Collocation via backward differences. More...

Inheritance diagram for corbo::BackwardDiffCollocation:

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:

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

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)

Member Function Documentation

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]	x1	Initial state vector [SystemDynamicsInterface::getStateDimension() x 1]
[in]	u1	Constant control input vector [SystemDynamicsInterface::getInputDimension() x 1]
[in]	x2	Final state vector [SystemDynamicsInterface::getStateDimension() x 1]
[in]	dt	Time interval length
[in]	system	System dynamics object
[out]	error	Resulting error [SystemDynamicsInterface::getStateDimension() x 1] (must be preallocated)

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

inlineoverridevirtual

Return a newly allocated instances of the inherited class.

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