Struct NlpStructure

Struct Documentation

struct mimir::algorithm::NlpStructure

Collection of helper data structures for the discretized NLP problem.

This struct holds data types, which simplifies the interaction with the discretized NLP problem. In particular, it holds the discretized problem dimension, slices into the decision variable vector, as well as variable expressions for initial and terminal time points of state vectors.

Public Functions

inline NlpStructure()

Public Members

std::map<std::string, casadi::Slice> variable_slice

Placement of a named variable in the decision variable vector of the NLP.

std::map<std::string, casadi::MX> discrete_variable

A named discrete variable, not necessarily in the decision vector.

casadi_int problem_dimension

Dimension of decision variable vector \(w\) of NLP.