Interface class for collocation based system dynamics evaluation. More...
#include <collocation_interface.h>
Public Types | |
| using | InputVector = Eigen::VectorXd |
| using | Ptr = std::shared_ptr< CollocationInterface > |
| using | StateVector = Eigen::VectorXd |
| using | UPtr = std::unique_ptr< CollocationInterface > |
 Public Types inherited from corbo::DynamicsEvalInterface | |
| using | InputVector = Eigen::VectorXd |
| using | Ptr = std::shared_ptr< DynamicsEvalInterface > |
| using | StateVector = Eigen::VectorXd |
| using | UPtr = std::unique_ptr< DynamicsEvalInterface > |
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=0 |
| Compute differentiation error (system dynamics) More... | |
| DynamicsEvalInterface::Ptr | getInstance () const override=0 |
| Return a newly allocated instances of the inherited class. More... | |
| bool | interpolate (const Eigen::Ref< const Eigen::VectorXd > &x1, const Eigen::Ref< const Eigen::VectorXd > &u1, const Eigen::Ref< const Eigen::VectorXd > &x2, const Eigen::Ref< const Eigen::VectorXd > &u2, double dt, const SystemDynamicsInterface &system, const Range &range, std::vector< Eigen::VectorXd > &states, std::vector< Eigen::VectorXd > &controls) override |
| virtual | ~CollocationInterface () |
| Virtual destructor. More... | |
| Public Member Functions inherited from corbo::DynamicsEvalInterface | |
| virtual bool | interpolate (const std::vector< const Eigen::VectorXd *> &x, const std::vector< const Eigen::VectorXd *> &u, double dt, const SystemDynamicsInterface &system, const Range &range, std::vector< Eigen::VectorXd > &states, std::vector< Eigen::VectorXd > &controls) |
| virtual | ~DynamicsEvalInterface () |
| Virtual destructor. More... | |
Additional Inherited Members | |
| Static Public Member Functions inherited from corbo::DynamicsEvalInterface | |
| static Factory< DynamicsEvalInterface > & | getFactory () |
| Get access to the accociated factory. More... | |
Detailed Description
Interface class for collocation based system dynamics evaluation.
This base class provides an interface for approximating continuous-time dynamics between two consecutive points.
Online references: http://www.control.lth.se/media/Education/DoctorateProgram/2011/OptimizationWithCasadi/lecture4b_short_slides.pdf https://mec560sbu.github.io/2016/09/30/direct_collocation/ http://epubs.siam.org/doi/pdf/10.1137/16M1062569
- Remarks
- This interface is provided with factory support of its parent class (DynamicsEvalInterface).
- See also
- ForwardDiffCollocation BackwardDiffCollocation MidpointDiffCollocation CrankNicolsonDiffCollocation CubicSplineCollocation DynamicsEvalInterface
Definition at line 63 of file collocation_interface.h.
Member Typedef Documentation
◆ InputVector
| using corbo::CollocationInterface::InputVector = Eigen::VectorXd |
Definition at line 70 of file collocation_interface.h.
◆ Ptr
| using corbo::CollocationInterface::Ptr = std::shared_ptr<CollocationInterface> |
Definition at line 66 of file collocation_interface.h.
◆ StateVector
| using corbo::CollocationInterface::StateVector = Eigen::VectorXd |
Definition at line 69 of file collocation_interface.h.
◆ UPtr
| using corbo::CollocationInterface::UPtr = std::unique_ptr<CollocationInterface> |
Definition at line 67 of file collocation_interface.h.
Constructor & Destructor Documentation
◆ ~CollocationInterface()
|
inlinevirtual |
Virtual destructor.
Definition at line 73 of file collocation_interface.h.
Member Function Documentation
◆ computeEqualityConstraint()
|
overridepure virtual |
Compute differentiation error (system dynamics)
![\[ e = f(x,u,t) - \dot{x} \]](form_228.png)
.
- 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)
Implements corbo::DynamicsEvalInterface.
Implemented in corbo::QuadratureCollocationInterface.
◆ getInstance()
|
overridepure virtual |
Return a newly allocated instances of the inherited class.
Implements corbo::DynamicsEvalInterface.
Implemented in corbo::QuadratureHermiteSimpson, corbo::QuadratureHermiteSimpsonLinearControl, corbo::QuadratureTrapezoidalRule, corbo::QuadratureCollocationInterface, and corbo::QuadratureRectangleRule.
◆ interpolate()
|
inlineoverridevirtual |
Implements corbo::DynamicsEvalInterface.
Reimplemented in corbo::QuadratureHermiteSimpson, corbo::QuadratureHermiteSimpsonLinearControl, corbo::QuadratureTrapezoidalRule, corbo::QuadratureRectangleRule, and corbo::QuadratureCollocationInterface.
Definition at line 94 of file collocation_interface.h.
The documentation for this class was generated from the following file: