#include <collocation_edges.h>

Inheritance diagram for corbo::QuadratureCollocationEdge:

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

using	UPtr = std::unique_ptr< QuadratureCollocationEdge >

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...

void	precompute () override

	QuadratureCollocationEdge (SystemDynamicsInterface::Ptr dynamics, QuadratureCollocationInterface::Ptr quadrature, StageCost::Ptr stage_cost, StageEqualityConstraint::Ptr stage_eq, StageInequalityConstraint::Ptr stage_ineq, bool eval_intermediate_constr, int k)

virtual	~QuadratureCollocationEdge ()=default

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	configureIntegrand ()

Private Attributes
QuadratureCollocationInterface::Ptr	_collocation

int	_dim_dyn = 0

int	_dim_eq = 0

int	_dim_ineq = 0

int	_dim_int_eq = 0

int	_dim_int_ineq = 0

int	_dim_lb_x = 0

int	_dim_nonint_eq = 0

int	_dim_nonint_ineq = 0

int	_dim_obj = 1

int	_dim_ub_x = 0

const ScalarVertex *	_dt = nullptr

SystemDynamicsInterface::Ptr	_dynamics

bool	_eval_intermediate_constr = false

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

int	_k = 0

int	_num_intermediate_u

int	_num_intermediate_x

Eigen::VectorXd	_quadrature_values

StageCost::Ptr	_stage_cost

StageEqualityConstraint::Ptr	_stage_eq

StageInequalityConstraint::Ptr	_stage_ineq

std::vector< const Eigen::VectorXd * >	_u1_points

const Eigen::VectorXd *	_u2 = nullptr

const VectorVertex *	_x1 = nullptr

std::vector< const Eigen::VectorXd * >	_x1_points

const Eigen::VectorXd *	_x2 = nullptr

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 133 of file collocation_edges.h.

Member Typedef Documentation

◆ Ptr

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

Definition at line 136 of file collocation_edges.h.

◆ UPtr

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

Definition at line 137 of file collocation_edges.h.

Constructor & Destructor Documentation

◆ QuadratureCollocationEdge()

corbo::QuadratureCollocationEdge::QuadratureCollocationEdge	(	SystemDynamicsInterface::Ptr	dynamics,
		QuadratureCollocationInterface::Ptr	quadrature,
		StageCost::Ptr	stage_cost,
		StageEqualityConstraint::Ptr	stage_eq,
		StageInequalityConstraint::Ptr	stage_ineq,
		bool	eval_intermediate_constr,
		int	k
	)

inlineexplicit

Definition at line 139 of file collocation_edges.h.

◆ ~QuadratureCollocationEdge()

virtual corbo::QuadratureCollocationEdge::~QuadratureCollocationEdge ( )

virtualdefault

Member Function Documentation

◆ computeEqualityValues()

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

inlineoverridevirtual

Implements corbo::MixedEdge<>.

Definition at line 228 of file collocation_edges.h.

◆ computeInequalityValues()

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

inlineoverridevirtual

Implements corbo::MixedEdge<>.

Definition at line 249 of file collocation_edges.h.

◆ computeObjectiveValues()

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

inlineoverridevirtual

Implements corbo::MixedEdge<>.

Definition at line 226 of file collocation_edges.h.

◆ configureIntegrand()

void corbo::QuadratureCollocationEdge::configureIntegrand ( )

inlineprotected

Definition at line 321 of file collocation_edges.h.

◆ finalize()

void corbo::QuadratureCollocationEdge::finalize ( )

inline

Definition at line 156 of file collocation_edges.h.

◆ getEqualityDimension()

int corbo::QuadratureCollocationEdge::getEqualityDimension ( ) const

inlineoverridevirtual

Implements corbo::MixedEdge<>.

Definition at line 199 of file collocation_edges.h.

◆ getInequalityDimension()

int corbo::QuadratureCollocationEdge::getInequalityDimension ( ) const

inlineoverridevirtual

Implements corbo::MixedEdge<>.

Definition at line 200 of file collocation_edges.h.

◆ getObjectiveDimension()

int corbo::QuadratureCollocationEdge::getObjectiveDimension ( ) const

inlineoverridevirtual

Implements corbo::MixedEdge<>.

Definition at line 197 of file collocation_edges.h.

◆ isEqualityLinear()

bool corbo::QuadratureCollocationEdge::isEqualityLinear ( ) const

inlineoverridevirtual

Reimplemented from corbo::BaseMixedEdge.

Definition at line 204 of file collocation_edges.h.

◆ isInequalityLinear()

bool corbo::QuadratureCollocationEdge::isInequalityLinear ( ) const

inlineoverridevirtual

Reimplemented from corbo::BaseMixedEdge.

Definition at line 205 of file collocation_edges.h.

◆ isObjectiveLeastSquaresForm()

bool corbo::QuadratureCollocationEdge::isObjectiveLeastSquaresForm ( ) const

inlineoverridevirtual

Implements corbo::BaseMixedEdge.

Definition at line 209 of file collocation_edges.h.

◆ isObjectiveLinear()

bool corbo::QuadratureCollocationEdge::isObjectiveLinear ( ) const

inlineoverridevirtual

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

Reimplemented from corbo::BaseMixedEdge.

Definition at line 203 of file collocation_edges.h.

◆ precompute()

void corbo::QuadratureCollocationEdge::precompute ( )

inlineoverridevirtual

Implements corbo::MixedEdge<>.

Definition at line 211 of file collocation_edges.h.

Member Data Documentation

◆ _collocation

QuadratureCollocationInterface::Ptr corbo::QuadratureCollocationEdge::_collocation

private

Definition at line 352 of file collocation_edges.h.

◆ _dim_dyn

int corbo::QuadratureCollocationEdge::_dim_dyn = 0

private

Definition at line 363 of file collocation_edges.h.

◆ _dim_eq

int corbo::QuadratureCollocationEdge::_dim_eq = 0

private

Definition at line 359 of file collocation_edges.h.

◆ _dim_ineq

int corbo::QuadratureCollocationEdge::_dim_ineq = 0

private

Definition at line 361 of file collocation_edges.h.

◆ _dim_int_eq

int corbo::QuadratureCollocationEdge::_dim_int_eq = 0

private

Definition at line 360 of file collocation_edges.h.

◆ _dim_int_ineq

int corbo::QuadratureCollocationEdge::_dim_int_ineq = 0

private

Definition at line 362 of file collocation_edges.h.

◆ _dim_lb_x

int corbo::QuadratureCollocationEdge::_dim_lb_x = 0

private

Definition at line 368 of file collocation_edges.h.

◆ _dim_nonint_eq

int corbo::QuadratureCollocationEdge::_dim_nonint_eq = 0

private

Definition at line 365 of file collocation_edges.h.

◆ _dim_nonint_ineq

int corbo::QuadratureCollocationEdge::_dim_nonint_ineq = 0

private

Definition at line 366 of file collocation_edges.h.

◆ _dim_obj

int corbo::QuadratureCollocationEdge::_dim_obj = 1

private

Definition at line 358 of file collocation_edges.h.

◆ _dim_ub_x

int corbo::QuadratureCollocationEdge::_dim_ub_x = 0

private

Definition at line 369 of file collocation_edges.h.

◆ _dt

const ScalarVertex* corbo::QuadratureCollocationEdge::_dt = nullptr

private

Definition at line 388 of file collocation_edges.h.

◆ _dynamics

SystemDynamicsInterface::Ptr corbo::QuadratureCollocationEdge::_dynamics

private

Definition at line 351 of file collocation_edges.h.

◆ _eval_intermediate_constr

bool corbo::QuadratureCollocationEdge::_eval_intermediate_constr = false

private

Definition at line 373 of file collocation_edges.h.

◆ _integrand

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

private

Definition at line 380 of file collocation_edges.h.

◆ _k

int corbo::QuadratureCollocationEdge::_k = 0

private

Definition at line 371 of file collocation_edges.h.

◆ _num_intermediate_u

int corbo::QuadratureCollocationEdge::_num_intermediate_u

private

Definition at line 376 of file collocation_edges.h.

◆ _num_intermediate_x

int corbo::QuadratureCollocationEdge::_num_intermediate_x

private

Definition at line 375 of file collocation_edges.h.

◆ _quadrature_values

Eigen::VectorXd corbo::QuadratureCollocationEdge::_quadrature_values

private

Definition at line 378 of file collocation_edges.h.

◆ _stage_cost

StageCost::Ptr corbo::QuadratureCollocationEdge::_stage_cost

private

Definition at line 354 of file collocation_edges.h.

◆ _stage_eq

StageEqualityConstraint::Ptr corbo::QuadratureCollocationEdge::_stage_eq

private

Definition at line 355 of file collocation_edges.h.

◆ _stage_ineq

StageInequalityConstraint::Ptr corbo::QuadratureCollocationEdge::_stage_ineq

private

Definition at line 356 of file collocation_edges.h.

◆ _u1_points

std::vector<const Eigen::VectorXd*> corbo::QuadratureCollocationEdge::_u1_points

private

Definition at line 384 of file collocation_edges.h.

◆ _u2

const Eigen::VectorXd* corbo::QuadratureCollocationEdge::_u2 = nullptr

private

Definition at line 386 of file collocation_edges.h.

◆ _x1

const VectorVertex* corbo::QuadratureCollocationEdge::_x1 = nullptr

private

Definition at line 382 of file collocation_edges.h.

◆ _x1_points

std::vector<const Eigen::VectorXd*> corbo::QuadratureCollocationEdge::_x1_points

private

Definition at line 383 of file collocation_edges.h.

◆ _x2

const Eigen::VectorXd* corbo::QuadratureCollocationEdge::_x2 = nullptr

private

Definition at line 385 of file collocation_edges.h.

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

collocation_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

◆ QuadratureCollocationEdge()

◆ ~QuadratureCollocationEdge()

Member Function Documentation

◆ computeEqualityValues()

◆ computeInequalityValues()

◆ computeObjectiveValues()

◆ configureIntegrand()

◆ finalize()

◆ getEqualityDimension()

◆ getInequalityDimension()

◆ getObjectiveDimension()

◆ isEqualityLinear()

◆ isInequalityLinear()

◆ isObjectiveLeastSquaresForm()

◆ isObjectiveLinear()

◆ precompute()

Member Data Documentation

◆ _collocation

◆ _dim_dyn

◆ _dim_eq

◆ _dim_ineq

◆ _dim_int_eq

◆ _dim_int_ineq

◆ _dim_lb_x

◆ _dim_nonint_eq

◆ _dim_nonint_ineq

◆ _dim_obj

◆ _dim_ub_x

◆ _dt

◆ _dynamics

◆ _eval_intermediate_constr

◆ _integrand

◆ _k

◆ _num_intermediate_u

◆ _num_intermediate_x

◆ _quadrature_values

◆ _stage_cost

◆ _stage_eq

◆ _stage_ineq

◆ _u1_points

◆ _u2

◆ _x1

◆ _x1_points

◆ _x2