#include <full_discretization_grid_base.h>

Inheritance diagram for corbo::FullDiscretizationGridBase:

[legend]

Public Types
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	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

DiscretizationGridInterface::Ptr	getInstance () const override=0
	Return a newly created shared instance of the implemented class. More...

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...

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

bool	checkAndInitializeXfFixedFlags (int dim_x)

void	computeActiveVertices () override

virtual void	createEdges (NlpFunctions &nlp_fun, OptimizationEdgeSet &edges, SystemDynamicsInterface::Ptr dynamics)=0

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 bool	isDtFixedIntended () const

virtual bool	isGridAdaptActive () const

virtual bool	isMovingHorizonWarmStartActive () const

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
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

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

Detailed Description

Definition at line 39 of file full_discretization_grid_base.h.

Member Typedef Documentation

◆ Ptr

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

Definition at line 42 of file full_discretization_grid_base.h.

◆ UPtr

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

Definition at line 43 of file full_discretization_grid_base.h.

Member Enumeration Documentation

◆ CostIntegrationRule

enum corbo::FullDiscretizationGridBase::CostIntegrationRule

strong

Enumerator
LeftSum
TrapezoidalRule

Definition at line 45 of file full_discretization_grid_base.h.

Constructor & Destructor Documentation

◆ FullDiscretizationGridBase()

corbo::FullDiscretizationGridBase::FullDiscretizationGridBase ( )

default

◆ ~FullDiscretizationGridBase()

virtual corbo::FullDiscretizationGridBase::~FullDiscretizationGridBase ( )

virtualdefault

Member Function Documentation

◆ adaptGrid()

virtual bool corbo::FullDiscretizationGridBase::adaptGrid	(	bool	new_run,
		NlpFunctions &	nlp_fun
	)

inlineprotectedvirtual

Reimplemented in corbo::FiniteDifferencesVariableGrid.

Definition at line 120 of file full_discretization_grid_base.h.

◆ checkAndInitializeXfFixedFlags()

bool corbo::FullDiscretizationGridBase::checkAndInitializeXfFixedFlags ( int dim_x )

protected

Definition at line 347 of file full_discretization_grid_base.cpp.

◆ clear()

void corbo::FullDiscretizationGridBase::clear ( )

overridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 476 of file full_discretization_grid_base.cpp.

◆ computeActiveVertices()

void corbo::FullDiscretizationGridBase::computeActiveVertices ( )

overrideprotectedvirtual

Implements corbo::DiscretizationGridInterface.

Reimplemented in corbo::FullDiscretizationGridMoveBlockingBase.

Definition at line 514 of file full_discretization_grid_base.cpp.

◆ createEdges()

virtual void corbo::FullDiscretizationGridBase::createEdges	(	NlpFunctions &	nlp_fun,
		OptimizationEdgeSet &	edges,
		SystemDynamicsInterface::Ptr	dynamics
	)

protectedpure virtual

Implemented in corbo::FullDiscretizationGridMoveBlockingBase, corbo::FiniteDifferencesGrid, and corbo::FiniteDifferencesGridMoveBlocking.

◆ findNearestState()

int corbo::FullDiscretizationGridBase::findNearestState ( const Eigen::VectorXd & x0 )

protected

Definition at line 287 of file full_discretization_grid_base.cpp.

◆ getActiveVertices()

std::vector<VertexInterface*>& corbo::FullDiscretizationGridBase::getActiveVertices ( )

inlineoverridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 106 of file full_discretization_grid_base.h.

◆ getDt()

double corbo::FullDiscretizationGridBase::getDt ( ) const

inline

Definition at line 86 of file full_discretization_grid_base.h.

◆ getDtRef()

double corbo::FullDiscretizationGridBase::getDtRef ( ) const

inline

Definition at line 85 of file full_discretization_grid_base.h.

◆ getFinalTime()

double corbo::FullDiscretizationGridBase::getFinalTime ( ) const

inlineoverridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 59 of file full_discretization_grid_base.h.

◆ getFirstControlInput()

bool corbo::FullDiscretizationGridBase::getFirstControlInput ( Eigen::VectorXd & u0 )

overridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 324 of file full_discretization_grid_base.cpp.

◆ getFirstDt()

double corbo::FullDiscretizationGridBase::getFirstDt ( ) const

inlineoverridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 58 of file full_discretization_grid_base.h.

◆ getInitialDt()

double corbo::FullDiscretizationGridBase::getInitialDt ( ) const

inlineoverridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 78 of file full_discretization_grid_base.h.

◆ getInitialN()

int corbo::FullDiscretizationGridBase::getInitialN ( ) const

inlineoverridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 79 of file full_discretization_grid_base.h.

◆ getInstance()

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

overridepure virtual

Return a newly created shared instance of the implemented class.

Implements corbo::DiscretizationGridInterface.

Implemented in corbo::FiniteDifferencesVariableGrid, corbo::FiniteDifferencesGrid, corbo::FiniteDifferencesGridMoveBlocking, and corbo::FullDiscretizationGridMoveBlockingBase.

◆ getN()

int corbo::FullDiscretizationGridBase::getN ( ) const

inlineoverridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 82 of file full_discretization_grid_base.h.

◆ getNRef()

int corbo::FullDiscretizationGridBase::getNRef ( ) const

inline

Definition at line 81 of file full_discretization_grid_base.h.

◆ getState()

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

inline

Definition at line 98 of file full_discretization_grid_base.h.

◆ getStateAndControlTimeSeries()

void corbo::FullDiscretizationGridBase::getStateAndControlTimeSeries	(	TimeSeries::Ptr	x_sequence,
		TimeSeries::Ptr	u_sequence,
		double	t_max = `CORBO_INF_DBL`
	)		const

overridevirtual

Return state and control trajectory as time series object (shared instance)

Implements corbo::DiscretizationGridInterface.

Reimplemented in corbo::FullDiscretizationGridMoveBlockingBase.

Definition at line 529 of file full_discretization_grid_base.cpp.

◆ getVertices()

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

overridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 501 of file full_discretization_grid_base.cpp.

◆ hasConstantControls()

bool corbo::FullDiscretizationGridBase::hasConstantControls ( ) const

inlineoverridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 61 of file full_discretization_grid_base.h.

◆ hasSingleDt()

bool corbo::FullDiscretizationGridBase::hasSingleDt ( ) const

inlineoverridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 62 of file full_discretization_grid_base.h.

◆ initializeSequences() [1/2]

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

protectedvirtual

Reimplemented in corbo::FullDiscretizationGridMoveBlockingBase.

Definition at line 134 of file full_discretization_grid_base.cpp.

◆ initializeSequences() [2/2]

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

protectedvirtual

Reimplemented in corbo::FullDiscretizationGridMoveBlockingBase.

Definition at line 181 of file full_discretization_grid_base.cpp.

◆ isDtFixedIntended()

virtual bool corbo::FullDiscretizationGridBase::isDtFixedIntended ( ) const

inlineprotectedvirtual

Reimplemented in corbo::FiniteDifferencesVariableGrid, and corbo::FiniteDifferencesGrid.

Definition at line 132 of file full_discretization_grid_base.h.

◆ isEmpty()

bool corbo::FullDiscretizationGridBase::isEmpty ( ) const

inlineoverridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 73 of file full_discretization_grid_base.h.

◆ isGridAdaptActive()

virtual bool corbo::FullDiscretizationGridBase::isGridAdaptActive ( ) const

inlineprotectedvirtual

Reimplemented in corbo::FiniteDifferencesVariableGrid.

Definition at line 134 of file full_discretization_grid_base.h.

◆ isMovingHorizonWarmStartActive()

virtual bool corbo::FullDiscretizationGridBase::isMovingHorizonWarmStartActive ( ) const

inlineprotectedvirtual

Reimplemented in corbo::FiniteDifferencesVariableGrid.

Definition at line 133 of file full_discretization_grid_base.h.

◆ isTimeVariableGrid()

bool corbo::FullDiscretizationGridBase::isTimeVariableGrid ( ) const

inlineoverridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 63 of file full_discretization_grid_base.h.

◆ isUniformGrid()

bool corbo::FullDiscretizationGridBase::isUniformGrid ( ) const

inlineoverridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 64 of file full_discretization_grid_base.h.

◆ isValid()

virtual bool corbo::FullDiscretizationGridBase::isValid ( ) const

inlinevirtual

Reimplemented in corbo::FullDiscretizationGridMoveBlockingBase.

Definition at line 74 of file full_discretization_grid_base.h.

◆ providesStateTrajectory()

bool corbo::FullDiscretizationGridBase::providesStateTrajectory ( ) const

inlineoverridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 65 of file full_discretization_grid_base.h.

◆ resampleTrajectory()

void corbo::FullDiscretizationGridBase::resampleTrajectory ( int n_new )

protectedvirtual

Todo:: (roesmann) More efficient strategy without copying containers at all?

Reimplemented in corbo::FullDiscretizationGridMoveBlockingBase.

Definition at line 397 of file full_discretization_grid_base.cpp.

◆ setCostIntegrationRule()

void corbo::FullDiscretizationGridBase::setCostIntegrationRule ( CostIntegrationRule integration )

inline

Definition at line 96 of file full_discretization_grid_base.h.

◆ setDtRef()

void corbo::FullDiscretizationGridBase::setDtRef ( double dt )

inline

Definition at line 84 of file full_discretization_grid_base.h.

◆ setFiniteDifferencesCollocationMethod()

void corbo::FullDiscretizationGridBase::setFiniteDifferencesCollocationMethod ( FiniteDifferencesCollocationInterface::Ptr fd_eval )

inline

Definition at line 95 of file full_discretization_grid_base.h.

◆ setInitialDt()

void corbo::FullDiscretizationGridBase::setInitialDt ( double dt )

inlineoverridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 77 of file full_discretization_grid_base.h.

◆ setN()

void corbo::FullDiscretizationGridBase::setN	(	int	n,
		bool	try_resample = `true`
	)

overridevirtual

Return dimension of the control input dimension in the grid.

Implements corbo::DiscretizationGridInterface.

Definition at line 488 of file full_discretization_grid_base.cpp.

◆ setNRef()

void corbo::FullDiscretizationGridBase::setNRef ( int n )

Definition at line 333 of file full_discretization_grid_base.cpp.

◆ setWarmStart()

void corbo::FullDiscretizationGridBase::setWarmStart ( bool active )

inline

Definition at line 87 of file full_discretization_grid_base.h.

◆ setXfFixed()

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

inline

Definition at line 89 of file full_discretization_grid_base.h.

◆ update()

GridUpdateResult corbo::FullDiscretizationGridBase::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`
	)

overridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 38 of file full_discretization_grid_base.cpp.

◆ updateBounds()

void corbo::FullDiscretizationGridBase::updateBounds ( const NlpFunctions & nlp_fun )

protected

Definition at line 362 of file full_discretization_grid_base.cpp.

◆ warmStartShifting()

void corbo::FullDiscretizationGridBase::warmStartShifting ( const Eigen::VectorXd & x0 )

protectedvirtual

Reimplemented in corbo::FullDiscretizationGridMoveBlockingBase.

Definition at line 230 of file full_discretization_grid_base.cpp.

Member Data Documentation

◆ _active_vertices

std::vector<VertexInterface*> corbo::FullDiscretizationGridBase::_active_vertices

protected

Definition at line 143 of file full_discretization_grid_base.h.

◆ _cost_integration

CostIntegrationRule corbo::FullDiscretizationGridBase::_cost_integration

protected

Definition at line 159 of file full_discretization_grid_base.h.

◆ _dt

ScalarVertex corbo::FullDiscretizationGridBase::_dt

protected

Definition at line 150 of file full_discretization_grid_base.h.

◆ _dt_lb

double corbo::FullDiscretizationGridBase::_dt_lb = 0

protected

Definition at line 156 of file full_discretization_grid_base.h.

◆ _dt_ref

double corbo::FullDiscretizationGridBase::_dt_ref = 0.1

protected

Definition at line 149 of file full_discretization_grid_base.h.

◆ _dt_ub

double corbo::FullDiscretizationGridBase::_dt_ub = CORBO_INF_DBL

protected

Definition at line 157 of file full_discretization_grid_base.h.

◆ _fd_eval

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

protected

Definition at line 138 of file full_discretization_grid_base.h.

◆ _first_run

bool corbo::FullDiscretizationGridBase::_first_run = true

protected

Definition at line 152 of file full_discretization_grid_base.h.

◆ _n_adapt

int corbo::FullDiscretizationGridBase::_n_adapt = 0

protected

Definition at line 148 of file full_discretization_grid_base.h.

◆ _n_ref

int corbo::FullDiscretizationGridBase::_n_ref = 11

protected

Definition at line 147 of file full_discretization_grid_base.h.

◆ _nlp_fun

const NlpFunctions* corbo::FullDiscretizationGridBase::_nlp_fun = nullptr

protected

Definition at line 145 of file full_discretization_grid_base.h.

◆ _u_seq

std::vector<VectorVertex> corbo::FullDiscretizationGridBase::_u_seq

protected

Definition at line 141 of file full_discretization_grid_base.h.

◆ _warm_start

bool corbo::FullDiscretizationGridBase::_warm_start = false

protected

Definition at line 151 of file full_discretization_grid_base.h.

◆ _x_seq

std::vector<VectorVertex> corbo::FullDiscretizationGridBase::_x_seq

protected

Definition at line 140 of file full_discretization_grid_base.h.

◆ _xf

PartiallyFixedVectorVertex corbo::FullDiscretizationGridBase::_xf

protected

Definition at line 142 of file full_discretization_grid_base.h.

◆ _xf_fixed

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

protected

Definition at line 155 of file full_discretization_grid_base.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Ptr

◆ UPtr

Member Enumeration Documentation

◆ CostIntegrationRule

Constructor & Destructor Documentation

◆ FullDiscretizationGridBase()

◆ ~FullDiscretizationGridBase()

Member Function Documentation

◆ adaptGrid()

◆ checkAndInitializeXfFixedFlags()

◆ clear()

◆ computeActiveVertices()

◆ createEdges()

◆ findNearestState()

◆ getActiveVertices()

◆ getDt()

◆ getDtRef()

◆ getFinalTime()

◆ getFirstControlInput()

◆ getFirstDt()

◆ getInitialDt()

◆ getInitialN()

◆ getInstance()

◆ getN()

◆ getNRef()

◆ getState()

◆ getStateAndControlTimeSeries()

◆ getVertices()

◆ hasConstantControls()

◆ hasSingleDt()

◆ initializeSequences() [1/2]

◆ initializeSequences() [2/2]

◆ isDtFixedIntended()

◆ isEmpty()

◆ isGridAdaptActive()

◆ isMovingHorizonWarmStartActive()

◆ isTimeVariableGrid()

◆ isUniformGrid()

◆ isValid()

◆ providesStateTrajectory()

◆ resampleTrajectory()

◆ setCostIntegrationRule()

◆ setDtRef()

◆ setFiniteDifferencesCollocationMethod()

◆ setInitialDt()

◆ setN()

◆ setNRef()

◆ setWarmStart()

◆ setXfFixed()

◆ update()

◆ updateBounds()

◆ warmStartShifting()

Member Data Documentation

◆ _active_vertices

◆ _cost_integration

◆ _dt

◆ _dt_lb

◆ _dt_ref

◆ _dt_ub

◆ _fd_eval

◆ _first_run

◆ _n_adapt

◆ _n_ref

◆ _nlp_fun

◆ _u_seq

◆ _warm_start

◆ _x_seq

◆ _xf

◆ _xf_fixed