Public Member Functions | List of all members
corbo::BackwardDiffCollocation Class Reference

Collocation via backward differences. More...

#include <finite_differences_collocation.h>

Inheritance diagram for corbo::BackwardDiffCollocation:
Inheritance graph
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Public Member Functions

void computeEqualityConstraint (const StateVector &x1, const InputVector &u1, const StateVector &x2, double dt, const SystemDynamicsInterface &system, Eigen::Ref< Eigen::VectorXd > error) override
 Compute differentiation error (system dynamics) More...
 
FiniteDifferencesCollocationInterface::Ptr getInstance () const override
 Return a newly allocated instances of the inherited class. More...
 
- Public Member Functions inherited from corbo::FiniteDifferencesCollocationInterface
virtual ~FiniteDifferencesCollocationInterface ()=default
 Virtual destructor. More...
 

Additional Inherited Members

- Public Types inherited from corbo::FiniteDifferencesCollocationInterface
using InputVector = Eigen::VectorXd
 
using Ptr = std::shared_ptr< FiniteDifferencesCollocationInterface >
 
using StateVector = Eigen::VectorXd
 
using UPtr = std::unique_ptr< FiniteDifferencesCollocationInterface >
 
- Static Public Member Functions inherited from corbo::FiniteDifferencesCollocationInterface
static Factory< FiniteDifferencesCollocationInterface > & getFactory ()
 Get access to the associated factory. More...
 

Detailed Description

Collocation via backward differences.

Backward differences approximate $ \dot{x} = f(x, u) $ in the following manner:

\[ \frac{x_{k+1} - x_k}{\delta T} = f(x_{k+1}, u_k) \]

See also
FiniteDifferencesCollocationInterface
Author
Christoph Rösmann (chris.nosp@m.toph.nosp@m..roes.nosp@m.mann.nosp@m.@tu-d.nosp@m.ortm.nosp@m.und.d.nosp@m.e)

Definition at line 153 of file finite_differences_collocation.h.

Member Function Documentation

◆ computeEqualityConstraint()

void corbo::BackwardDiffCollocation::computeEqualityConstraint ( const StateVector x1,
const InputVector u1,
const StateVector x2,
double  dt,
const SystemDynamicsInterface system,
Eigen::Ref< Eigen::VectorXd >  error 
)
inlineoverridevirtual

Compute differentiation error (system dynamics)

\[ e = f(x,u,t) - \dot{x} \]

.

Parameters
[in]x1Initial state vector [SystemDynamicsInterface::getStateDimension() x 1]
[in]u1Constant control input vector [SystemDynamicsInterface::getInputDimension() x 1]
[in]x2Final state vector [SystemDynamicsInterface::getStateDimension() x 1]
[in]dtTime interval length
[in]systemSystem dynamics object
[out]errorResulting error [SystemDynamicsInterface::getStateDimension() x 1] (must be preallocated)

Implements corbo::FiniteDifferencesCollocationInterface.

Definition at line 160 of file finite_differences_collocation.h.

◆ getInstance()

FiniteDifferencesCollocationInterface::Ptr corbo::BackwardDiffCollocation::getInstance ( ) const
inlineoverridevirtual

Return a newly allocated instances of the inherited class.

Implements corbo::FiniteDifferencesCollocationInterface.

Definition at line 157 of file finite_differences_collocation.h.


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


control_box_rst
Author(s): Christoph Rösmann
autogenerated on Mon Feb 28 2022 22:08:02