#include <nlp_functions.h>

Public Member Functions
void	checkAndInitializeBoundDimensions (int x_dim, int u_dim)

void	clear ()

void	getFinalControlDeviationEdges (int n, VectorVertex &u_ref, VectorVertex &u_prev, ScalarVertex &u_prev_dt, std::vector< BaseEdge::Ptr > &cost_edges, std::vector< BaseEdge::Ptr > &eq_edges, std::vector< BaseEdge::Ptr > &ineq_edges)

BaseEdge::Ptr	getFinalStateConstraintEdge (int k, VectorVertex &xf)

BaseEdge::Ptr	getFinalStateCostEdge (int k, VectorVertex &xf)

void	getNonIntegralStageFunctionEdges (int k, VectorVertex &xk, VectorVertex &uk, ScalarVertex &dt, VectorVertex &u_prev, ScalarVertex &u_prev_dt, const StageFunction &stage_fun, std::vector< BaseEdge::Ptr > &edges)

void	getNonIntegralStageFunctionEdges (int k, VectorVertex &xk, VectorVertex &uk, ScalarVertex &dt, VectorVertex &u_prev, ScalarVertex &u_prev_dt, std::vector< BaseEdge::Ptr > &cost_edges, std::vector< BaseEdge::Ptr > &eq_edges, std::vector< BaseEdge::Ptr > &ineq_edges)

bool	hasIntegralTerms (int k) const

bool	update (int n, double t, ReferenceTrajectoryInterface &xref, ReferenceTrajectoryInterface &uref, ReferenceTrajectoryInterface sref, bool single_dt, const Eigen::VectorXd &x0, const std::vector< double > &dts, const DiscretizationGridInterface grid)

Public Attributes
FinalStageConstraint::Ptr	final_stage_constraints

FinalStageCost::Ptr	final_stage_cost

StageCost::Ptr	stage_cost

StageEqualityConstraint::Ptr	stage_equalities

StageInequalityConstraint::Ptr	stage_inequalities

StagePreprocessor::Ptr	stage_preprocessor

Eigen::VectorXd	u_lb

Eigen::VectorXd	u_ub

Eigen::VectorXd	x_lb

Eigen::VectorXd	x_ub

Detailed Description

Definition at line 36 of file nlp_functions.h.

Member Function Documentation

◆ checkAndInitializeBoundDimensions()

void corbo::NlpFunctions::checkAndInitializeBoundDimensions	(	int	x_dim,
		int	u_dim
	)

Definition at line 47 of file nlp_functions.cpp.

◆ clear()

void corbo::NlpFunctions::clear ( )

inline

Definition at line 81 of file nlp_functions.h.

◆ getFinalControlDeviationEdges()

void corbo::NlpFunctions::getFinalControlDeviationEdges	(	int	n,
		VectorVertex &	u_ref,
		VectorVertex &	u_prev,
		ScalarVertex &	u_prev_dt,
		std::vector< BaseEdge::Ptr > &	cost_edges,
		std::vector< BaseEdge::Ptr > &	eq_edges,
		std::vector< BaseEdge::Ptr > &	ineq_edges
	)

Definition at line 152 of file nlp_functions.cpp.

◆ getFinalStateConstraintEdge()

BaseEdge::Ptr corbo::NlpFunctions::getFinalStateConstraintEdge	(	int	k,
		VectorVertex &	xf
	)

Definition at line 204 of file nlp_functions.cpp.

◆ getFinalStateCostEdge()

BaseEdge::Ptr corbo::NlpFunctions::getFinalStateCostEdge	(	int	k,
		VectorVertex &	xf
	)

Definition at line 188 of file nlp_functions.cpp.

◆ getNonIntegralStageFunctionEdges() [1/2]

void corbo::NlpFunctions::getNonIntegralStageFunctionEdges	(	int	k,
		VectorVertex &	xk,
		VectorVertex &	uk,
		ScalarVertex &	dt,
		VectorVertex &	u_prev,
		ScalarVertex &	u_prev_dt,
		const StageFunction &	stage_fun,
		std::vector< BaseEdge::Ptr > &	edges
	)

Definition at line 70 of file nlp_functions.cpp.

◆ getNonIntegralStageFunctionEdges() [2/2]

void corbo::NlpFunctions::getNonIntegralStageFunctionEdges	(	int	k,
		VectorVertex &	xk,
		VectorVertex &	uk,
		ScalarVertex &	dt,
		VectorVertex &	u_prev,
		ScalarVertex &	u_prev_dt,
		std::vector< BaseEdge::Ptr > &	cost_edges,
		std::vector< BaseEdge::Ptr > &	eq_edges,
		std::vector< BaseEdge::Ptr > &	ineq_edges
	)

Definition at line 134 of file nlp_functions.cpp.

◆ hasIntegralTerms()

bool corbo::NlpFunctions::hasIntegralTerms ( int k ) const

inline

Definition at line 73 of file nlp_functions.h.

◆ update()

bool corbo::NlpFunctions::update	(	int	n,
		double	t,
		ReferenceTrajectoryInterface &	xref,
		ReferenceTrajectoryInterface &	uref,
		ReferenceTrajectoryInterface *	sref,
		bool	single_dt,
		const Eigen::VectorXd &	x0,
		const std::vector< double > &	dts,
		const DiscretizationGridInterface *	grid
	)

Definition at line 31 of file nlp_functions.cpp.

Member Data Documentation

◆ final_stage_constraints

FinalStageConstraint::Ptr corbo::NlpFunctions::final_stage_constraints

Definition at line 43 of file nlp_functions.h.

◆ final_stage_cost

FinalStageCost::Ptr corbo::NlpFunctions::final_stage_cost

Definition at line 40 of file nlp_functions.h.

◆ stage_cost

StageCost::Ptr corbo::NlpFunctions::stage_cost

Definition at line 39 of file nlp_functions.h.

◆ stage_equalities

StageEqualityConstraint::Ptr corbo::NlpFunctions::stage_equalities

Definition at line 41 of file nlp_functions.h.

◆ stage_inequalities

StageInequalityConstraint::Ptr corbo::NlpFunctions::stage_inequalities

Definition at line 42 of file nlp_functions.h.

◆ stage_preprocessor

StagePreprocessor::Ptr corbo::NlpFunctions::stage_preprocessor

Definition at line 44 of file nlp_functions.h.

◆ u_lb

Eigen::VectorXd corbo::NlpFunctions::u_lb

Definition at line 48 of file nlp_functions.h.

◆ u_ub

Eigen::VectorXd corbo::NlpFunctions::u_ub

Definition at line 49 of file nlp_functions.h.

◆ x_lb

Eigen::VectorXd corbo::NlpFunctions::x_lb

Definition at line 46 of file nlp_functions.h.

◆ x_ub

Eigen::VectorXd corbo::NlpFunctions::x_ub

Definition at line 47 of file nlp_functions.h.

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

Public Member Functions

Public Attributes