Public Types | Public Member Functions | Protected Attributes | List of all members
corbo::TerminalEqualityConstraint Class Reference

#include <final_state_constraints.h>

Inheritance diagram for corbo::TerminalEqualityConstraint:
Inheritance graph
[legend]

Public Types

using ConstPtr = std::shared_ptr< const TerminalEqualityConstraint >
 
using Ptr = std::shared_ptr< TerminalEqualityConstraint >
 
- Public Types inherited from corbo::FinalStageConstraint
using ConstPtr = std::shared_ptr< const FinalStageConstraint >
 
using Ptr = std::shared_ptr< FinalStageConstraint >
 
- Public Types inherited from corbo::StageFunction
using ConstPtr = std::shared_ptr< const StageFunction >
 
using Ptr = std::shared_ptr< StageFunction >
 

Public Member Functions

bool checkParameters (int state_dim, int control_dim, FinalStageCost::ConstPtr final_stage_cost, std::stringstream *issues) const override
 
void computeNonIntegralStateTerm (int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, Eigen::Ref< Eigen::VectorXd > cost) const override
 
FinalStageConstraint::Ptr getInstance () const override
 Return a newly created shared instance of the implemented class. More...
 
int getNonIntegralStateTermDimension (int k) const override
 
const Eigen::VectorXd & getXRef () const
 
bool isEqualityConstraint () const override
 
void setXRef (const Eigen::Ref< const Eigen::VectorXd > &xref)
 
 TerminalEqualityConstraint ()=default
 
 TerminalEqualityConstraint (const Eigen::Ref< const Eigen::VectorXd > &xref)
 
bool update (int n, double t, ReferenceTrajectoryInterface &xref, ReferenceTrajectoryInterface &uref, ReferenceTrajectoryInterface *sref, bool single_dt, const Eigen::VectorXd &x0, FinalStageCost::ConstPtr final_stage_cost, StagePreprocessor::Ptr stage_preprocessor, const std::vector< double > &dts, const DiscretizationGridInterface *) override
 
- Public Member Functions inherited from corbo::FinalStageConstraint
bool hasIntegralTerms (int k) const final
 
bool hasNonIntegralTerms (int k) const final
 
bool isInequalityConstraint () const
 
bool update (int n, double t, ReferenceTrajectoryInterface &xref, ReferenceTrajectoryInterface &uref, ReferenceTrajectoryInterface *sref, bool single_dt, const Eigen::VectorXd &x0, StagePreprocessor::Ptr stage_preprocessor, const std::vector< double > &dts, const DiscretizationGridInterface *grid) final
 
- Public Member Functions inherited from corbo::StageFunction
virtual bool checkParameters (int state_dim, int control_dim, std::stringstream *issues) const
 
virtual void computeConcatenatedNonIntegralStateControlTerms (int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, const Eigen::Ref< const Eigen::VectorXd > &u_k, double dt_k, Eigen::Ref< Eigen::VectorXd > cost, bool lsq_mode=false) const
 
virtual void computeConcatenatedNonIntegralStateTerms (int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, const Eigen::Ref< const Eigen::VectorXd > &u_k, double dt_k, Eigen::Ref< Eigen::VectorXd > cost, bool lsq_mode=false) const
 
virtual void computeNonIntegralStateDtTerm (int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, double dt_k, Eigen::Ref< Eigen::VectorXd > cost) const
 computeNonIntegralStateDtTerm: warning: currently only supported for full discretization More...
 
virtual int getConcatenatedNonIntegralStateControlTermDimension (int k, bool lsq_mode=false) const
 
virtual int getConcatenatedNonIntegralStateTermDimension (int k, bool lsq_mode=false) const
 
virtual int getNonIntegralStateDtTermDimension (int k) const
 
virtual bool isLinearNonIntegralControlTerm (int k) const
 
virtual bool isLinearNonIntegralDtTerm (int k) const
 
virtual bool isLinearNonIntegralStateTerm (int k) const
 
virtual bool isLsqFormNonIntegralControlTerm (int k) const
 
virtual bool isLsqFormNonIntegralDtTerm (int k) const
 
virtual bool isLsqFormNonIntegralStateTerm (int k) const
 
virtual ~StageFunction ()=default
 Default destructor. More...
 

Protected Attributes

Eigen::VectorXd _xref
 

Detailed Description

Definition at line 130 of file final_state_constraints.h.

Member Typedef Documentation

◆ ConstPtr

Definition at line 134 of file final_state_constraints.h.

◆ Ptr

Definition at line 133 of file final_state_constraints.h.

Constructor & Destructor Documentation

◆ TerminalEqualityConstraint() [1/2]

corbo::TerminalEqualityConstraint::TerminalEqualityConstraint ( )
default

◆ TerminalEqualityConstraint() [2/2]

corbo::TerminalEqualityConstraint::TerminalEqualityConstraint ( const Eigen::Ref< const Eigen::VectorXd > &  xref)
inline

Definition at line 138 of file final_state_constraints.h.

Member Function Documentation

◆ checkParameters()

bool corbo::TerminalEqualityConstraint::checkParameters ( int  state_dim,
int  control_dim,
FinalStageCost::ConstPtr  final_stage_cost,
std::stringstream *  issues 
) const
inlineoverridevirtual

Reimplemented from corbo::FinalStageConstraint.

Reimplemented in corbo::TerminalPartialEqualityConstraint.

Definition at line 163 of file final_state_constraints.h.

◆ computeNonIntegralStateTerm()

void corbo::TerminalEqualityConstraint::computeNonIntegralStateTerm ( int  k,
const Eigen::Ref< const Eigen::VectorXd > &  x_k,
Eigen::Ref< Eigen::VectorXd >  cost 
) const
inlineoverridevirtual

◆ getInstance()

FinalStageConstraint::Ptr corbo::TerminalEqualityConstraint::getInstance ( ) const
inlineoverridevirtual

Return a newly created shared instance of the implemented class.

Implements corbo::FinalStageConstraint.

Reimplemented in corbo::TerminalPartialEqualityConstraint.

Definition at line 140 of file final_state_constraints.h.

◆ getNonIntegralStateTermDimension()

int corbo::TerminalEqualityConstraint::getNonIntegralStateTermDimension ( int  k) const
inlineoverridevirtual

◆ getXRef()

const Eigen::VectorXd& corbo::TerminalEqualityConstraint::getXRef ( ) const
inline

Definition at line 147 of file final_state_constraints.h.

◆ isEqualityConstraint()

bool corbo::TerminalEqualityConstraint::isEqualityConstraint ( ) const
inlineoverridevirtual

◆ setXRef()

void corbo::TerminalEqualityConstraint::setXRef ( const Eigen::Ref< const Eigen::VectorXd > &  xref)
inline

Definition at line 146 of file final_state_constraints.h.

◆ update()

bool corbo::TerminalEqualityConstraint::update ( int  n,
double  t,
ReferenceTrajectoryInterface xref,
ReferenceTrajectoryInterface uref,
ReferenceTrajectoryInterface sref,
bool  single_dt,
const Eigen::VectorXd &  x0,
FinalStageCost::ConstPtr  final_stage_cost,
StagePreprocessor::Ptr  stage_preprocessor,
const std::vector< double > &  dts,
const DiscretizationGridInterface  
)
inlineoverridevirtual

Reimplemented from corbo::FinalStageConstraint.

Reimplemented in corbo::TerminalPartialEqualityConstraint.

Definition at line 156 of file final_state_constraints.h.

Member Data Documentation

◆ _xref

Eigen::VectorXd corbo::TerminalEqualityConstraint::_xref
protected

Definition at line 194 of file final_state_constraints.h.


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


control_box_rst
Author(s): Christoph Rösmann
autogenerated on Mon Feb 28 2022 22:08:03