nlopt Added matlab binding for vector valued constraints

Added matlab binding for vector valued constraints

Open nicolapiccinelli opened this issue 5 years ago • 5 comments

I've added to the mex file the binding for the vector-valued inequality and equality constraints. They are available through the opt structure (in the same way for the standard constraint functions) with the following parameters:

mfc to define vector-valued inequality function binding
mfc_count to define the amount of inequality constraints
mfc_tol to define the tolerance for each inequality constraint
mh to define vector-valued equality function binding
mh_count to define the amount of equality constraints
mh_tol to define the tolerance for each equality constraint

there is also the new callback evaluation function user_mfunction defined with the signature provided in the reference manual. This enhancement allows integrating nlopt as a custom solver for the nonlinear model predictive controller in Matlab (the actual limitation is the need for a double evaluation of the nonlinear constraints function).

The limitation could be avoided by adding another specific binding for inequality-equality function binding (nlmpc custom solver).