function that evaluates the q term in the cost function (note, this only applies to problems with a quadratic cost function). More...

	k
	CasADi function that evaluates the linear equality constraints. More...

	nk
	Number of linear inequality constraints. More...

	lbk
	Lower bound for the linear inequality constraints (i.e. More...

	ubk
	Upper bound for the linear inequality constraints (i.e. More...

	M
	CasADi function that evaluates the M term in the linear inequality constraints. More...

	c
	CasADi function that evaluates the c term in the linear inequality constraints. More...

	a
	CasADi function that evaluates the linear equality constraints. More...

	na
	Number of linear equality constraints. More...

	lba
	Lower bound for the linear equality constraints (i.e. More...

	uba
	Upper bound for the linear equality constraints (i.e. More...

	A
	CasADi function that evaluates the A term in the linear equality constraints. More...

	b
	CasADi function that evaluates the b term in the linear equality constraints. More...

	g
	CasADi function that evaluates the inequality constraints. More...

	ng
	Number of inequality constraints. More...

	lbg
	Lower bound for the inequality constraints (i.e. More...

	ubg
	Upper bound for the inequality constraints (i.e. More...

	h
	CasADi function that evaluates the equality constraints. More...

	nh
	Number of equality constraints. More...

	lbh
	Lower bound for the equality constraints (i.e. More...

	ubh
	Upper bound for the equality constraints (i.e. More...

	v
	CasADi function that evaluates the constraints as a verticle column (set when specify_v is called), see vertcon. More...

	nv
	Number of vectorized constraints (see vertcon). More...

	lbv
	Lower bound for the verticle constraints v (i.e. More...

	ubv
	Upper bound for the verticle constraints v (i.e. More...

	dv
	CasADi function that evaluates the Jacobian of the constraints v (set when specify_v is called). More...

	ddv
	CasADi function that evaluates the Hessian of the constraints v (set when specify_v is called). More...

	x
	Vectorized decision variables. More...

	p
	Vectorized parameters. More...

	f
	CasADi function that evaluates the objective function. More...

	df
	Jacobian of the objective function. More...

	ddf
	Hessian of the objective function. More...

	nx
	Number of decision variables. More...

	np
	Number of parameters. More...

	ddg

	ddh

Static Public Attributes inherited from optas.optimization.Optimization
float	inf = 1.0e10
	big number rather than np.inf More...

Detailed Description

Nonlinear mixed-integer optimization problem.

min f(x, z; p)
 x,z

    subject to

        k(x, z; p) = M(p).x + L(p).z + c(p) >= 0
        a(x, z; p) = A(p).x + G(p).z + b(p) == 0
        g(x, z; p) >= 0, and
        h(x, z; p) == 0

Constructor & Destructor Documentation

◆ init()

def optas.optimization.MixedIntegerNonlinearCostNonlinearConstrained.__init__	(		self,
		SXContainer	decision_variables,
		SXContainer	parameters,
		SXContainer	cost_terms,
		SXContainer	lin_eq_constraints,
		SXContainer	lin_ineq_constraints,
		SXContainer	eq_constraints,
		SXContainer	ineq_constraints
	)

Initializer for the MixedIntegerNonlinearCostNonlinearConstrained class.

   @param decision_variables SXContainer containing decision variables (with at least one discrete variable).
   @param parameters SXContainer containing parameters.
   @param cost_terms SXContainer containing cost terms.
   @param lin_eq_constraints SXContainer containing the linear equality constraints.
   @param lin_ineq_constraints SXContainer containing the linear inequality constraints.
   @param eq_constraints SXContainer containing the equality constraints.
   @param ineq_constraints SXContainer containing the inequality constraints.
   @return Instance of the MixedIntegerNonlinearCostNonlinearConstrained class.

Reimplemented from optas.optimization.NonlinearCostNonlinearConstraints.

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

optimization.py

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ __init__()

◆ init()