public void SetValue(TrajectoryQuantityInstance q, MatlabExpression value)
{
var idx = q.GlobalIndex;
Debug.Assert(idx >= 0 && idx < Values.Length);
Values[idx] = value;
}
/// <summary>
/// Add a multi-dimensional equality constraint gradient
/// </summary>
protected void AddEConstraintGrad(Constraint ci, TrajectoryQuantityInstance q, MatlabExpression expr)
{
if (expr.ToString() == "- 1*1")
{
Console.WriteLine("{0}, {1}: {2}", ci.Index, q, expr);
}
AddConstraintGrad(EConstraintsNLGradCode, q, ci, expr);
//if (ci.NDims > 1)
}
public void SetValue(TrajectoryQuantityInstance q, MatlabExpression value)
{
var idx = q.GlobalIndex;
if (idx >= 0 && idx < Values.Length)
{
Values[idx] = value;
}
// Silently ignore invalid values
}
public void SetValue(TrajectoryQuantityInstance q, params object[] exprs)
{
Debug.Assert(q.Quantity.Length == exprs.Count());
var idx = q.GlobalIndex;
if (idx >= 0 && idx < Values.Length)
{
Values[idx] = M.ColVector(exprs);
}
// Silently ignore invalid values
}
protected void AddCostGrad(TrajectoryQuantityInstance q, MatlabExpression expr)
{
var idx = q.GlobalIndex;
if (idx >= 0 && idx < JGradCode.Length)
{
var list = JGradCode[idx];
if (list == null)
{
JGradCode[idx] = list = new List <MatlabExpression>(5);
}
list.Add(expr);
}
// for now: Silently ignore invalid gradients (such as those from the boundaries)
}
public QInstanceIndex(Constraint ci, TrajectoryQuantityInstance q)
{
Constraint = ci;
Q = q;
}
/// <summary>
/// Add a constraint gradient
/// </summary>
private void AddConstraintGrad(SparseMatlabTensor <QInstanceIndex> constraintGrad, TrajectoryQuantityInstance q, Constraint ci, MatlabExpression expr)
{
constraintGrad.Add(new QInstanceIndex(ci, q), expr);
}
/// <summary>
/// Add an equality constraint gradient
/// </summary>
protected void AddIConstraintGrad(Constraint ci, TrajectoryQuantityInstance q, MatlabExpression expr)
{
AddConstraintGrad(IConstraintsNLGradCode, q, ci, expr);
}
