Predictive controller. More...

#include <predictive_controller.h>

Inheritance diagram for corbo::PredictiveController:

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

Public Types inherited from corbo::ControllerInterface
using	ControlVector = Eigen::VectorXd

using	Ptr = std::shared_ptr< ControllerInterface >

using	StateVector = Eigen::VectorXd

using	UPtr = std::unique_ptr< ControllerInterface >

Public Member Functions
bool	getAutoUpdatePreviousControl () const

void	getAvailableSignals (SignalTargetInterface &signal_target, const std::string &ns="") const override
	Retrieve available signals from the controller. More...

double	getControlDuration () const override
	Return the duration for which the control u obtained from step() is valid (useful for asynchronous control) More...

int	getControlInputDimension () const override
	Return the control input dimension. More...

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

const int &	getNumOcpIterations () const

OptimalControlProblemInterface::Ptr	getOptimalControlProblem ()

int	getStateDimension () const override
	Return the dimension of the required plant state/output. More...

ControllerStatistics::Ptr	getStatistics () const override

bool	hasPiecewiseConstantControls () const override
	Return true if the controller returns piecewise constant control pieces. More...

bool	initialize (const StateVector &x, ReferenceTrajectoryInterface &expected_xref, ReferenceTrajectoryInterface &expected_uref, const Duration &expected_dt, const Time &t, ReferenceTrajectoryInterface *sref=nullptr) override
	Initialize the controller. More...

const bool &	isPublishPrediction () const

	PredictiveController ()

bool	providesFutureControls () const override

bool	providesFutureStates () const override

void	reset () override
	Reset internal controller state and caches. More...

void	sendSignals (double t, SignalTargetInterface &signal_target, const std::string &ns="") const override

void	setAutoUpdatePreviousControl (bool enable)

void	setNumOcpIterations (int ocp_iter)

void	setOptimalControlProblem (OptimalControlProblemInterface::Ptr ocp)

void	setOutputControlSequenceLenght (bool activate)

void	setOutputStateSequenceLenght (bool activate)

void	setPublishPrediction (bool publish)

bool	step (const StateVector &x, ReferenceTrajectoryInterface &xref, ReferenceTrajectoryInterface &uref, const Duration &dt, const Time &t, TimeSeries::Ptr u_sequence, TimeSeries::Ptr x_sequence, SignalTargetInterface signal_target=nullptr, ReferenceTrajectoryInterface sref=nullptr, ReferenceTrajectoryInterface xinit=nullptr, ReferenceTrajectoryInterface uinit=nullptr, const std::string &ns="") override

bool	supportsAsynchronousControl () const override
	Specify whether the controllers step function is independent of dt and getControlDuration() returns a valid value. More...

Public Member Functions inherited from corbo::ControllerInterface
virtual bool	step (const StateVector &x, ReferenceTrajectoryInterface &xref, ReferenceTrajectoryInterface &uref, const Duration &dt, const Time &t, ControlVector &u, SignalTargetInterface *signal_target=nullptr, const std::string &ns="")
	Perform actual controller step / control law computation. More...

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

Static Public Member Functions
static Ptr	getInstanceStatic ()

Static Public Member Functions inherited from corbo::ControllerInterface
static Factory< ControllerInterface > &	getFactory ()
	Get access to the associated factory. More...

Protected Attributes
bool	_auto_update_prev_control = true

bool	_initialized = false

int	_num_ocp_iterations = 1

OptimalControlProblemInterface::Ptr	_ocp

bool	_output_control_sequence = false

bool	_output_state_sequence = false

bool	_publish_prediction = true

ControllerStatistics	_statistics

TimeSeries::Ptr	_u_ts

TimeSeries::Ptr	_x_ts

Detailed Description

Predictive controller.

Implementation of a predictive controller that accepts a generic optimal control problem (OCP) that is solved within each step command.

The OCP is invoked repeatedly up to a user-specified number of iterations: refer to numOcpIterations().

See also: ControllerInterface LqrController PidController

Author: Christoph Rösmann (chris.nosp@m.toph.nosp@m..roes.nosp@m.mann.nosp@m.@tu-d.nosp@m.ortm.nosp@m.und.d.nosp@m.e)

Definition at line 50 of file predictive_controller.h.

Member Typedef Documentation

◆ Ptr

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

Definition at line 53 of file predictive_controller.h.

Constructor & Destructor Documentation

◆ PredictiveController()

corbo::PredictiveController::PredictiveController ( )

Definition at line 32 of file predictive_controller.cpp.

Member Function Documentation

◆ getAutoUpdatePreviousControl()

bool corbo::PredictiveController::getAutoUpdatePreviousControl ( ) const

inline

Definition at line 107 of file predictive_controller.h.

◆ getAvailableSignals()

void corbo::PredictiveController::getAvailableSignals	(	SignalTargetInterface &	signal_target,
		const std::string &	ns = `""`
	)		const

overridevirtual

Retrieve available signals from the controller.

Register a-priori known signals at the signal target. Registration is optional. Note, during step() execution further signals might occur without registration (in case the they are not known in advance or the implementation lacks a proper registration).

Parameters

[in,out] signal_target Target for occuring signals [optional]

Reimplemented from corbo::ControllerInterface.

Definition at line 81 of file predictive_controller.cpp.

◆ getControlDuration()

double corbo::PredictiveController::getControlDuration ( ) const

inlineoverridevirtual

Return the duration for which the control u obtained from step() is valid (useful for asynchronous control)

Reimplemented from corbo::ControllerInterface.

Definition at line 86 of file predictive_controller.h.

◆ getControlInputDimension()

int corbo::PredictiveController::getControlInputDimension ( ) const

inlineoverridevirtual

Return the control input dimension.

Implements corbo::ControllerInterface.

Definition at line 58 of file predictive_controller.h.

◆ getInstance()

ControllerInterface::Ptr corbo::PredictiveController::getInstance ( ) const

inlineoverridevirtual

Return a newly created shared instance of the implemented class.

Implements corbo::ControllerInterface.

Definition at line 69 of file predictive_controller.h.

◆ getInstanceStatic()

static Ptr corbo::PredictiveController::getInstanceStatic ( )

inlinestatic

Definition at line 70 of file predictive_controller.h.

◆ getNumOcpIterations()

const int& corbo::PredictiveController::getNumOcpIterations ( ) const

inline

Definition at line 97 of file predictive_controller.h.

◆ getOptimalControlProblem()

OptimalControlProblemInterface::Ptr corbo::PredictiveController::getOptimalControlProblem ( )

inline

Definition at line 73 of file predictive_controller.h.

◆ getStateDimension()

int corbo::PredictiveController::getStateDimension ( ) const

inlineoverridevirtual

Return the dimension of the required plant state/output.

Depending on the controller type, the state dimension can also be just the plant output or the complete measured or observed state vector.

Returns: the controllers state dimension

Implements corbo::ControllerInterface.

Definition at line 60 of file predictive_controller.h.

◆ getStatistics()

ControllerStatistics::Ptr corbo::PredictiveController::getStatistics ( ) const

inlineoverridevirtual

Reimplemented from corbo::ControllerInterface.

Definition at line 111 of file predictive_controller.h.

◆ hasPiecewiseConstantControls()

bool corbo::PredictiveController::hasPiecewiseConstantControls ( ) const

inlineoverridevirtual

Return true if the controller returns piecewise constant control pieces.

Returns: true if the controls are piecewise constant

Implements corbo::ControllerInterface.

Definition at line 62 of file predictive_controller.h.

◆ initialize()

bool corbo::PredictiveController::initialize	(	const StateVector &	x,
		ReferenceTrajectoryInterface &	expected_xref,
		ReferenceTrajectoryInterface &	expected_uref,
		const Duration &	expected_dt,
		const Time &	t,
		ReferenceTrajectoryInterface *	expected_sref = `nullptr`
	)

overridevirtual

Initialize the controller.

Initialization should be optional but it should facilitate memory allocation and trajectory initialization respectively warm starting.

Parameters

[in]	x	Current plant state [getStateDimension() x 1]
[in]	expected_xref	State reference (writable in order to allow to the reference object to precompute caches)
[in]	expected_uref	Control reference (writable in order to allow to the reference object to precompute caches)
[in]	expected_dt	Expected sampling interval length (controller rate)
[in]	t	Current time stamp (can be sim-time or system-time, but compatible to state and control references)

Returns: true if initialization was successful, false otherwise.

Reimplemented from corbo::ControllerInterface.

Definition at line 34 of file predictive_controller.cpp.

◆ isPublishPrediction()

const bool& corbo::PredictiveController::isPublishPrediction ( ) const

inline

Definition at line 100 of file predictive_controller.h.

◆ providesFutureControls()

bool corbo::PredictiveController::providesFutureControls ( ) const

inlineoverridevirtual

Implements corbo::ControllerInterface.

Definition at line 64 of file predictive_controller.h.

◆ providesFutureStates()

bool corbo::PredictiveController::providesFutureStates ( ) const

inlineoverridevirtual

Implements corbo::ControllerInterface.

Definition at line 66 of file predictive_controller.h.

◆ reset()

void corbo::PredictiveController::reset ( )

overridevirtual

Reset internal controller state and caches.

Implements corbo::ControllerInterface.

Definition at line 94 of file predictive_controller.cpp.

◆ sendSignals()

void corbo::PredictiveController::sendSignals	(	double	t,
		SignalTargetInterface &	signal_target,
		const std::string &	ns = `""`
	)		const

overridevirtual

Reimplemented from corbo::ControllerInterface.

Definition at line 99 of file predictive_controller.cpp.

◆ setAutoUpdatePreviousControl()

void corbo::PredictiveController::setAutoUpdatePreviousControl ( bool enable )

inline

Definition at line 106 of file predictive_controller.h.

◆ setNumOcpIterations()

void corbo::PredictiveController::setNumOcpIterations ( int ocp_iter )

inline

Definition at line 98 of file predictive_controller.h.

◆ setOptimalControlProblem()

void corbo::PredictiveController::setOptimalControlProblem ( OptimalControlProblemInterface::Ptr ocp )

inline

Definition at line 72 of file predictive_controller.h.

◆ setOutputControlSequenceLenght()

void corbo::PredictiveController::setOutputControlSequenceLenght ( bool activate )

inline

Definition at line 103 of file predictive_controller.h.

◆ setOutputStateSequenceLenght()

void corbo::PredictiveController::setOutputStateSequenceLenght ( bool activate )

inline

Definition at line 104 of file predictive_controller.h.

◆ setPublishPrediction()

void corbo::PredictiveController::setPublishPrediction ( bool publish )

inline

Definition at line 101 of file predictive_controller.h.

◆ step()

bool corbo::PredictiveController::step	(	const StateVector &	x,
		ReferenceTrajectoryInterface &	xref,
		ReferenceTrajectoryInterface &	uref,
		const Duration &	dt,
		const Time &	t,
		TimeSeries::Ptr	u_sequence,
		TimeSeries::Ptr	x_sequence,
		SignalTargetInterface *	signal_target = `nullptr`,
		ReferenceTrajectoryInterface *	sref = `nullptr`,
		ReferenceTrajectoryInterface *	xinit = `nullptr`,
		ReferenceTrajectoryInterface *	uinit = `nullptr`,
		const std::string &	ns = `""`
	)

overridevirtual

Implements corbo::ControllerInterface.

Definition at line 46 of file predictive_controller.cpp.

◆ supportsAsynchronousControl()

bool corbo::PredictiveController::supportsAsynchronousControl ( ) const

inlineoverridevirtual

Specify whether the controllers step function is independent of dt and getControlDuration() returns a valid value.

Reimplemented from corbo::ControllerInterface.

Definition at line 89 of file predictive_controller.h.

Member Data Documentation

◆ _auto_update_prev_control

bool corbo::PredictiveController::_auto_update_prev_control = true

protected

Definition at line 136 of file predictive_controller.h.

◆ _initialized

bool corbo::PredictiveController::_initialized = false

protected

Definition at line 144 of file predictive_controller.h.

◆ _num_ocp_iterations

int corbo::PredictiveController::_num_ocp_iterations = 1

protected

Definition at line 138 of file predictive_controller.h.

◆ _ocp

OptimalControlProblemInterface::Ptr corbo::PredictiveController::_ocp

protected

Definition at line 130 of file predictive_controller.h.

◆ _output_control_sequence

bool corbo::PredictiveController::_output_control_sequence = false

protected

Definition at line 141 of file predictive_controller.h.

◆ _output_state_sequence

bool corbo::PredictiveController::_output_state_sequence = false

protected

Definition at line 142 of file predictive_controller.h.

◆ _publish_prediction

bool corbo::PredictiveController::_publish_prediction = true

protected

Definition at line 139 of file predictive_controller.h.

◆ _statistics

ControllerStatistics corbo::PredictiveController::_statistics

protected

Definition at line 134 of file predictive_controller.h.

◆ _u_ts

TimeSeries::Ptr corbo::PredictiveController::_u_ts

protected

Definition at line 132 of file predictive_controller.h.

◆ _x_ts

TimeSeries::Ptr corbo::PredictiveController::_x_ts

protected

Definition at line 131 of file predictive_controller.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Ptr

Constructor & Destructor Documentation

◆ PredictiveController()

Member Function Documentation

◆ getAutoUpdatePreviousControl()

◆ getAvailableSignals()

◆ getControlDuration()

◆ getControlInputDimension()

◆ getInstance()

◆ getInstanceStatic()

◆ getNumOcpIterations()

◆ getOptimalControlProblem()

◆ getStateDimension()

◆ getStatistics()

◆ hasPiecewiseConstantControls()

◆ initialize()

◆ isPublishPrediction()

◆ providesFutureControls()

◆ providesFutureStates()

◆ reset()

◆ sendSignals()

◆ setAutoUpdatePreviousControl()

◆ setNumOcpIterations()

◆ setOptimalControlProblem()

◆ setOutputControlSequenceLenght()

◆ setOutputStateSequenceLenght()

◆ setPublishPrediction()

◆ step()

◆ supportsAsynchronousControl()

Member Data Documentation

◆ _auto_update_prev_control

◆ _initialized

◆ _num_ocp_iterations

◆ _ocp

◆ _output_control_sequence

◆ _output_state_sequence

◆ _publish_prediction

◆ _statistics

◆ _u_ts

◆ _x_ts