Public Types | Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
corbo::FullDiscretizationGridBase Class Referenceabstract

#include <full_discretization_grid_base.h>

Inheritance diagram for corbo::FullDiscretizationGridBase:
Inheritance graph
[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

Definition at line 42 of file full_discretization_grid_base.h.

◆ UPtr

Definition at line 43 of file full_discretization_grid_base.h.

Member Enumeration Documentation

◆ CostIntegrationRule

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

◆ computeActiveVertices()

void corbo::FullDiscretizationGridBase::computeActiveVertices ( )
overrideprotectedvirtual

◆ createEdges()

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

◆ 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

◆ 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

◆ getFirstControlInput()

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

◆ getFirstDt()

double corbo::FullDiscretizationGridBase::getFirstDt ( ) const
inlineoverridevirtual

◆ getInitialDt()

double corbo::FullDiscretizationGridBase::getInitialDt ( ) const
inlineoverridevirtual

◆ getInitialN()

int corbo::FullDiscretizationGridBase::getInitialN ( ) const
inlineoverridevirtual

◆ getInstance()

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

◆ getN()

int corbo::FullDiscretizationGridBase::getN ( ) const
inlineoverridevirtual

◆ 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

◆ hasConstantControls()

bool corbo::FullDiscretizationGridBase::hasConstantControls ( ) const
inlineoverridevirtual

◆ hasSingleDt()

bool corbo::FullDiscretizationGridBase::hasSingleDt ( ) const
inlineoverridevirtual

◆ initializeSequences() [1/2]

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

◆ initializeSequences() [2/2]

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

◆ isDtFixedIntended()

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

◆ isEmpty()

bool corbo::FullDiscretizationGridBase::isEmpty ( ) const
inlineoverridevirtual

◆ 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

◆ isUniformGrid()

bool corbo::FullDiscretizationGridBase::isUniformGrid ( ) const
inlineoverridevirtual

◆ isValid()

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

◆ providesStateTrajectory()

bool corbo::FullDiscretizationGridBase::providesStateTrajectory ( ) const
inlineoverridevirtual

◆ 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

◆ 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

◆ 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

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:


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