multiple_shooting_grid.h

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/*********************************************************************
 *
 *  Software License Agreement
 *
 *  Copyright (c) 2020,
 *  TU Dortmund - Institute of Control Theory and Systems Engineering.
 *  All rights reserved.
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 *  This program is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
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 *  GNU General Public License for more details.
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 *  Authors: Christoph Rösmann
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#ifndef SRC_OPTIMAL_CONTROL_INCLUDE_CORBO_OPTIMAL_CONTROL_STRUCTURED_OCP_DISCRETIZATION_GRIDS_MULTIPLE_SHOOTING_GRID_H_
#define SRC_OPTIMAL_CONTROL_INCLUDE_CORBO_OPTIMAL_CONTROL_STRUCTURED_OCP_DISCRETIZATION_GRIDS_MULTIPLE_SHOOTING_GRID_H_

#include <corbo-optimal-control/structured_ocp/discretization_grids/shooting_grid_base.h>

#include <memory>

namespace corbo {

class MultipleShootingGrid : public ShootingGridBase
{
 public:
    using Ptr  = std::shared_ptr<MultipleShootingGrid>;
    using UPtr = std::unique_ptr<MultipleShootingGrid>;

    MultipleShootingGrid()          = default;
    virtual ~MultipleShootingGrid() = default;

    DiscretizationGridInterface::Ptr getInstance() const override { return std::make_shared<MultipleShootingGrid>(); }

    static Factory<DiscretizationGridInterface>& getFactory() { return Factory<DiscretizationGridInterface>::instance(); }

#ifdef MESSAGE_SUPPORT
    void fromMessage(const messages::MultipleShootingGrid& message, std::stringstream* issues);
    void toMessage(messages::MultipleShootingGrid& message) const;

    void fromMessage(const messages::DiscretizationGrid& message, std::stringstream* issues) override
    {
        fromMessage(message.multiple_shooting_grid(), issues);
    }
    void toMessage(messages::DiscretizationGrid& message) const override { toMessage(*message.mutable_multiple_shooting_grid()); }
#endif

 protected:
    void createEdges(NlpFunctions& nlp_fun, OptimizationEdgeSet& edges, SystemDynamicsInterface::Ptr dynamics) override;
    void getStageFunctionEdgesIntermediateControlDtMultipleShooting(int k, VectorVertex& uk, ScalarVertex& dt, VectorVertex& u_prev,
                                                                    ScalarVertex& dt_prev, const StageFunction& stage_fun,
                                                                    std::vector<BaseEdge::Ptr>& edges);

    bool isDtFixedIntended() const override { return true; }
};

FACTORY_REGISTER_DISCRETIZATION_GRID(MultipleShootingGrid)

}  // namespace corbo

#endif  // SRC_OPTIMAL_CONTROL_INCLUDE_CORBO_OPTIMAL_CONTROL_STRUCTURED_OCP_DISCRETIZATION_GRIDS_MULTIPLE_SHOOTING_GRID_H_