Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | List of all members
corbo::MultipleShootingGrid Class Reference

#include <multiple_shooting_grid.h>

Inheritance diagram for corbo::MultipleShootingGrid:
Inheritance graph
[legend]

Public Types

using Ptr = std::shared_ptr< MultipleShootingGrid >
 
using UPtr = std::unique_ptr< MultipleShootingGrid >
 
- Public Types inherited from corbo::ShootingGridBase
using Ptr = std::shared_ptr< ShootingGridBase >
 
using UPtr = std::unique_ptr< ShootingGridBase >
 
- 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

DiscretizationGridInterface::Ptr getInstance () const override
 Return a newly created shared instance of the implemented class. More...
 
 MultipleShootingGrid ()=default
 
virtual ~MultipleShootingGrid ()=default
 
- Public Member Functions inherited from corbo::ShootingGridBase
void clear () override
 
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
 
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
 
bool isValid () const
 
bool providesStateTrajectory () const override
 
void setConsiderIntermediateStateConstraints (bool active)
 
void setDtRef (double dt)
 
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 setNumControlsPerShootingInterval (int num_u_per_interv)
 
void setNumControlsPerShootingInterval (int num_u_per_interv, bool intermediate_x_constraints)
 
void setNumericalIntegrator (NumericalIntegratorExplicitInterface::Ptr integrator)
 
void setWarmStart (bool active)
 
void setXfFixed (const Eigen::Matrix< bool, -1, 1 > &xf_fixed)
 
 ShootingGridBase ()=default
 
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 ~ShootingGridBase ()=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::DiscretizationGridInterface
static Factory< DiscretizationGridInterface > & getFactory ()
 Get access to the accociated factory. More...
 

Protected Member Functions

void createEdges (NlpFunctions &nlp_fun, OptimizationEdgeSet &edges, SystemDynamicsInterface::Ptr dynamics) override
 
void getStageFunctionEdgesIntermediateControlDtMultipleShooting (int k, VectorVertex &uk, ScalarVertex &dt, VectorVertex &u_prev, ScalarVertex &dt_prev, const StageFunction &stage_fun, std::vector< BaseEdge::Ptr > &edges)
 
bool isDtFixedIntended () const override
 
- Protected Member Functions inherited from corbo::ShootingGridBase
virtual bool adaptGrid (bool new_run, NlpFunctions &nlp_fun)
 
bool checkAndInitializeXfFixedFlags (int dim_x)
 
void computeActiveVertices () override
 
int findNearestShootingInterval (const Eigen::VectorXd &x0)
 
void initializeSequences (const Eigen::VectorXd &x0, const Eigen::VectorXd &xf, ReferenceTrajectoryInterface &uref, NlpFunctions &nlp_fun)
 
void initializeSequences (const Eigen::VectorXd &x0, const Eigen::VectorXd &xf, ReferenceTrajectoryInterface &xref, ReferenceTrajectoryInterface &uref, NlpFunctions &nlp_fun)
 
virtual bool isGridAdaptActive () const
 
virtual bool isMovingHorizonWarmStartActive () const
 
virtual bool isXfShootingNode () const
 
void resampleTrajectory (int n_new, NlpFunctions &nlp_fun)
 
void updateBounds (const NlpFunctions &nlp_fun)
 
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)
 

Additional Inherited Members

- Protected Attributes inherited from corbo::ShootingGridBase
std::vector< VertexInterface * > _active_vertices
 
ScalarVertex _dt
 
double _dt_lb = 0
 
double _dt_ref = 0.1
 
double _dt_ub = CORBO_INF_DBL
 
bool _first_run = true
 
bool _full_discretization = true
 
NumericalIntegratorExplicitInterface::Ptr _integrator
 
bool _intermediate_x_constraints = false
 
std::vector< ShootingInterval_intervals
 
int _n_adapt = 0
 
int _n_ref = 11
 
int _num_u_per_interv_ref = 1
 
bool _warm_start = false
 
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 multiple_shooting_grid.h.

Member Typedef Documentation

◆ Ptr

Definition at line 37 of file multiple_shooting_grid.h.

◆ UPtr

Definition at line 38 of file multiple_shooting_grid.h.

Constructor & Destructor Documentation

◆ MultipleShootingGrid()

corbo::MultipleShootingGrid::MultipleShootingGrid ( )
default

◆ ~MultipleShootingGrid()

virtual corbo::MultipleShootingGrid::~MultipleShootingGrid ( )
virtualdefault

Member Function Documentation

◆ createEdges()

void corbo::MultipleShootingGrid::createEdges ( NlpFunctions nlp_fun,
OptimizationEdgeSet edges,
SystemDynamicsInterface::Ptr  dynamics 
)
overrideprotectedvirtual

Implements corbo::ShootingGridBase.

Definition at line 38 of file multiple_shooting_grid.cpp.

◆ getFactory()

static Factory<DiscretizationGridInterface>& corbo::MultipleShootingGrid::getFactory ( )
inlinestatic

Get access to the associated factory.

Definition at line 47 of file multiple_shooting_grid.h.

◆ getInstance()

DiscretizationGridInterface::Ptr corbo::MultipleShootingGrid::getInstance ( ) const
inlineoverridevirtual

Return a newly created shared instance of the implemented class.

Implements corbo::ShootingGridBase.

Reimplemented in corbo::MultipleShootingVariableGrid.

Definition at line 44 of file multiple_shooting_grid.h.

◆ getStageFunctionEdgesIntermediateControlDtMultipleShooting()

void corbo::MultipleShootingGrid::getStageFunctionEdgesIntermediateControlDtMultipleShooting ( int  k,
VectorVertex uk,
ScalarVertex dt,
VectorVertex u_prev,
ScalarVertex dt_prev,
const StageFunction stage_fun,
std::vector< BaseEdge::Ptr > &  edges 
)
protected

Definition at line 199 of file multiple_shooting_grid.cpp.

◆ isDtFixedIntended()

bool corbo::MultipleShootingGrid::isDtFixedIntended ( ) const
inlineoverrideprotectedvirtual

Reimplemented from corbo::ShootingGridBase.

Reimplemented in corbo::MultipleShootingVariableGrid.

Definition at line 66 of file multiple_shooting_grid.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 22:08:03