#include <finite_differences_variable_grid.h>

Inheritance diagram for corbo::FiniteDifferencesVariableGrid:

[legend]

Public Types
enum	GridAdaptStrategy { GridAdaptStrategy::NoGridAdapt, GridAdaptStrategy::TimeBasedSingleStep, GridAdaptStrategy::TimeBasedAggressiveEstimate, GridAdaptStrategy::SimpleShrinkingHorizon }

using	Ptr = std::shared_ptr< FiniteDifferencesVariableGrid >

using	UPtr = std::unique_ptr< FiniteDifferencesVariableGrid >

Public Types inherited from corbo::FiniteDifferencesGrid
using	Ptr = std::shared_ptr< FiniteDifferencesGrid >

using	UPtr = std::unique_ptr< FiniteDifferencesGrid >

Public Types inherited from corbo::FullDiscretizationGridBase
enum	CostIntegrationRule { CostIntegrationRule::LeftSum, CostIntegrationRule::TrapezoidalRule }

using	Ptr = std::shared_ptr< FullDiscretizationGridBase >

using	UPtr = std::unique_ptr< FullDiscretizationGridBase >

Public Types inherited from corbo::DiscretizationGridInterface
using	Ptr = std::shared_ptr< DiscretizationGridInterface >

using	UPtr = std::unique_ptr< DiscretizationGridInterface >

Public Types inherited from corbo::VertexSetInterface
using	Ptr = std::shared_ptr< VertexSetInterface >

Public Member Functions
void	disableGridAdaptation ()

	FiniteDifferencesVariableGrid ()=default

DiscretizationGridInterface::Ptr	getInstance () const override
	Return a newly created shared instance of the implemented class. More...

void	setDtBounds (double dt_lb, double dt_ub)

void	setGridAdaptSimpleShrinkingHorizon (bool adapt_first_iter=false)

void	setGridAdaptTimeBasedAggressiveEstimate (int n_max, double dt_hyst_ratio=0.1, bool adapt_first_iter=false)

void	setGridAdaptTimeBasedSingleStep (int n_max, double dt_hyst_ratio=0.1, bool adapt_first_iter=false)

void	setNmin (int n_min)

virtual	~FiniteDifferencesVariableGrid ()=default

Public Member Functions inherited from corbo::FiniteDifferencesGrid
	FiniteDifferencesGrid ()=default

virtual	~FiniteDifferencesGrid ()=default

Public Member Functions inherited from corbo::FullDiscretizationGridBase
void	clear () override

	FullDiscretizationGridBase ()=default

std::vector< VertexInterface * > &	getActiveVertices () override

double	getDt () const

double	getDtRef () const

double	getFinalTime () const override

bool	getFirstControlInput (Eigen::VectorXd &u0) override

double	getFirstDt () const override

double	getInitialDt () const override

int	getInitialN () const override

int	getN () const override

int	getNRef () const

const Eigen::VectorXd &	getState (int k) const

void	getStateAndControlTimeSeries (TimeSeries::Ptr x_sequence, TimeSeries::Ptr u_sequence, double t_max=CORBO_INF_DBL) const override
	Return state and control trajectory as time series object (shared instance) More...

void	getVertices (std::vector< VertexInterface *> &vertices) override

bool	hasConstantControls () const override

bool	hasSingleDt () const override

bool	isEmpty () const override

bool	isTimeVariableGrid () const override

bool	isUniformGrid () const override

virtual bool	isValid () const

bool	providesStateTrajectory () const override

void	setCostIntegrationRule (CostIntegrationRule integration)

void	setDtRef (double dt)

void	setFiniteDifferencesCollocationMethod (FiniteDifferencesCollocationInterface::Ptr fd_eval)

void	setInitialDt (double dt) override

void	setN (int n, bool try_resample=true) override
	Return dimension of the control input dimension in the grid. More...

void	setNRef (int n)

void	setWarmStart (bool active)

void	setXfFixed (const Eigen::Matrix< bool, -1, 1 > &xf_fixed)

GridUpdateResult	update (const Eigen::VectorXd &x0, ReferenceTrajectoryInterface &xref, ReferenceTrajectoryInterface &uref, NlpFunctions &nlp_fun, OptimizationEdgeSet &edges, SystemDynamicsInterface::Ptr dynamics, bool new_run, const Time &t, ReferenceTrajectoryInterface sref=nullptr, const Eigen::VectorXd prev_u=nullptr, double prev_u_dt=0, ReferenceTrajectoryInterface xinit=nullptr, ReferenceTrajectoryInterface uinit=nullptr) override

virtual	~FullDiscretizationGridBase ()=default

Public Member Functions inherited from corbo::DiscretizationGridInterface
	DiscretizationGridInterface ()=default

	DiscretizationGridInterface (int state_dim, int control_dim)

virtual	~DiscretizationGridInterface ()=default
	Virtual destructor. More...

Public Member Functions inherited from corbo::VertexSetInterface
void	applyIncrementNonFixed (const Eigen::Ref< const Eigen::VectorXd > &increment)
	Active vertices related methods. More...

void	applyIncrementNonFixed (int idx, double increment)

void	backupParametersActiveVertices ()

void	clearConnectedEdges ()

void	computeVertexIndices ()
	Precompute vertex indices in the hyper-graph (e.g. for the Jacobian or Hessian structure) More...

void	discardBackupParametersActiveVertices (bool all=false)

void	getBounds (Eigen::Ref< Eigen::VectorXd > lb, Eigen::Ref< Eigen::VectorXd > ub)

double	getLowerBound (int idx)

int	getParameterDimension ()

double	getParameterValue (int idx)

void	getParameterVector (Eigen::Ref< Eigen::VectorXd > x)

double	getUpperBound (int idx)

bool	isModified () const

void	restoreBackupParametersActiveVertices (bool keep_backup)

void	setBounds (const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub)

void	setLowerBound (int idx, double lb)

void	setModified (bool modified)

void	setParameterValue (int idx, double x)

void	setParameterVector (const Eigen::Ref< const Eigen::VectorXd > &x)

void	setUpperBound (int idx, double ub)

	VertexSetInterface ()

virtual	~VertexSetInterface ()
	Virtual destructor. More...

Static Public Member Functions
static Factory< DiscretizationGridInterface > &	getFactory ()
	Get access to the associated factory. More...

Static Public Member Functions inherited from corbo::FiniteDifferencesGrid
static Factory< DiscretizationGridInterface > &	getFactory ()
	Get access to the associated factory. More...

Static Public Member Functions inherited from corbo::DiscretizationGridInterface
static Factory< DiscretizationGridInterface > &	getFactory ()
	Get access to the accociated factory. More...

Protected Member Functions
bool	adaptGrid (bool new_run, NlpFunctions &nlp_fun) override

bool	adaptGridSimpleShrinkingHorizon (NlpFunctions &nlp_fun)

bool	adaptGridTimeBasedAggressiveEstimate (NlpFunctions &nlp_fun)

bool	adaptGridTimeBasedSingleStep (NlpFunctions &nlp_fun)

bool	isDtFixedIntended () const override

bool	isGridAdaptActive () const override

bool	isMovingHorizonWarmStartActive () const override

Protected Member Functions inherited from corbo::FiniteDifferencesGrid
void	createEdges (NlpFunctions &nlp_fun, OptimizationEdgeSet &edges, SystemDynamicsInterface::Ptr dynamics) override

Protected Member Functions inherited from corbo::FullDiscretizationGridBase
bool	checkAndInitializeXfFixedFlags (int dim_x)

void	computeActiveVertices () override

int	findNearestState (const Eigen::VectorXd &x0)

virtual void	initializeSequences (const Eigen::VectorXd &x0, const Eigen::VectorXd &xf, ReferenceTrajectoryInterface &uref, NlpFunctions &nlp_fun)

virtual void	initializeSequences (const Eigen::VectorXd &x0, const Eigen::VectorXd &xf, ReferenceTrajectoryInterface &xref, ReferenceTrajectoryInterface &uref, NlpFunctions &nlp_fun)

virtual void	resampleTrajectory (int n_new)

void	updateBounds (const NlpFunctions &nlp_fun)

virtual void	warmStartShifting (const Eigen::VectorXd &x0)

Protected Member Functions inherited from corbo::DiscretizationGridInterface
void	setLastControlRef (const Eigen::VectorXd &last_u_ref)

void	setPreviousControl (const Eigen::VectorXd &prev_u, double prev_u_dt)

Protected Member Functions inherited from corbo::VertexSetInterface
void	setVertexIdx (VertexInterface &vertex, int idx)

Protected Attributes
bool	_adapt_first_iter = false

double	_dt_hyst_ratio = 0.1

GridAdaptStrategy	_grid_adapt = GridAdaptStrategy::NoGridAdapt

int	_n_max = 1000

int	_n_min = 2

Protected Attributes inherited from corbo::FullDiscretizationGridBase
std::vector< VertexInterface * >	_active_vertices

CostIntegrationRule	_cost_integration

ScalarVertex	_dt

double	_dt_lb = 0

double	_dt_ref = 0.1

double	_dt_ub = CORBO_INF_DBL

FiniteDifferencesCollocationInterface::Ptr	_fd_eval = std::make_shared<CrankNicolsonDiffCollocation>()

bool	_first_run = true

int	_n_adapt = 0

int	_n_ref = 11

const NlpFunctions *	_nlp_fun = nullptr

std::vector< VectorVertex >	_u_seq

bool	_warm_start = false

std::vector< VectorVertex >	_x_seq

PartiallyFixedVectorVertex	_xf

Eigen::Matrix< bool, -1, 1 >	_xf_fixed

Protected Attributes inherited from corbo::DiscretizationGridInterface
VectorVertex	_u_prev

ScalarVertex	_u_prev_dt

VectorVertex	_u_ref

Protected Attributes inherited from corbo::VertexSetInterface
bool	_modified = true

Detailed Description

Definition at line 34 of file finite_differences_variable_grid.h.

Member Typedef Documentation

◆ Ptr

using corbo::FiniteDifferencesVariableGrid::Ptr = std::shared_ptr<FiniteDifferencesVariableGrid>

Definition at line 37 of file finite_differences_variable_grid.h.

◆ UPtr

using corbo::FiniteDifferencesVariableGrid::UPtr = std::unique_ptr<FiniteDifferencesVariableGrid>

Definition at line 38 of file finite_differences_variable_grid.h.

Member Enumeration Documentation

◆ GridAdaptStrategy

enum corbo::FiniteDifferencesVariableGrid::GridAdaptStrategy

strong

Enumerator
NoGridAdapt
TimeBasedSingleStep
TimeBasedAggressiveEstimate
SimpleShrinkingHorizon

Definition at line 40 of file finite_differences_variable_grid.h.

Constructor & Destructor Documentation

◆ FiniteDifferencesVariableGrid()

corbo::FiniteDifferencesVariableGrid::FiniteDifferencesVariableGrid ( )

default

◆ ~FiniteDifferencesVariableGrid()

virtual corbo::FiniteDifferencesVariableGrid::~FiniteDifferencesVariableGrid ( )

virtualdefault

Member Function Documentation

◆ adaptGrid()

bool corbo::FiniteDifferencesVariableGrid::adaptGrid	(	bool	new_run,
		NlpFunctions &	nlp_fun
	)

overrideprotectedvirtual

Reimplemented from corbo::FullDiscretizationGridBase.

Definition at line 66 of file finite_differences_variable_grid.cpp.

◆ adaptGridSimpleShrinkingHorizon()

bool corbo::FiniteDifferencesVariableGrid::adaptGridSimpleShrinkingHorizon ( NlpFunctions & nlp_fun )

protected

Definition at line 154 of file finite_differences_variable_grid.cpp.

◆ adaptGridTimeBasedAggressiveEstimate()

bool corbo::FiniteDifferencesVariableGrid::adaptGridTimeBasedAggressiveEstimate ( NlpFunctions & nlp_fun )

protected

Definition at line 125 of file finite_differences_variable_grid.cpp.

◆ adaptGridTimeBasedSingleStep()

bool corbo::FiniteDifferencesVariableGrid::adaptGridTimeBasedSingleStep ( NlpFunctions & nlp_fun )

protected

Definition at line 101 of file finite_differences_variable_grid.cpp.

◆ disableGridAdaptation()

void corbo::FiniteDifferencesVariableGrid::disableGridAdaptation ( )

inline

Definition at line 53 of file finite_differences_variable_grid.h.

◆ getFactory()

static Factory<DiscretizationGridInterface>& corbo::FiniteDifferencesVariableGrid::getFactory ( )

inlinestatic

Get access to the associated factory.

Definition at line 49 of file finite_differences_variable_grid.h.

◆ getInstance()

DiscretizationGridInterface::Ptr corbo::FiniteDifferencesVariableGrid::getInstance ( ) const

inlineoverridevirtual

Return a newly created shared instance of the implemented class.

Reimplemented from corbo::FiniteDifferencesGrid.

Definition at line 46 of file finite_differences_variable_grid.h.

◆ isDtFixedIntended()

bool corbo::FiniteDifferencesVariableGrid::isDtFixedIntended ( ) const

inlineoverrideprotectedvirtual

Reimplemented from corbo::FiniteDifferencesGrid.

Definition at line 70 of file finite_differences_variable_grid.h.

◆ isGridAdaptActive()

bool corbo::FiniteDifferencesVariableGrid::isGridAdaptActive ( ) const

inlineoverrideprotectedvirtual

Reimplemented from corbo::FullDiscretizationGridBase.

Definition at line 78 of file finite_differences_variable_grid.h.

◆ isMovingHorizonWarmStartActive()

bool corbo::FiniteDifferencesVariableGrid::isMovingHorizonWarmStartActive ( ) const

inlineoverrideprotectedvirtual

Reimplemented from corbo::FullDiscretizationGridBase.

Definition at line 77 of file finite_differences_variable_grid.h.

◆ setDtBounds()

void corbo::FiniteDifferencesVariableGrid::setDtBounds	(	double	dt_lb,
		double	dt_ub
	)

Definition at line 38 of file finite_differences_variable_grid.cpp.

◆ setGridAdaptSimpleShrinkingHorizon()

void corbo::FiniteDifferencesVariableGrid::setGridAdaptSimpleShrinkingHorizon ( bool adapt_first_iter = false )

Definition at line 60 of file finite_differences_variable_grid.cpp.

◆ setGridAdaptTimeBasedAggressiveEstimate()

void corbo::FiniteDifferencesVariableGrid::setGridAdaptTimeBasedAggressiveEstimate	(	int	n_max,
		double	dt_hyst_ratio = `0.1`,
		bool	adapt_first_iter = `false`
	)

Definition at line 52 of file finite_differences_variable_grid.cpp.

◆ setGridAdaptTimeBasedSingleStep()

void corbo::FiniteDifferencesVariableGrid::setGridAdaptTimeBasedSingleStep	(	int	n_max,
		double	dt_hyst_ratio = `0.1`,
		bool	adapt_first_iter = `false`
	)

Definition at line 44 of file finite_differences_variable_grid.cpp.

◆ setNmin()

void corbo::FiniteDifferencesVariableGrid::setNmin ( int n_min )

inline

Definition at line 52 of file finite_differences_variable_grid.h.

Member Data Documentation

◆ _adapt_first_iter

bool corbo::FiniteDifferencesVariableGrid::_adapt_first_iter = false

protected

Definition at line 85 of file finite_differences_variable_grid.h.

◆ _dt_hyst_ratio

double corbo::FiniteDifferencesVariableGrid::_dt_hyst_ratio = 0.1

protected

Definition at line 83 of file finite_differences_variable_grid.h.

◆ _grid_adapt

GridAdaptStrategy corbo::FiniteDifferencesVariableGrid::_grid_adapt = GridAdaptStrategy::NoGridAdapt

protected

Definition at line 81 of file finite_differences_variable_grid.h.

◆ _n_max

int corbo::FiniteDifferencesVariableGrid::_n_max = 1000

protected

Definition at line 82 of file finite_differences_variable_grid.h.

◆ _n_min

int corbo::FiniteDifferencesVariableGrid::_n_min = 2

protected

Definition at line 84 of file finite_differences_variable_grid.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Ptr

◆ UPtr

Member Enumeration Documentation

◆ GridAdaptStrategy

Constructor & Destructor Documentation

◆ FiniteDifferencesVariableGrid()

◆ ~FiniteDifferencesVariableGrid()

Member Function Documentation

◆ adaptGrid()

◆ adaptGridSimpleShrinkingHorizon()

◆ adaptGridTimeBasedAggressiveEstimate()

◆ adaptGridTimeBasedSingleStep()

◆ disableGridAdaptation()

◆ getFactory()

◆ getInstance()

◆ isDtFixedIntended()

◆ isGridAdaptActive()

◆ isMovingHorizonWarmStartActive()

◆ setDtBounds()

◆ setGridAdaptSimpleShrinkingHorizon()

◆ setGridAdaptTimeBasedAggressiveEstimate()

◆ setGridAdaptTimeBasedSingleStep()

◆ setNmin()

Member Data Documentation

◆ _adapt_first_iter

◆ _dt_hyst_ratio

◆ _grid_adapt

◆ _n_max

◆ _n_min