#include <multiple_shooting_edges.h>

Inheritance diagram for corbo::MultipleShootingEdge:

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

using	UPtr = std::unique_ptr< MultipleShootingEdge >

Public Types inherited from corbo::MixedEdge<>
using	ConstPtr = std::shared_ptr< const MixedEdge >

using	Ptr = std::shared_ptr< MixedEdge >

using	UPtr = std::unique_ptr< MixedEdge >

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

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

using	UPtr = std::unique_ptr< BaseMixedEdge >

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

using	UPtr = std::unique_ptr< EdgeInterface >

Public Member Functions
void	computeEqualityValues (Eigen::Ref< Eigen::VectorXd > eq_values) override

void	computeInequalityValues (Eigen::Ref< Eigen::VectorXd > ineq_values) override

void	computeObjectiveValues (Eigen::Ref< Eigen::VectorXd > obj_values) override

void	finalize ()

int	getEqualityDimension () const override

int	getInequalityDimension () const override

int	getObjectiveDimension () const override

bool	isEqualityLinear () const override

bool	isInequalityLinear () const override

bool	isObjectiveLeastSquaresForm () const override

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

	MultipleShootingEdge (SystemDynamicsInterface::Ptr dynamics, StageCost::ConstPtr stage_cost, StageEqualityConstraint::ConstPtr stage_eq, StageInequalityConstraint::ConstPtr stage_ineq, int k, int n_interval, int nc_interval, int nt_interval, bool eval_intermediate_constr)

void	precompute () override

void	setIntegrator (NumericalIntegratorExplicitInterface::Ptr integrator)

Public Member Functions inherited from corbo::MixedEdge<>
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...

	MixedEdge ()

	MixedEdge (int num_vertices)

void	resizeVertexContainer (int n)
	Set number `n` of vertices attached to this edge. More...

void	setVertex (int idx, VertexInterface &vertex)

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

Public Member Functions inherited from corbo::BaseMixedEdge
virtual void	computeConstraintHessians (int vtx_idx_i, int vtx_idx_j, const Eigen::Ref< const Eigen::MatrixXd > &eq_jacobian_i, const Eigen::Ref< const Eigen::MatrixXd > &ineq_jacobian_i, Eigen::Ref< Eigen::MatrixXd > eq_hessian_ij, Eigen::Ref< Eigen::MatrixXd > ineq_hessian_ij, const double multipliers_eq=nullptr, const double multipliers_ineq=nullptr)

virtual void	computeConstraintHessiansInc (int vtx_idx_i, int vtx_idx_j, const Eigen::Ref< const Eigen::MatrixXd > &eq_jacobian_i, const Eigen::Ref< const Eigen::MatrixXd > &ineq_jacobian_i, Eigen::Ref< Eigen::MatrixXd > eq_hessian_ij, Eigen::Ref< Eigen::MatrixXd > ineq_hessian_ij, const double multipliers_eq=nullptr, const double multipliers_ineq=nullptr)

virtual void	computeConstraintJacobians (int vtx_idx, Eigen::Ref< Eigen::MatrixXd > eq_jacobian, Eigen::Ref< Eigen::MatrixXd > ineq_jacobian, const double eq_multipliers=nullptr, const double ineq_multipliers=nullptr)

virtual void	computeEqualityHessian (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	computeEqualityHessianInc (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	computeEqualityJacobian (int vtx_idx, Eigen::Ref< Eigen::MatrixXd > block_jacobian, const double *multipliers=nullptr)

virtual void	computeHessians (int vtx_idx_i, int vtx_idx_j, const Eigen::Ref< const Eigen::MatrixXd > &obj_jacobian_i, const Eigen::Ref< const Eigen::MatrixXd > &eq_jacobian_i, const Eigen::Ref< const Eigen::MatrixXd > &ineq_jacobian_i, Eigen::Ref< Eigen::MatrixXd > obj_hessian_ij, Eigen::Ref< Eigen::MatrixXd > eq_hessian_ij, Eigen::Ref< Eigen::MatrixXd > ineq_hessian_ij, const double multipliers_eq=nullptr, const double multipliers_ineq=nullptr, double weight_obj=1.0)

virtual void	computeHessiansInc (int vtx_idx_i, int vtx_idx_j, const Eigen::Ref< const Eigen::MatrixXd > &obj_jacobian_i, const Eigen::Ref< const Eigen::MatrixXd > &eq_jacobian_i, const Eigen::Ref< const Eigen::MatrixXd > &ineq_jacobian_i, Eigen::Ref< Eigen::MatrixXd > obj_hessian_ij, Eigen::Ref< Eigen::MatrixXd > eq_hessian_ij, Eigen::Ref< Eigen::MatrixXd > ineq_hessian_ij, const double multipliers_eq=nullptr, const double multipliers_ineq=nullptr, double weight_obj=1.0)

virtual void	computeInequalityHessian (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	computeInequalityHessianInc (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	computeInequalityJacobian (int vtx_idx, Eigen::Ref< Eigen::MatrixXd > block_jacobian, const double *multipliers=nullptr)

virtual void	computeJacobians (int vtx_idx, Eigen::Ref< Eigen::MatrixXd > obj_jacobian, Eigen::Ref< Eigen::MatrixXd > eq_jacobian, Eigen::Ref< Eigen::MatrixXd > ineq_jacobian, const double obj_multipliers=nullptr, const double eq_multipliers=nullptr, const double *ineq_multipliers=nullptr)

virtual void	computeObjectiveHessian (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	computeObjectiveHessianInc (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	computeObjectiveJacobian (int vtx_idx, Eigen::Ref< Eigen::MatrixXd > block_jacobian, const double *multipliers=nullptr)

virtual double	computeSquaredNormOfObjectiveValues ()

virtual double	computeSumOfObjectiveValues ()

void	computeValues (Eigen::Ref< Eigen::VectorXd > values) final
	Compute function values. More...

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

int	getEdgeEqualityIdx () const

int	getEdgeInequalityIdx () const

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

void	reserveCacheMemory (int num_value_vectors, int num_jacobians)

void	reserveValuesCacheMemory (int num_obj_values, int num_eq_values, int num_ineq_values)

void	reserveJacobiansCacheMemory (int num_obj_jacobians, int num_eq_jacobians, int num_ineq_jacobians)

void	computeObjectiveValuesCached ()
	Call computeObjectiveValues() and store result to the internal cache. More...

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

void	computeEqualityValuesCached ()
	Call computeEqualityValues() and store result to the internal cache. More...

void	computeInequalityValuesCached ()
	Call computeInequalityValues() and store result to the internal cache. More...

EdgeCache &	getObjectiveCache ()

const EdgeCache &	getObjectiveCache () const

EdgeCache &	getEqualityCache ()

const EdgeCache &	getEqualityCache () const

EdgeCache &	getInequalityCache ()

const EdgeCache &	getInequalityCache () 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...

Protected Member Functions
void	activateIntermediateStateCostAndConstraints ()

void	configureIntegrand ()

Private Attributes
Eigen::VectorXd	_current

int	_current_idx = 0

int	_dim_lb_x = 0

int	_dim_ub_x = 0

ScalarVertex *	_dtvert = nullptr

int	_dyn_dim = 0

SystemDynamicsInterface::Ptr	_dynamics

bool	_eval_intermediate_constr = false

int	_int_ineq_dim = 0

int	_int_obj_dim = 0

std::function< void(const Eigen::VectorXd &, Eigen::Ref< Eigen::VectorXd >)>	_integrand

NumericalIntegratorExplicitInterface::Ptr	_integrator

int	_k = 0

Eigen::VectorXd	_lb_ineq_values

int	_n_interval = 0

int	_nc_interval = 0

int	_nonint_eq_dim = 0

Eigen::VectorXd	_nonint_eq_values

int	_nonint_ineq_dim = 0

Eigen::VectorXd	_nonint_ineq_values

int	_nonint_obj_dim = 0

Eigen::VectorXd	_nonint_obj_values

int	_nt_interval = 0

int	_num_intermediate_states = 0

int	_other_int_eq_dim = 0

const VectorVertex *	_shooting_node = nullptr

StageCost::ConstPtr	_stage_cost

StageEqualityConstraint::ConstPtr	_stage_eq

StageInequalityConstraint::ConstPtr	_stage_ineq

int	_total_dim_eq = 0

int	_total_dim_ineq = 0

int	_total_dim_obj = 0

Eigen::VectorXd	_ub_ineq_values

VectorVertex *	_ukvert = nullptr

Eigen::VectorXd	_values

Additional Inherited Members
Protected Attributes inherited from corbo::MixedEdge<>
VertexContainer	_vertices
	Vertex container. More...

Protected Attributes inherited from corbo::BaseMixedEdge
int	_edge_idx_eq = 0

int	_edge_idx_ineq = 0

int	_edge_idx_obj = 0

EdgeCache	_equality_cache

EdgeCache	_inequality_cache

EdgeCache	_objective_cache

Detailed Description

Definition at line 477 of file multiple_shooting_edges.h.

Member Typedef Documentation

◆ Ptr

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

Definition at line 480 of file multiple_shooting_edges.h.

◆ UPtr

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

Definition at line 481 of file multiple_shooting_edges.h.

Constructor & Destructor Documentation

◆ MultipleShootingEdge()

corbo::MultipleShootingEdge::MultipleShootingEdge	(	SystemDynamicsInterface::Ptr	dynamics,
		StageCost::ConstPtr	stage_cost,
		StageEqualityConstraint::ConstPtr	stage_eq,
		StageInequalityConstraint::ConstPtr	stage_ineq,
		int	k,
		int	n_interval,
		int	nc_interval,
		int	nt_interval,
		bool	eval_intermediate_constr
	)

inlineexplicit

Definition at line 483 of file multiple_shooting_edges.h.

Member Function Documentation

◆ activateIntermediateStateCostAndConstraints()

void corbo::MultipleShootingEdge::activateIntermediateStateCostAndConstraints ( )

inlineprotected

Definition at line 698 of file multiple_shooting_edges.h.

◆ computeEqualityValues()

void corbo::MultipleShootingEdge::computeEqualityValues ( Eigen::Ref< Eigen::VectorXd > eq_values )

inlineoverridevirtual

Implements corbo::MixedEdge<>.

Definition at line 647 of file multiple_shooting_edges.h.

◆ computeInequalityValues()

void corbo::MultipleShootingEdge::computeInequalityValues ( Eigen::Ref< Eigen::VectorXd > ineq_values )

inlineoverridevirtual

Implements corbo::MixedEdge<>.

Definition at line 665 of file multiple_shooting_edges.h.

◆ computeObjectiveValues()

void corbo::MultipleShootingEdge::computeObjectiveValues ( Eigen::Ref< Eigen::VectorXd > obj_values )

inlineoverridevirtual

Implements corbo::MixedEdge<>.

Definition at line 632 of file multiple_shooting_edges.h.

◆ configureIntegrand()

void corbo::MultipleShootingEdge::configureIntegrand ( )

inlineprotected

Definition at line 732 of file multiple_shooting_edges.h.

◆ finalize()

void corbo::MultipleShootingEdge::finalize ( )

inline

Definition at line 499 of file multiple_shooting_edges.h.

◆ getEqualityDimension()

int corbo::MultipleShootingEdge::getEqualityDimension ( ) const

inlineoverridevirtual

Implements corbo::MixedEdge<>.

Definition at line 530 of file multiple_shooting_edges.h.

◆ getInequalityDimension()

int corbo::MultipleShootingEdge::getInequalityDimension ( ) const

inlineoverridevirtual

Implements corbo::MixedEdge<>.

Definition at line 532 of file multiple_shooting_edges.h.

◆ getObjectiveDimension()

int corbo::MultipleShootingEdge::getObjectiveDimension ( ) const

inlineoverridevirtual

Implements corbo::MixedEdge<>.

Definition at line 528 of file multiple_shooting_edges.h.

◆ isEqualityLinear()

bool corbo::MultipleShootingEdge::isEqualityLinear ( ) const

inlineoverridevirtual

Reimplemented from corbo::BaseMixedEdge.

Definition at line 536 of file multiple_shooting_edges.h.

◆ isInequalityLinear()

bool corbo::MultipleShootingEdge::isInequalityLinear ( ) const

inlineoverridevirtual

Reimplemented from corbo::BaseMixedEdge.

Definition at line 537 of file multiple_shooting_edges.h.

◆ isObjectiveLeastSquaresForm()

bool corbo::MultipleShootingEdge::isObjectiveLeastSquaresForm ( ) const

inlineoverridevirtual

Implements corbo::BaseMixedEdge.

Definition at line 542 of file multiple_shooting_edges.h.

◆ isObjectiveLinear()

bool corbo::MultipleShootingEdge::isObjectiveLinear ( ) const

inlineoverridevirtual

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

Reimplemented from corbo::BaseMixedEdge.

Definition at line 535 of file multiple_shooting_edges.h.

◆ precompute()

void corbo::MultipleShootingEdge::precompute ( )

inlineoverridevirtual

Implements corbo::MixedEdge<>.

Definition at line 544 of file multiple_shooting_edges.h.

◆ setIntegrator()

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

inline

Definition at line 695 of file multiple_shooting_edges.h.

Member Data Documentation

◆ _current

Eigen::VectorXd corbo::MultipleShootingEdge::_current

private

Definition at line 795 of file multiple_shooting_edges.h.

◆ _current_idx

int corbo::MultipleShootingEdge::_current_idx = 0

private

Definition at line 791 of file multiple_shooting_edges.h.

◆ _dim_lb_x

int corbo::MultipleShootingEdge::_dim_lb_x = 0

private

Definition at line 780 of file multiple_shooting_edges.h.

◆ _dim_ub_x

int corbo::MultipleShootingEdge::_dim_ub_x = 0

private

Definition at line 781 of file multiple_shooting_edges.h.

◆ _dtvert

ScalarVertex* corbo::MultipleShootingEdge::_dtvert = nullptr

private

Definition at line 768 of file multiple_shooting_edges.h.

◆ _dyn_dim

int corbo::MultipleShootingEdge::_dyn_dim = 0

private

Definition at line 770 of file multiple_shooting_edges.h.

◆ _dynamics

SystemDynamicsInterface::Ptr corbo::MultipleShootingEdge::_dynamics

private

Definition at line 810 of file multiple_shooting_edges.h.

◆ _eval_intermediate_constr

bool corbo::MultipleShootingEdge::_eval_intermediate_constr = false

private

Definition at line 793 of file multiple_shooting_edges.h.

◆ _int_ineq_dim

int corbo::MultipleShootingEdge::_int_ineq_dim = 0

private

Definition at line 774 of file multiple_shooting_edges.h.

◆ _int_obj_dim

int corbo::MultipleShootingEdge::_int_obj_dim = 0

private

Definition at line 772 of file multiple_shooting_edges.h.

◆ _integrand

std::function<void(const Eigen::VectorXd&, Eigen::Ref<Eigen::VectorXd>)> corbo::MultipleShootingEdge::_integrand

private

Definition at line 804 of file multiple_shooting_edges.h.

◆ _integrator

NumericalIntegratorExplicitInterface::Ptr corbo::MultipleShootingEdge::_integrator

private

Definition at line 811 of file multiple_shooting_edges.h.

◆ _k

int corbo::MultipleShootingEdge::_k = 0

private

Definition at line 813 of file multiple_shooting_edges.h.

◆ _lb_ineq_values

Eigen::VectorXd corbo::MultipleShootingEdge::_lb_ineq_values

private

Definition at line 801 of file multiple_shooting_edges.h.

◆ _n_interval

int corbo::MultipleShootingEdge::_n_interval = 0

private

Definition at line 787 of file multiple_shooting_edges.h.

◆ _nc_interval

int corbo::MultipleShootingEdge::_nc_interval = 0

private

Definition at line 788 of file multiple_shooting_edges.h.

◆ _nonint_eq_dim

int corbo::MultipleShootingEdge::_nonint_eq_dim = 0

private

Definition at line 777 of file multiple_shooting_edges.h.

◆ _nonint_eq_values

Eigen::VectorXd corbo::MultipleShootingEdge::_nonint_eq_values

private

Definition at line 800 of file multiple_shooting_edges.h.

◆ _nonint_ineq_dim

int corbo::MultipleShootingEdge::_nonint_ineq_dim = 0

private

Definition at line 778 of file multiple_shooting_edges.h.

◆ _nonint_ineq_values

Eigen::VectorXd corbo::MultipleShootingEdge::_nonint_ineq_values

private

Definition at line 799 of file multiple_shooting_edges.h.

◆ _nonint_obj_dim

int corbo::MultipleShootingEdge::_nonint_obj_dim = 0

private

Definition at line 776 of file multiple_shooting_edges.h.

◆ _nonint_obj_values

Eigen::VectorXd corbo::MultipleShootingEdge::_nonint_obj_values

private

Definition at line 798 of file multiple_shooting_edges.h.

◆ _nt_interval

int corbo::MultipleShootingEdge::_nt_interval = 0

private

Definition at line 789 of file multiple_shooting_edges.h.

◆ _num_intermediate_states

int corbo::MultipleShootingEdge::_num_intermediate_states = 0

private

Definition at line 790 of file multiple_shooting_edges.h.

◆ _other_int_eq_dim

int corbo::MultipleShootingEdge::_other_int_eq_dim = 0

private

Definition at line 773 of file multiple_shooting_edges.h.

◆ _shooting_node

const VectorVertex* corbo::MultipleShootingEdge::_shooting_node = nullptr

private

Definition at line 766 of file multiple_shooting_edges.h.

◆ _stage_cost

StageCost::ConstPtr corbo::MultipleShootingEdge::_stage_cost

private

Definition at line 806 of file multiple_shooting_edges.h.

◆ _stage_eq

StageEqualityConstraint::ConstPtr corbo::MultipleShootingEdge::_stage_eq

private

Definition at line 807 of file multiple_shooting_edges.h.

◆ _stage_ineq

StageInequalityConstraint::ConstPtr corbo::MultipleShootingEdge::_stage_ineq

private

Definition at line 808 of file multiple_shooting_edges.h.

◆ _total_dim_eq

int corbo::MultipleShootingEdge::_total_dim_eq = 0

private

Definition at line 784 of file multiple_shooting_edges.h.

◆ _total_dim_ineq

int corbo::MultipleShootingEdge::_total_dim_ineq = 0

private

Definition at line 785 of file multiple_shooting_edges.h.

◆ _total_dim_obj

int corbo::MultipleShootingEdge::_total_dim_obj = 0

private

Definition at line 783 of file multiple_shooting_edges.h.

◆ _ub_ineq_values

Eigen::VectorXd corbo::MultipleShootingEdge::_ub_ineq_values

private

Definition at line 802 of file multiple_shooting_edges.h.

◆ _ukvert

VectorVertex* corbo::MultipleShootingEdge::_ukvert = nullptr

private

Definition at line 767 of file multiple_shooting_edges.h.

◆ _values

Eigen::VectorXd corbo::MultipleShootingEdge::_values

private

Definition at line 796 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

Protected Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ MultipleShootingEdge()

Member Function Documentation

◆ activateIntermediateStateCostAndConstraints()

◆ computeEqualityValues()

◆ computeInequalityValues()

◆ computeObjectiveValues()

◆ configureIntegrand()

◆ finalize()

◆ getEqualityDimension()

◆ getInequalityDimension()

◆ getObjectiveDimension()

◆ isEqualityLinear()

◆ isInequalityLinear()

◆ isObjectiveLeastSquaresForm()

◆ isObjectiveLinear()

◆ precompute()

◆ setIntegrator()

Member Data Documentation

◆ _current

◆ _current_idx

◆ _dim_lb_x

◆ _dim_ub_x

◆ _dtvert

◆ _dyn_dim

◆ _dynamics

◆ _eval_intermediate_constr

◆ _int_ineq_dim

◆ _int_obj_dim

◆ _integrand

◆ _integrator

◆ _k

◆ _lb_ineq_values

◆ _n_interval

◆ _nc_interval

◆ _nonint_eq_dim

◆ _nonint_eq_values

◆ _nonint_ineq_dim

◆ _nonint_ineq_values

◆ _nonint_obj_dim

◆ _nonint_obj_values

◆ _nt_interval

◆ _num_intermediate_states

◆ _other_int_eq_dim

◆ _shooting_node

◆ _stage_cost

◆ _stage_eq

◆ _stage_ineq

◆ _total_dim_eq

◆ _total_dim_ineq

◆ _total_dim_obj

◆ _ub_ineq_values

◆ _ukvert

◆ _values