#include <shooting_grid_base.h>

Inheritance diagram for corbo::ShootingGridBase:

[legend]

Classes
struct	ShootingInterval

Public Types
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
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

DiscretizationGridInterface::Ptr	getInstance () const override=0
	Return a newly created shared instance of the implemented class. More...

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...

Protected Member Functions
virtual bool	adaptGrid (bool new_run, NlpFunctions &nlp_fun)

bool	checkAndInitializeXfFixedFlags (int dim_x)

void	computeActiveVertices () override

virtual void	createEdges (NlpFunctions &nlp_fun, OptimizationEdgeSet &edges, SystemDynamicsInterface::Ptr dynamics)=0

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	isDtFixedIntended () const

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)

Protected Attributes
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

Additional Inherited Members
Static Public Member Functions inherited from corbo::DiscretizationGridInterface
static Factory< DiscretizationGridInterface > &	getFactory ()
	Get access to the accociated factory. More...

Detailed Description

Definition at line 39 of file shooting_grid_base.h.

Member Typedef Documentation

◆ Ptr

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

Definition at line 42 of file shooting_grid_base.h.

◆ UPtr

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

Definition at line 43 of file shooting_grid_base.h.

Constructor & Destructor Documentation

◆ ShootingGridBase()

corbo::ShootingGridBase::ShootingGridBase ( )

default

◆ ~ShootingGridBase()

virtual corbo::ShootingGridBase::~ShootingGridBase ( )

virtualdefault

Member Function Documentation

◆ adaptGrid()

virtual bool corbo::ShootingGridBase::adaptGrid	(	bool	new_run,
		NlpFunctions &	nlp_fun
	)

inlineprotectedvirtual

Reimplemented in corbo::MultipleShootingVariableGrid.

Definition at line 129 of file shooting_grid_base.h.

◆ checkAndInitializeXfFixedFlags()

bool corbo::ShootingGridBase::checkAndInitializeXfFixedFlags ( int dim_x )

protected

Definition at line 426 of file shooting_grid_base.cpp.

◆ clear()

void corbo::ShootingGridBase::clear ( )

overridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 556 of file shooting_grid_base.cpp.

◆ computeActiveVertices()

void corbo::ShootingGridBase::computeActiveVertices ( )

overrideprotectedvirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 583 of file shooting_grid_base.cpp.

◆ createEdges()

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

protectedpure virtual

Implemented in corbo::MultipleShootingGrid.

◆ findNearestShootingInterval()

int corbo::ShootingGridBase::findNearestShootingInterval ( const Eigen::VectorXd & x0 )

protected

Definition at line 356 of file shooting_grid_base.cpp.

◆ getActiveVertices()

std::vector<VertexInterface*>& corbo::ShootingGridBase::getActiveVertices ( )

inlineoverridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 115 of file shooting_grid_base.h.

◆ getDt()

double corbo::ShootingGridBase::getDt ( ) const

inline

Definition at line 101 of file shooting_grid_base.h.

◆ getDtRef()

double corbo::ShootingGridBase::getDtRef ( ) const

inline

Definition at line 100 of file shooting_grid_base.h.

◆ getFinalTime()

double corbo::ShootingGridBase::getFinalTime ( ) const

inlineoverridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 64 of file shooting_grid_base.h.

◆ getFirstControlInput()

bool corbo::ShootingGridBase::getFirstControlInput ( Eigen::VectorXd & u0 )

overridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 393 of file shooting_grid_base.cpp.

◆ getFirstDt()

double corbo::ShootingGridBase::getFirstDt ( ) const

inlineoverridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 63 of file shooting_grid_base.h.

◆ getInitialDt()

double corbo::ShootingGridBase::getInitialDt ( ) const

inlineoverridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 87 of file shooting_grid_base.h.

◆ getInitialN()

int corbo::ShootingGridBase::getInitialN ( ) const

inlineoverridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 88 of file shooting_grid_base.h.

◆ getInstance()

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

overridepure virtual

Return a newly created shared instance of the implemented class.

Implements corbo::DiscretizationGridInterface.

Implemented in corbo::MultipleShootingVariableGrid, and corbo::MultipleShootingGrid.

◆ getN()

int corbo::ShootingGridBase::getN ( ) const

overridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 401 of file shooting_grid_base.cpp.

◆ getNRef()

int corbo::ShootingGridBase::getNRef ( ) const

inline

Definition at line 90 of file shooting_grid_base.h.

◆ getStateAndControlTimeSeries()

void corbo::ShootingGridBase::getStateAndControlTimeSeries	(	TimeSeries::Ptr	x_sequence,
		TimeSeries::Ptr	u_sequence,
		double	t_max = `CORBO_INF_DBL`
	)		const

overridevirtual

Return state and control trajectory as time series object (shared instance)

Implements corbo::DiscretizationGridInterface.

Definition at line 600 of file shooting_grid_base.cpp.

◆ getVertices()

void corbo::ShootingGridBase::getVertices ( std::vector< VertexInterface *> & vertices )

overridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 567 of file shooting_grid_base.cpp.

◆ hasConstantControls()

bool corbo::ShootingGridBase::hasConstantControls ( ) const

inlineoverridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 66 of file shooting_grid_base.h.

◆ hasSingleDt()

bool corbo::ShootingGridBase::hasSingleDt ( ) const

inlineoverridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 67 of file shooting_grid_base.h.

◆ initializeSequences() [1/2]

void corbo::ShootingGridBase::initializeSequences	(	const Eigen::VectorXd &	x0,
		const Eigen::VectorXd &	xf,
		ReferenceTrajectoryInterface &	uref,
		NlpFunctions &	nlp_fun
	)

protected

Definition at line 141 of file shooting_grid_base.cpp.

◆ initializeSequences() [2/2]

void corbo::ShootingGridBase::initializeSequences	(	const Eigen::VectorXd &	x0,
		const Eigen::VectorXd &	xf,
		ReferenceTrajectoryInterface &	xref,
		ReferenceTrajectoryInterface &	uref,
		NlpFunctions &	nlp_fun
	)

protected

Definition at line 216 of file shooting_grid_base.cpp.

◆ isDtFixedIntended()

virtual bool corbo::ShootingGridBase::isDtFixedIntended ( ) const

inlineprotectedvirtual

Reimplemented in corbo::MultipleShootingVariableGrid, and corbo::MultipleShootingGrid.

Definition at line 141 of file shooting_grid_base.h.

◆ isEmpty()

bool corbo::ShootingGridBase::isEmpty ( ) const

inlineoverridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 78 of file shooting_grid_base.h.

◆ isGridAdaptActive()

virtual bool corbo::ShootingGridBase::isGridAdaptActive ( ) const

inlineprotectedvirtual

Reimplemented in corbo::MultipleShootingVariableGrid.

Definition at line 143 of file shooting_grid_base.h.

◆ isMovingHorizonWarmStartActive()

virtual bool corbo::ShootingGridBase::isMovingHorizonWarmStartActive ( ) const

inlineprotectedvirtual

Reimplemented in corbo::MultipleShootingVariableGrid.

Definition at line 142 of file shooting_grid_base.h.

◆ isTimeVariableGrid()

bool corbo::ShootingGridBase::isTimeVariableGrid ( ) const

inlineoverridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 68 of file shooting_grid_base.h.

◆ isUniformGrid()

bool corbo::ShootingGridBase::isUniformGrid ( ) const

inlineoverridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 69 of file shooting_grid_base.h.

◆ isValid()

bool corbo::ShootingGridBase::isValid ( ) const

inline

Definition at line 79 of file shooting_grid_base.h.

◆ isXfShootingNode()

virtual bool corbo::ShootingGridBase::isXfShootingNode ( ) const

inlineprotectedvirtual

Definition at line 148 of file shooting_grid_base.h.

◆ providesStateTrajectory()

bool corbo::ShootingGridBase::providesStateTrajectory ( ) const

inlineoverridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 70 of file shooting_grid_base.h.

◆ resampleTrajectory()

void corbo::ShootingGridBase::resampleTrajectory	(	int	n_new,
		NlpFunctions &	nlp_fun
	)

protected

Todo:: (roesmann) More efficient strategy without copying containers at all?

Definition at line 473 of file shooting_grid_base.cpp.

◆ setConsiderIntermediateStateConstraints()

void corbo::ShootingGridBase::setConsiderIntermediateStateConstraints ( bool active )

inline

Definition at line 104 of file shooting_grid_base.h.

◆ setDtRef()

void corbo::ShootingGridBase::setDtRef ( double dt )

inline

Definition at line 99 of file shooting_grid_base.h.

◆ setInitialDt()

void corbo::ShootingGridBase::setInitialDt ( double dt )

inlineoverridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 86 of file shooting_grid_base.h.

◆ setN()

void corbo::ShootingGridBase::setN	(	int	n,
		bool	try_resample = `true`
	)

inlineoverridevirtual

Return dimension of the control input dimension in the grid.

Implements corbo::DiscretizationGridInterface.

Definition at line 81 of file shooting_grid_base.h.

◆ setNRef()

void corbo::ShootingGridBase::setNRef ( int n )

Definition at line 412 of file shooting_grid_base.cpp.

◆ setNumControlsPerShootingInterval() [1/2]

void corbo::ShootingGridBase::setNumControlsPerShootingInterval ( int num_u_per_interv )

inline

Definition at line 92 of file shooting_grid_base.h.

◆ setNumControlsPerShootingInterval() [2/2]

void corbo::ShootingGridBase::setNumControlsPerShootingInterval	(	int	num_u_per_interv,
		bool	intermediate_x_constraints
	)

inline

Definition at line 93 of file shooting_grid_base.h.

◆ setNumericalIntegrator()

void corbo::ShootingGridBase::setNumericalIntegrator ( NumericalIntegratorExplicitInterface::Ptr integrator )

inline

Definition at line 106 of file shooting_grid_base.h.

◆ setWarmStart()

void corbo::ShootingGridBase::setWarmStart ( bool active )

inline

Definition at line 102 of file shooting_grid_base.h.

◆ setXfFixed()

void corbo::ShootingGridBase::setXfFixed ( const Eigen::Matrix< bool, -1, 1 > & xf_fixed )

inline

Definition at line 108 of file shooting_grid_base.h.

◆ update()

GridUpdateResult corbo::ShootingGridBase::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`
	)

overridevirtual

Implements corbo::DiscretizationGridInterface.

Definition at line 39 of file shooting_grid_base.cpp.

◆ updateBounds()

void corbo::ShootingGridBase::updateBounds ( const NlpFunctions & nlp_fun )

protected

Definition at line 441 of file shooting_grid_base.cpp.

◆ warmStartShifting()

void corbo::ShootingGridBase::warmStartShifting ( const Eigen::VectorXd & x0 )

protected

Definition at line 292 of file shooting_grid_base.cpp.

Member Data Documentation

◆ _active_vertices

std::vector<VertexInterface*> corbo::ShootingGridBase::_active_vertices

protected

Definition at line 155 of file shooting_grid_base.h.

◆ _dt

ScalarVertex corbo::ShootingGridBase::_dt

protected

Definition at line 153 of file shooting_grid_base.h.

◆ _dt_lb

double corbo::ShootingGridBase::_dt_lb = 0

protected

Definition at line 167 of file shooting_grid_base.h.

◆ _dt_ref

double corbo::ShootingGridBase::_dt_ref = 0.1

protected

Definition at line 160 of file shooting_grid_base.h.

◆ _dt_ub

double corbo::ShootingGridBase::_dt_ub = CORBO_INF_DBL

protected

Definition at line 168 of file shooting_grid_base.h.

◆ _first_run

bool corbo::ShootingGridBase::_first_run = true

protected

Definition at line 163 of file shooting_grid_base.h.

◆ _full_discretization

bool corbo::ShootingGridBase::_full_discretization = true

protected

Definition at line 170 of file shooting_grid_base.h.

◆ _integrator

NumericalIntegratorExplicitInterface::Ptr corbo::ShootingGridBase::_integrator

protected

Definition at line 150 of file shooting_grid_base.h.

◆ _intermediate_x_constraints

bool corbo::ShootingGridBase::_intermediate_x_constraints = false

protected

Definition at line 171 of file shooting_grid_base.h.

◆ _intervals

std::vector<ShootingInterval> corbo::ShootingGridBase::_intervals

protected

Definition at line 152 of file shooting_grid_base.h.

◆ _n_adapt

int corbo::ShootingGridBase::_n_adapt = 0

protected

Definition at line 159 of file shooting_grid_base.h.

◆ _n_ref

int corbo::ShootingGridBase::_n_ref = 11

protected

Definition at line 158 of file shooting_grid_base.h.

◆ _num_u_per_interv_ref

int corbo::ShootingGridBase::_num_u_per_interv_ref = 1

protected

Definition at line 157 of file shooting_grid_base.h.

◆ _warm_start

bool corbo::ShootingGridBase::_warm_start = false

protected

Definition at line 162 of file shooting_grid_base.h.

◆ _xf

PartiallyFixedVectorVertex corbo::ShootingGridBase::_xf

protected

Definition at line 154 of file shooting_grid_base.h.

◆ _xf_fixed

Eigen::Matrix<bool, -1, 1> corbo::ShootingGridBase::_xf_fixed

protected

Definition at line 166 of file shooting_grid_base.h.

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

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ ShootingGridBase()

◆ ~ShootingGridBase()

Member Function Documentation

◆ adaptGrid()

◆ checkAndInitializeXfFixedFlags()

◆ clear()

◆ computeActiveVertices()

◆ createEdges()

◆ findNearestShootingInterval()

◆ getActiveVertices()

◆ getDt()

◆ getDtRef()

◆ getFinalTime()

◆ getFirstControlInput()

◆ getFirstDt()

◆ getInitialDt()

◆ getInitialN()

◆ getInstance()

◆ getN()

◆ getNRef()

◆ getStateAndControlTimeSeries()

◆ getVertices()

◆ hasConstantControls()

◆ hasSingleDt()

◆ initializeSequences() [1/2]

◆ initializeSequences() [2/2]

◆ isDtFixedIntended()

◆ isEmpty()

◆ isGridAdaptActive()

◆ isMovingHorizonWarmStartActive()

◆ isTimeVariableGrid()

◆ isUniformGrid()

◆ isValid()

◆ isXfShootingNode()

◆ providesStateTrajectory()

◆ resampleTrajectory()

◆ setConsiderIntermediateStateConstraints()

◆ setDtRef()

◆ setInitialDt()

◆ setN()

◆ setNRef()

◆ setNumControlsPerShootingInterval() [1/2]

◆ setNumControlsPerShootingInterval() [2/2]

◆ setNumericalIntegrator()

◆ setWarmStart()

◆ setXfFixed()

◆ update()

◆ updateBounds()

◆ warmStartShifting()

Member Data Documentation

◆ _active_vertices

◆ _dt

◆ _dt_lb

◆ _dt_ref

◆ _dt_ub

◆ _first_run

◆ _full_discretization

◆ _integrator

◆ _intermediate_x_constraints

◆ _intervals

◆ _n_adapt

◆ _n_ref

◆ _num_u_per_interv_ref

◆ _warm_start

◆ _xf

◆ _xf_fixed