sqp_matrix_callbacks.hpp

// Copyright (c) Sleipnir contributors
 
#pragma once
 
#include <functional>
 
#include <Eigen/Core>
#include <Eigen/SparseCore>
 
namespace slp {
 
template <typename Scalar>
struct SQPMatrixCallbacks {
  using DenseVector = Eigen::Vector<Scalar, Eigen::Dynamic>;
  using SparseMatrix = Eigen::SparseMatrix<Scalar>;
  using SparseVector = Eigen::SparseVector<Scalar>;
 
  int num_decision_variables = 0;
 
  int num_equality_constraints = 0;
 
  std::function<Scalar(const DenseVector& x)> f;
 
  std::function<SparseVector(const DenseVector& x)> g;
 
  std::function<SparseMatrix(const DenseVector& x, const DenseVector& y)> H;
 
  std::function<SparseMatrix(const DenseVector& x, const DenseVector& y)> H_c;
 
  std::function<DenseVector(const DenseVector& x)> c_e;
 
  std::function<SparseMatrix(const DenseVector& x)> A_e;
};
 
}  // namespace slp