#include <multiple_shooting_edges.h>

Inheritance diagram for corbo::MSVariableDynamicsOnlyEdge:

Public Types
using	Ptr = std::shared_ptr< MSVariableDynamicsOnlyEdge >

using	UPtr = std::unique_ptr< MSVariableDynamicsOnlyEdge >

Public Types inherited from corbo::Edge< VectorVertex, VectorVertex, VectorVertex, ScalarVertex >
using	ConstPtr = std::shared_ptr< const Edge >

using	Ptr = std::shared_ptr< Edge >

using	UPtr = std::unique_ptr< Edge >

using	VertexContainer = std::array< VertexInterface *, numVerticesCompileTime >
	Typedef to represent the vertex container. More...

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

using	UPtr = std::unique_ptr< BaseEdge >

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

using	UPtr = std::unique_ptr< EdgeInterface >

Public Member Functions
void	computeValues (Eigen::Ref< Eigen::VectorXd > values) override
	Compute function values. More...

int	getDimension () const override
	Get dimension of the edge (dimension of the cost-function/constraint value vector) More...

bool	isLeastSquaresForm () const override
	Defines if the edge is formulated as Least-Squares form. More...

bool	isLinear () const override
	Return true if the edge is linear (and hence its Hessian is always zero) More...

	MSVariableDynamicsOnlyEdge (SystemDynamicsInterface::Ptr dynamics, VectorVertex &x1, VectorVertex &u1, VectorVertex &x2, ScalarVertex &dt)

void	setIntegrator (NumericalIntegratorExplicitInterface::Ptr integrator)

Public Member Functions inherited from corbo::Edge< VectorVertex, VectorVertex, VectorVertex, ScalarVertex >
	Edge ()=delete

	Edge (VerticesT &... args)
	Construct edge by providing connected vertices. More...

int	getNumVertices () const override
	Return number of attached vertices. More...

const VertexInterface *	getVertex (int idx) const override

VertexInterface *	getVertexRaw (int idx) override
	Get access to vertex with index `idx` (0 <= idx < numVertices) More...

bool	providesJacobian () const override
	Return true if a custom Jacobian is provided (e.g. computeJacobian() is overwritten) More...

int	verticesDimension () const override
	Return the combined dimension of all attached vertices (excluding fixed vertex components) More...

Public Member Functions inherited from corbo::BaseEdge
virtual void	computeHessian (int vtx_idx_i, int vtx_idx_j, const Eigen::Ref< const Eigen::MatrixXd > &block_jacobian_i, Eigen::Ref< Eigen::MatrixXd > block_hessian_ij, const double *multipliers=nullptr, double weight=1.0)

virtual void	computeHessianInc (int vtx_idx_i, int vtx_idx_j, const Eigen::Ref< const Eigen::MatrixXd > &block_jacobian_i, Eigen::Ref< Eigen::MatrixXd > block_hessian_ij, const double *multipliers=nullptr, double weight=1.0)
	Compute edge block Hessian for a given vertex pair. More...

virtual void	computeHessianInc (int vtx_idx_i, int vtx_idx_j, Eigen::Ref< Eigen::MatrixXd > block_hessian_ij, const double *multipliers=nullptr, double weight=1.0)

virtual void	computeJacobian (int vtx_idx, Eigen::Ref< Eigen::MatrixXd > block_jacobian, const double *multipliers=nullptr)
	Compute edge block jacobian for a given vertex. More...

int	getEdgeIdx () const
	Retrieve current edge index (warning, this value is determined within the related HyperGraph) More...

virtual bool	providesHessian () const
	Return true if a custom Hessian is provided (e.g. computeHessian() is overwritten) More...

void	reserveCacheMemory (int num_value_vectors, int num_jacobians)

void	reserveValuesCacheMemory (int num_value_vectors)

void	reserveJacobiansCacheMemory (int num_jacobians)

void	computeValuesCached ()
	Call computeValues() and store result to previously allocated internal cache (call allocateInteralValuesCache() first once) More...

void	computeSquaredNormOfValuesCached ()
	compute the specialied squared-norm method for computing the values (note only the first element in the values cache is used) More...

EdgeCache &	getCache ()
	Retreive values computed previously via computeValuesCached() More...

const EdgeCache &	getCache () const

Public Member Functions inherited from corbo::EdgeInterface
virtual double	computeSquaredNormOfValues ()

virtual double	computeSumOfValues ()

int	getNumFiniteVerticesLowerBounds () const

int	getNumFiniteVerticesUpperBounds () const

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

Private Attributes
const ScalarVertex *	_dt = nullptr

SystemDynamicsInterface::Ptr	_dynamics

NumericalIntegratorExplicitInterface::Ptr	_integrator

const VectorVertex *	_u1 = nullptr

const VectorVertex *	_x1 = nullptr

const VectorVertex *	_x2 = nullptr

Additional Inherited Members
Static Public Attributes inherited from corbo::Edge< VectorVertex, VectorVertex, VectorVertex, ScalarVertex >
static constexpr const int	numVerticesCompileTime
	Return number of vertices at compile-time. More...

Protected Attributes inherited from corbo::Edge< VectorVertex, VectorVertex, VectorVertex, ScalarVertex >
const VertexContainer	_vertices
	Vertex container. More...

Protected Attributes inherited from corbo::BaseEdge
EdgeCache	_cache

int	_edge_idx = 0

Detailed Description

Definition at line 97 of file multiple_shooting_edges.h.

Member Typedef Documentation

◆ Ptr

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

Definition at line 100 of file multiple_shooting_edges.h.

◆ UPtr

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

Definition at line 101 of file multiple_shooting_edges.h.

Constructor & Destructor Documentation

◆ MSVariableDynamicsOnlyEdge()

corbo::MSVariableDynamicsOnlyEdge::MSVariableDynamicsOnlyEdge	(	SystemDynamicsInterface::Ptr	dynamics,
		VectorVertex &	x1,
		VectorVertex &	u1,
		VectorVertex &	x2,
		ScalarVertex &	dt
	)

inlineexplicit

Definition at line 103 of file multiple_shooting_edges.h.

Member Function Documentation

◆ computeValues()

void corbo::MSVariableDynamicsOnlyEdge::computeValues ( Eigen::Ref< Eigen::VectorXd > values )

inlineoverridevirtual

Compute function values.

Here, the actual cost/constraint function values are computed:

objective in non-least-squares form: e(x) (hereby, the actual cost is f(x) = e(x)^T e(x))
objective in least-squares form: f(x)
equality constraints: ceq(x) (in case constraints are satisfied: ceq(x) = 0)
inequality constraints: c(x) (in case constraints are satisfied: c(x) < 0)
Parameters

[in] values values should be stored here according to getDimension().

Implements corbo::Edge< VectorVertex, VectorVertex, VectorVertex, ScalarVertex >.

Definition at line 125 of file multiple_shooting_edges.h.

◆ getDimension()

int corbo::MSVariableDynamicsOnlyEdge::getDimension ( ) const

inlineoverridevirtual

Get dimension of the edge (dimension of the cost-function/constraint value vector)

Implements corbo::Edge< VectorVertex, VectorVertex, VectorVertex, ScalarVertex >.

Definition at line 113 of file multiple_shooting_edges.h.

◆ isLeastSquaresForm()

bool corbo::MSVariableDynamicsOnlyEdge::isLeastSquaresForm ( ) const

inlineoverridevirtual

Defines if the edge is formulated as Least-Squares form.

Least-squares cost terms are defined as $ f(x) = e(x)^T e(x) $ and the function values and Jacobian are computed for $ e(x) $ rather than for $ f(x) $ . Specialiezed least-squares solvers require the optimization problem to be defined in this particular form. Other solvers can automatically compute the square of least-squares edges if required. However, the other way round is more restrictive: general solvers might not cope with non-least-squares forms.

Note, in the LS-form case computeValues() computes e(x) and otherwise f(x).

Returns: true if the edge is given in LS-form

Reimplemented from corbo::BaseEdge.

Definition at line 123 of file multiple_shooting_edges.h.

◆ isLinear()

bool corbo::MSVariableDynamicsOnlyEdge::isLinear ( ) const

inlineoverridevirtual

Return true if the edge is linear (and hence its Hessian is always zero)

Implements corbo::Edge< VectorVertex, VectorVertex, VectorVertex, ScalarVertex >.

Definition at line 119 of file multiple_shooting_edges.h.

◆ setIntegrator()

void corbo::MSVariableDynamicsOnlyEdge::setIntegrator ( NumericalIntegratorExplicitInterface::Ptr integrator )

inline

Definition at line 136 of file multiple_shooting_edges.h.

Member Data Documentation

◆ _dt

const ScalarVertex* corbo::MSVariableDynamicsOnlyEdge::_dt = nullptr

private

Definition at line 145 of file multiple_shooting_edges.h.

◆ _dynamics

SystemDynamicsInterface::Ptr corbo::MSVariableDynamicsOnlyEdge::_dynamics

private

Definition at line 139 of file multiple_shooting_edges.h.

◆ _integrator

NumericalIntegratorExplicitInterface::Ptr corbo::MSVariableDynamicsOnlyEdge::_integrator

private

Definition at line 140 of file multiple_shooting_edges.h.

◆ _u1

const VectorVertex* corbo::MSVariableDynamicsOnlyEdge::_u1 = nullptr

private

Definition at line 143 of file multiple_shooting_edges.h.

◆ _x1

const VectorVertex* corbo::MSVariableDynamicsOnlyEdge::_x1 = nullptr

private

Definition at line 142 of file multiple_shooting_edges.h.

◆ _x2

const VectorVertex* corbo::MSVariableDynamicsOnlyEdge::_x2 = nullptr

private

Definition at line 144 of file multiple_shooting_edges.h.

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

multiple_shooting_edges.h

Public Types

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ MSVariableDynamicsOnlyEdge()

Member Function Documentation

◆ computeValues()

◆ getDimension()

◆ isLeastSquaresForm()

◆ isLinear()

◆ setIntegrator()

Member Data Documentation

◆ _dt

◆ _dynamics

◆ _integrator

◆ _u1

◆ _x1

◆ _x2