#include <trapezoidal_collocation_edges.h>

Inheritance diagram for corbo::TrapezoidalCollocationIntegralEqualityDynamicsEdge:

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

using	UPtr = std::unique_ptr< TrapezoidalCollocationIntegralEqualityDynamicsEdge >

Public Types inherited from corbo::Edge< VectorVertex, VectorVertex, VectorVertex, VectorVertex, ScalarVertex >
using	ConstPtr = std::shared_ptr< const Edge >

using	Ptr = std::shared_ptr< Edge >

using	UPtr = std::unique_ptr< Edge >

using	VertexContainer = std::array< VertexInterface *, numVerticesCompileTime >
	Typedef to represent the vertex container. More...

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

using	UPtr = std::unique_ptr< BaseEdge >

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

using	UPtr = std::unique_ptr< EdgeInterface >

Public Member Functions
void	computeValues (Eigen::Ref< Eigen::VectorXd > values) override
	Compute function values. More...

int	getDimension () const override
	Get dimension of the edge (dimension of the cost-function/constraint value vector) More...

bool	isLeastSquaresForm () const override
	Defines if the edge is formulated as Least-Squares form. More...

bool	isLinear () const override
	Return true if the edge is linear (and hence its Hessian is always zero) More...

	TrapezoidalCollocationIntegralEqualityDynamicsEdge (SystemDynamicsInterface::Ptr dynamics, VectorVertex &x1, VectorVertex &u1, VectorVertex &u2, VectorVertex &x2, ScalarVertex &dt, StageEqualityConstraint::Ptr stage_eq, int k)

virtual	~TrapezoidalCollocationIntegralEqualityDynamicsEdge ()=default

Public Member Functions inherited from corbo::Edge< VectorVertex, VectorVertex, VectorVertex, VectorVertex, ScalarVertex >
	Edge ()=delete

	Edge (VerticesT &... args)
	Construct edge by providing connected vertices. More...

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...

bool	providesJacobian () const override
	Return true if a custom Jacobian is provided (e.g. computeJacobian() is overwritten) More...

int	verticesDimension () const override
	Return the combined dimension of all attached vertices (excluding fixed vertex components) More...

Public Member Functions inherited from corbo::BaseEdge
virtual void	computeHessian (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	computeHessianInc (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)
	Compute edge block Hessian for a given vertex pair. More...

virtual void	computeHessianInc (int vtx_idx_i, int vtx_idx_j, Eigen::Ref< Eigen::MatrixXd > block_hessian_ij, const double *multipliers=nullptr, double weight=1.0)

virtual void	computeJacobian (int vtx_idx, Eigen::Ref< Eigen::MatrixXd > block_jacobian, const double *multipliers=nullptr)
	Compute edge block jacobian for a given vertex. More...

int	getEdgeIdx () const
	Retrieve current edge index (warning, this value is determined within the related HyperGraph) More...

virtual bool	providesHessian () const
	Return true if a custom Hessian is provided (e.g. computeHessian() is overwritten) More...

void	reserveCacheMemory (int num_value_vectors, int num_jacobians)

void	reserveValuesCacheMemory (int num_value_vectors)

void	reserveJacobiansCacheMemory (int num_jacobians)

void	computeValuesCached ()
	Call computeValues() and store result to previously allocated internal cache (call allocateInteralValuesCache() first once) More...

void	computeSquaredNormOfValuesCached ()
	compute the specialied squared-norm method for computing the values (note only the first element in the values cache is used) More...

EdgeCache &	getCache ()
	Retreive values computed previously via computeValuesCached() More...

const EdgeCache &	getCache () 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...

Private Attributes
int	_dim_dyn = 0

int	_dim_eq = 0

int	_dim_int_eq = 0

SystemDynamicsInterface::Ptr	_dynamics

Eigen::VectorXd	_eq1

Eigen::VectorXd	_eq2

Eigen::VectorXd	_f1

Eigen::VectorXd	_f2

int	_k = 0

StageEqualityConstraint::Ptr	_stage_eq

Additional Inherited Members
Static Public Attributes inherited from corbo::Edge< VectorVertex, VectorVertex, VectorVertex, VectorVertex, ScalarVertex >
static constexpr const int	numVerticesCompileTime
	Return number of vertices at compile-time. More...

Protected Attributes inherited from corbo::Edge< VectorVertex, VectorVertex, VectorVertex, VectorVertex, ScalarVertex >
const VertexContainer	_vertices
	Vertex container. More...

Protected Attributes inherited from corbo::BaseEdge
EdgeCache	_cache

int	_edge_idx = 0

Detailed Description

Definition at line 148 of file trapezoidal_collocation_edges.h.

Member Typedef Documentation

◆ Ptr

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

Definition at line 151 of file trapezoidal_collocation_edges.h.

◆ UPtr

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

Definition at line 152 of file trapezoidal_collocation_edges.h.

Constructor & Destructor Documentation

◆ TrapezoidalCollocationIntegralEqualityDynamicsEdge()

corbo::TrapezoidalCollocationIntegralEqualityDynamicsEdge::TrapezoidalCollocationIntegralEqualityDynamicsEdge	(	SystemDynamicsInterface::Ptr	dynamics,
		VectorVertex &	x1,
		VectorVertex &	u1,
		VectorVertex &	u2,
		VectorVertex &	x2,
		ScalarVertex &	dt,
		StageEqualityConstraint::Ptr	stage_eq,
		int	k
	)

inlineexplicit

Definition at line 154 of file trapezoidal_collocation_edges.h.

◆ ~TrapezoidalCollocationIntegralEqualityDynamicsEdge()

virtual corbo::TrapezoidalCollocationIntegralEqualityDynamicsEdge::~TrapezoidalCollocationIntegralEqualityDynamicsEdge ( )

virtualdefault

Member Function Documentation

◆ computeValues()

void corbo::TrapezoidalCollocationIntegralEqualityDynamicsEdge::computeValues ( Eigen::Ref< Eigen::VectorXd > values )

inlineoverridevirtual

Compute function values.

Here, the actual cost/constraint function values are computed:

objective in non-least-squares form: e(x) (hereby, the actual cost is f(x) = e(x)^T e(x))
objective in least-squares form: f(x)
equality constraints: ceq(x) (in case constraints are satisfied: ceq(x) = 0)
inequality constraints: c(x) (in case constraints are satisfied: c(x) < 0)
Parameters

[in] values values should be stored here according to getDimension().

Implements corbo::Edge< VectorVertex, VectorVertex, VectorVertex, VectorVertex, ScalarVertex >.

Definition at line 184 of file trapezoidal_collocation_edges.h.

◆ getDimension()

int corbo::TrapezoidalCollocationIntegralEqualityDynamicsEdge::getDimension ( ) const

inlineoverridevirtual

Get dimension of the edge (dimension of the cost-function/constraint value vector)

Implements corbo::Edge< VectorVertex, VectorVertex, VectorVertex, VectorVertex, ScalarVertex >.

Definition at line 176 of file trapezoidal_collocation_edges.h.

◆ isLeastSquaresForm()

bool corbo::TrapezoidalCollocationIntegralEqualityDynamicsEdge::isLeastSquaresForm ( ) const

inlineoverridevirtual

Defines if the edge is formulated as Least-Squares form.

Least-squares cost terms are defined as $ f(x) = e(x)^T e(x) $ and the function values and Jacobian are computed for $ e(x) $ rather than for $ f(x) $ . Specialiezed least-squares solvers require the optimization problem to be defined in this particular form. Other solvers can automatically compute the square of least-squares edges if required. However, the other way round is more restrictive: general solvers might not cope with non-least-squares forms.