#include <non_uniform_multiple_shooting_variable_grid.h>

Inheritance diagram for corbo::NonUniformMultipleShootingVariableGrid:

Public Types
enum	GridAdaptStrategy { GridAdaptStrategy::NoGridAdapt, GridAdaptStrategy::TimeBasedSingleStep, GridAdaptStrategy::RedundantControls }

using	Ptr = std::shared_ptr< NonUniformMultipleShootingVariableGrid >

using	UPtr = std::unique_ptr< NonUniformMultipleShootingVariableGrid >

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

using	UPtr = std::unique_ptr< NonUniformShootingGridBase >

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	disableGridAdaptation ()

DiscretizationGridInterface::Ptr	getInstance () const override
	Return a newly created shared instance of the implemented class. More...

	NonUniformMultipleShootingVariableGrid ()=default

void	setDtBounds (double dt_lb, double dt_ub)

void	setDtEqConstraint (bool active)

void	setGridAdaptRedundantControls (int n_max, int num_backup_nodes=1, double epsilon=1e-3)

void	setGridAdaptTimeBasedSingleStep (int n_max, double dt_hyst_ratio=0.1)

void	setNmin (int n_min)

virtual	~NonUniformMultipleShootingVariableGrid ()=default

Public Member Functions inherited from corbo::NonUniformShootingGridBase
void	clear () override

std::vector< VertexInterface * > &	getActiveVertices () override

double	getDtRef () const

void	getDts (std::vector< double > &dts) 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

	NonUniformShootingGridBase ()=default

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)

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	~NonUniformShootingGridBase ()=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
bool	adaptGrid (bool new_run, NlpFunctions &nlp_fun) override

bool	adaptGridRedundantControls (NlpFunctions &nlp_fun)

bool	adaptGridTimeBasedSingleStep (NlpFunctions &nlp_fun)

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

bool	isGridAdaptActive () const override

bool	isMovingHorizonWarmStartActive () const override

Protected Member Functions inherited from corbo::NonUniformShootingGridBase
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	isXfShootingNode () const

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)

Protected Attributes
bool	_adapt_first_iter = false

bool	_dt_eq_constraint = false

double	_dt_hyst_ratio = 0.1

GridAdaptStrategy	_grid_adapt = GridAdaptStrategy::NoGridAdapt

int	_n_max = 1000

int	_n_min = 2

int	_redundant_ctrl_backup = 1

double	_redundant_ctrl_epsilon = 1e-2

Protected Attributes inherited from corbo::NonUniformShootingGridBase
std::vector< VertexInterface * >	_active_vertices

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 non_uniform_multiple_shooting_variable_grid.h.

Member Typedef Documentation

◆ Ptr

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

Definition at line 37 of file non_uniform_multiple_shooting_variable_grid.h.

◆ UPtr

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

Definition at line 38 of file non_uniform_multiple_shooting_variable_grid.h.

Member Enumeration Documentation

◆ GridAdaptStrategy

enum corbo::NonUniformMultipleShootingVariableGrid::GridAdaptStrategy

strong

Enumerator
NoGridAdapt
TimeBasedSingleStep
RedundantControls

Definition at line 40 of file non_uniform_multiple_shooting_variable_grid.h.

Constructor & Destructor Documentation

◆ NonUniformMultipleShootingVariableGrid()

corbo::NonUniformMultipleShootingVariableGrid::NonUniformMultipleShootingVariableGrid ( )

default

◆ ~NonUniformMultipleShootingVariableGrid()

virtual corbo::NonUniformMultipleShootingVariableGrid::~NonUniformMultipleShootingVariableGrid ( )

virtualdefault

Member Function Documentation

◆ adaptGrid()

bool corbo::NonUniformMultipleShootingVariableGrid::adaptGrid	(	bool	new_run,
		NlpFunctions &	nlp_fun
	)

overrideprotectedvirtual

Reimplemented from corbo::NonUniformShootingGridBase.

Definition at line 285 of file non_uniform_multiple_shooting_variable_grid.cpp.

◆ adaptGridRedundantControls()

bool corbo::NonUniformMultipleShootingVariableGrid::adaptGridRedundantControls ( NlpFunctions & nlp_fun )

protected

Definition at line 380 of file non_uniform_multiple_shooting_variable_grid.cpp.

◆ adaptGridTimeBasedSingleStep()

bool corbo::NonUniformMultipleShootingVariableGrid::adaptGridTimeBasedSingleStep ( NlpFunctions & nlp_fun )

protected

Definition at line 315 of file non_uniform_multiple_shooting_variable_grid.cpp.

◆ createEdges()

void corbo::NonUniformMultipleShootingVariableGrid::createEdges	(	NlpFunctions &	nlp_fun,
		OptimizationEdgeSet &	edges,
		SystemDynamicsInterface::Ptr	dynamics
	)

overrideprotectedvirtual

Implements corbo::NonUniformShootingGridBase.

Definition at line 60 of file non_uniform_multiple_shooting_variable_grid.cpp.

◆ disableGridAdaptation()

void corbo::NonUniformMultipleShootingVariableGrid::disableGridAdaptation ( )

inline

Definition at line 53 of file non_uniform_multiple_shooting_variable_grid.h.

◆ getFactory()

static Factory<DiscretizationGridInterface>& corbo::NonUniformMultipleShootingVariableGrid::getFactory ( )

inlinestatic

Get access to the associated factory.

Definition at line 49 of file non_uniform_multiple_shooting_variable_grid.h.

◆ getInstance()

DiscretizationGridInterface::Ptr corbo::NonUniformMultipleShootingVariableGrid::getInstance ( ) const

inlineoverridevirtual

Return a newly created shared instance of the implemented class.

Implements corbo::NonUniformShootingGridBase.

Definition at line 46 of file non_uniform_multiple_shooting_variable_grid.h.

◆ getStageFunctionEdgesIntermediateControlDtMultipleShooting()

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