sleipnir::EqualityConstraints Struct Reference

A vector of equality constraints of the form cₑ(x) = 0. More...

#include </home/runner/work/allwpilib/allwpilib/wpimath/src/main/native/thirdparty/sleipnir/include/sleipnir/autodiff/Variable.hpp>

Public Member Functions
	EqualityConstraints (std::initializer_list< EqualityConstraints > equalityConstraints)
	Concatenates multiple equality constraints.
	EqualityConstraints (const std::vector< EqualityConstraints > &equalityConstraints)
	Concatenates multiple equality constraints.
template<typename LHS , typename RHS > requires (ScalarLike<std::decay_t<LHS>> || MatrixLike<std::decay_t<LHS>>) && (ScalarLike<std::decay_t<RHS>> || MatrixLike<std::decay_t<RHS>>) && (!std::same_as<std::decay_t<LHS>, double> || !std::same_as<std::decay_t<RHS>, double>)
	EqualityConstraints (LHS &&lhs, RHS &&rhs)
	Constructs an equality constraint from a left and right side.
	operator bool ()
	Implicit conversion operator to bool.

Public Attributes
wpi::SmallVector< Variable >	constraints
	A vector of scalar equality constraints.

Detailed Description

A vector of equality constraints of the form cₑ(x) = 0.

Constructor & Destructor Documentation

EqualityConstraints() [1/3]

sleipnir::EqualityConstraints::EqualityConstraints ( std::initializer_list< EqualityConstraints > equalityConstraints )

inline

Concatenates multiple equality constraints.

Parameters

equalityConstraints

The list of EqualityConstraints to concatenate.

EqualityConstraints() [2/3]

sleipnir::EqualityConstraints::EqualityConstraints ( const std::vector< EqualityConstraints > & equalityConstraints )

inlineexplicit

Concatenates multiple equality constraints.

This overload is for Python bindings only.

Parameters

equalityConstraints

The list of EqualityConstraints to concatenate.

EqualityConstraints() [3/3]

template<typename LHS , typename RHS >
requires (ScalarLike<std::decay_t<LHS>> || MatrixLike<std::decay_t<LHS>>) && (ScalarLike<std::decay_t<RHS>> || MatrixLike<std::decay_t<RHS>>) && (!std::same_as<std::decay_t<LHS>, double> || !std::same_as<std::decay_t<RHS>, double>)

sleipnir::EqualityConstraints::EqualityConstraints ( LHS && lhs, RHS && rhs )

inline

Constructs an equality constraint from a left and right side.

The standard form for equality constraints is c(x) = 0. This function takes a constraint of the form lhs = rhs and converts it to lhs - rhs = 0.

Parameters

lhs	Left-hand side.
rhs	Right-hand side.

Member Function Documentation

operator bool()

sleipnir::EqualityConstraints::operator bool ( )

inline

Implicit conversion operator to bool.

Member Data Documentation

constraints

wpi::SmallVector<Variable> sleipnir::EqualityConstraints::constraints

A vector of scalar equality constraints.

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

• /home/runner/work/allwpilib/allwpilib/wpimath/src/main/native/thirdparty/sleipnir/include/sleipnir/autodiff/Variable.hpp