Namespaces
	gui

	internals

	property

	threads

	util

Classes
class	AlgebraicRiccatiContinuous
	Methods for dealing with continuous-time algebraic Riccati equations. More...

class	AlgebraicRiccatiDiscrete
	Methods for dealing with discrete-time algebraic Riccati equations. More...

class	ArtsteinsCircle

class	BackwardDiffCollocation
	Collocation via backward differences. More...

class	BaseEdge

class	BaseHyperGraphOptimizationProblem
	Hyper-graph optimization problem formulation. More...

class	BaseMixedEdge

class	BaseQuadraticFinalStateCost

class	BenchmarkTaskIncreasingHorizonOpenLoop
	BenchmarkTaskIncreasingHorizonOpenLoop. More...

class	BenchmarkTaskVaryingInitialState
	BenchmarkTaskVaryingInitialState. More...

class	BinaryVectorScalarVertexEdge

class	BinaryVectorVertexEdge

class	BlindDiscreteTimeReferenceTrajectory
	discrete time reference trajectory in which the precompute step is not aware of the trajectory More...

class	CartPole

class	CentralDifferences
	Finite differences via central differences. More...

class	ClosedLoopControlTask
	Perform closed-loop control task. More...

class	CollocationInterface
	Interface class for collocation based system dynamics evaluation. More...

class	CombinedCompressedCollocationEdge

class	CombinedCompressedCollocationMultipleControlsEdge

class	CombinedUncompressedCollocationEdge

class	CommonSignalTarget
	General signal target to store incoming signals for post-processing. More...

class	CompressedCollocationEdge

class	CompressedCollocationMultipleControlsEdge

class	ConstControlCombinedCompressedCollocationEdge

class	Controllability
	Methods for checking controllability of dynamic systems. More...

class	ControllerInterface
	Interface class for controllers. More...

struct	ControllerStatistics

class	CrankNicolsonDiffCollocation
	Collocation via Crank-Nicolson differences. More...

class	DataExporterInterface
	Interface class for exporting signals. More...

class	DiscreteTimeReferenceTrajectory
	discrete time reference trajectory More...

class	DiscretizationGridInterface
	Generic interface class for discretization grids. More...

class	DisturbanceGaussianNoise

class	DisturbanceInterface

class	DoubleIntegratorDiscreteTime
	System dynamics for a second order integrator (discrete-time) More...

class	DualModeController
	Dual mode controller. More...

class	DuffingOscillator

class	Duration
	Representation of time durations. More...

class	DynamicsEvalInterface
	Interface class for solving and evaluating dynamics. More...

class	Edge
	Templated base edge class that stores an arbitary number of value. More...

class	Edge<>

class	EdgeCache

class	EdgeGenericScalarFun
	Generic edge for functions $\mathbb{R}^n \to \mathbb{R}$ . More...

class	EdgeGenericVectorFun
	Generic edge for functions $\mathbb{R}^n \to \mathbb{R}^D$ . More...

class	EdgeInterface
	Generic interface class for edges. More...

class	EdgeSetInterface
	Abstract class representing a set of edges. More...

class	Environment
	Standard environment for control tasks. More...

class	Factory
	Generic factory object. More...

class	FDCollocationEdge

class	FilterInterface
	Interface class for filters. More...

class	FinalStageConstraint

class	FinalStageCost

class	FiniteDifferencesCollocationInterface
	Interface class for finite difference based collocation. More...

class	FiniteDifferencesGrid

class	FiniteDifferencesGridMoveBlocking

class	FiniteDifferencesInterface
	Interface class for finite difference approaches. More...

class	FiniteDifferencesVariableGrid

class	FirstStateSystemOutput
	Return first state vector component as system output. More...

class	ForwardDiffCollocation
	Collocation via forward differences. More...

class	ForwardDifferences
	Finite differences via forward differences. More...

class	FreeSpaceRocket

class	FullDiscretizationGridBase

class	FullDiscretizationGridMoveBlockingBase

class	FullStateSystemOutput
	Return full state vector as system output. More...

struct	GridUpdateResult

class	HyperGraph
	hyper-graph representation More...

class	HyperGraphOptimizationProblemEdgeBased

class	HyperGraphOptimizationProblemIgnoreStructure

class	HyperGraphOptimizationProblemVertexBased

class	IndexedValuesSetSignal
	Signal containing values indexed by an integer (int to double[] map) More...

class	IndexedValuesSignal
	Signal containing values indexed by a single integer. More...

class	IntegratorAdaptiveStepSize
	Adaptive-Step-Size-Control. More...

class	IntegratorExplicitEuler
	Forward euler (explicit euler) integration. More...

class	IntegratorExplicitRungeKutta2
	2th Order Runge-Kutta Integrator (explicit) More...

class	IntegratorExplicitRungeKutta3
	3th Order Runge-Kutta Integrator (explicit) More...

class	IntegratorExplicitRungeKutta4
	4th Order Runge-Kutta Integrator (explicit) More...

class	IntegratorExplicitRungeKutta5
	5th Order Runge-Kutta Integrator (explicit, slightly modified) More...

class	IntegratorExplicitRungeKutta6
	6th Order Runge-Kutta Integrator (explicit) More...

class	IntegratorExplicitRungeKutta7
	7th Order Runge-Kutta Integrator (explicit) More...

class	IntegratorMultiStageFixedStep
	Multi-stage integration fixed step. More...

class	IntegratorMultiStageScaled
	Multi-stage integration scaled. More...

class	IpoptWrapper

class	L1StabCostEdge

class	L1StabInequalityEdge

class	LastStateSystemOutput
	Return first state vector component as system output. More...

class	LeftSumCostEdge

class	LeftSumEqualityEdge

class	LeftSumInequalityEdge

class	LevenbergMarquardtDense
	Levenberg-Marquardt Solver (Dense matrices version). More...

class	LevenbergMarquardtSparse
	Levenberg-Marquardt Solver (Sparse matrices version). More...

class	LinearStateSpaceModel

class	LinearStateSystemOutput
	Linear system output function. More...

class	LyapunovContinuous
	Methods for dealing with continuous-time Lyapunov equations. More...

class	LyapunovDiscrete
	Methods for dealing with discrete-time lyapunov equations. More...

class	MasslessPendulum

class	Master
	General service client for rpc communication. More...

class	MatrixSetSignal
	Signal containing a set of matrices. More...

class	MatrixSignal
	Signal containing a simple matrix. More...

class	Measurement
	Measurement signal (value vector recorded at a specific time) More...

class	MidpointDiffCollocation
	Collocation via midpoint differences. More...

class	MinimumTime

class	MinimumTimeRegularized

class	MinTimeQuadratic

class	MinTimeQuadraticControls

class	MinTimeQuadraticGainScheduled

class	MinTimeQuadraticStates

class	MixedEdge

class	MixedEdge<>

class	MixedEdgeGenericVectorFun

class	MovingAverageFilter
	Moving Average Filter. More...

class	MovingLeastSquaresFilter
	Moving LeastSquares Filter. More...

class	MovingMedianFilter
	Moving Median Filter. More...

class	MSDynamicsOnlyEdge

class	MSDynamicsOnlyMultiControlsEdge

class	MSDynamicsOnlyMultiControlsMultiDtsEdge

class	MSVariableDynamicsOnlyEdge

class	MultipleShootingEdge

class	MultipleShootingEdgeSingleControl

class	MultipleShootingEdgeSingleControlTimeScaling

class	MultipleShootingGrid

class	MultipleShootingVariableGrid

class	NlpFunctions

class	NlpSolverInterface
	Generic interface for solver implementations. More...

class	NonUniformFiniteDifferencesVariableGrid

class	NonUniformFullDiscretizationGridBase

class	NonUniformMultipleShootingVariableGrid

class	NonUniformShootingGridBase

class	NumericalIntegratorExplicitInterface
	Interface for numerical integrators (explicit and implicit) More...

class	Observability
	Methods for checking observability of dynamic systems. More...

class	ObserverInterface
	Interface class for observers. More...

class	OneStepPredictor
	OneStepPredictor. More...

class	OpenLoopControlTask
	Perform open-loop control task. More...

class	OptimalControlProblemInterface

struct	OptimalControlProblemStatistics

class	OptimizationEdgeSet

class	OptimizationProblemInterface
	Generic interface for optimization problem definitions. More...

class	ParallelIntegratorSystem

class	PartiallyFixedVectorVertex
	Vector based vertex with support for partially fixed components. More...

class	PidController
	PID controller. More...

class	PlantInterface
	Interface class for plants. More...

class	PredictiveController
	Predictive controller. More...

class	QpSolverInterface
	Generic interface for QP solver implementations. More...

class	QuadraticControlCost

class	QuadraticFinalStateCost

class	QuadraticFinalStateCostRiccati

class	QuadraticFormCost

class	QuadraticStateCost

class	QuadratureCollocationDynamicsOnly

class	QuadratureCollocationEdge

class	QuadratureCollocationInterface

class	QuadratureHermiteSimpson
	Hermite-Simpson rule (approximates function as quadratic polynomial between two points) More...

class	QuadratureHermiteSimpsonLinearControl
	Hermite-Simpson rule (approximates function as quadratic polynomial between two points) More...

class	QuadratureRectangleRule
	Rectangle/midpoint rule (approximates function as constant between two points) More...

class	QuadratureTrapezoidalRule
	Trapezoidal rule (approximates function as linear function between two points) More...

class	Range

class	Rate
	Rate objects can be used to run loops at a desired rate. More...

class	ReferenceTrajectoryInterface
	Interface class for reference trajectories. More...

class	ScalarVertex
	Vertex implementation for scalar values. More...

class	SerialIntegratorSystem
	System dynamics for a series of integrators (continuous-time) More...

class	ShootingGridBase

struct	SignalHeader
	Signal header. More...

class	SignalInterface
	Interface class for signals. More...

class	SignalTargetInterface
	Interface class for signal targets. More...

class	SimpleOptimizationProblem
	Simple optimization problem formulation. More...

class	SimpleOptimizationProblemWithCallbacks
	Simple optimization problem formulation (callback based configuration) More...

class	SimplePendulum

class	SimpleStateController
	State feedback controller wigh feedback gain matrix K. More...

class	SimulatedPlant
	Adapter class for plant simulation. More...

class	SimulatedPlantThreaded
	Adapter class for plant simulation (threaded version) More...

class	SineReferenceTrajectory
	Sine reference trajectory. More...

class	SolverIpopt
	Interface to the external interior point solver IPOPT. More...

class	SolverOsqp
	Interface to the external solver OSQP. More...

class	StageCost

class	StageEqualityConstraint

class	StageFunction

class	StageInequalityConstraint

class	StagePreprocessor

class	StaticReference
	Static reference trajectory. More...

class	StepResponseGenerator
	Step Response Generator. More...

class	StructuredOptimalControlProblem

class	SylvesterContinuous
	Methods for dealing with continuous-time sylvester equations. More...

class	SylvesterDiscrete
	Methods for dealing with discrete-time Sylvester equations. More...

class	SystemDynamicsInterface
	Interface class for system dynamic equations. More...

class	SystemOutputInterface
	Interface class for system output functions. More...

class	TaskInterface
	Interface class for tasks. More...

class	TerminalBall

class	TerminalBallInheritFromCost

class	TerminalEqualityConstraint

class	TerminalPartialEqualityConstraint

class	TernaryVectorScalarVertexEdge

class	Time
	Representation of time stamps. More...

class	TimeSeries
	Time Series (trajectory resp. sequence of values w.r.t. time) More...

class	TimeSeriesSequence
	Sequence of time series objects. More...

class	TimeSeriesSequenceSignal
	Signal for a sequence of time series objects. More...

class	TimeSeriesSignal
	Time Series signal (trajectory resp. sequence of values w.r.t. time) More...

class	TimeValueBuffer
	Time Delay Object for Piecewise-Constant Signals. More...

class	ToyExample

class	TrapezoidalCollocationDynamicsOnlyEdge

class	TrapezoidalCollocationIntegralCostEdge

class	TrapezoidalCollocationIntegralEqualityDynamicsEdge

class	TrapezoidalCollocationIntegralEqualityEdge

class	TrapezoidalCollocationIntegralInequalityEdge

class	TrapezoidalIntegralCostEdge

class	TrapezoidalIntegralEqualityDynamicsEdge

class	TrapezoidalIntegralEqualityEdge

class	TrapezoidalIntegralInequalityEdge

class	TsvExporter
	Export Tab-separated values (tsv) file. More...

class	TwoScalarEqualEdge

class	UnaryScalarVertexEdge

class	UnaryVectorVertexEdge

class	UncompressedCollocationEdge

class	VanDerPolOscillator

class	VectorVertex
	Vertex implementation that stores an Eigen::VectorXd (dynamic dimension) More...

class	VertexInterface
	Generic interface class for vertices. More...

class	VertexSet

class	VertexSetInterface
	Abstract class representing a set of vertices. More...

class	YamlExporter
	Export yaml files. More...

class	ZeroReference
	Zero reference trajectory. More...

Typedefs
using	ControllerFactory = Factory< ControllerInterface >

using	DataExporterFactory = Factory< DataExporterInterface >

using	DiscretizationGridFactory = Factory< DiscretizationGridInterface >

using	DisturbanceFactory = Factory< DisturbanceInterface >

using	DynamicsEvalFactory = Factory< DynamicsEvalInterface >

using	FilterFactory = Factory< FilterInterface >

using	FinalStageConstraintFactory = Factory< FinalStageConstraint >

using	FinalStageCostFactory = Factory< FinalStageCost >

using	FiniteDifferencesCollocationFactory = Factory< FiniteDifferencesCollocationInterface >

using	FiniteDifferencesFactory = Factory< FiniteDifferencesInterface >

using	HyperGraphOptimizationProblemFactory = Factory< BaseHyperGraphOptimizationProblem >

using	NlpSolverFactory = Factory< NlpSolverInterface >

using	ObserverFactory = Factory< ObserverInterface >

using	OptimalControlProgramFactory = Factory< OptimalControlProblemInterface >

using	OutputFunctionFactory = Factory< SystemOutputInterface >

using	PlantFactory = Factory< PlantInterface >

using	QpSolverFactory = Factory< QpSolverInterface >

using	ReferenceTrajectoryFactory = Factory< ReferenceTrajectoryInterface >

using	StageCostFactory = Factory< StageCost >

using	StageEqualitiesFactory = Factory< StageEqualityConstraint >

using	StageInequalitiesFactory = Factory< StageInequalityConstraint >

using	StagePreprocessorFactory = Factory< StagePreprocessor >

using	SystemDynamicsFactory = Factory< SystemDynamicsInterface >

using	TaskFactory = Factory< TaskInterface >

Enumerations
enum	SignalType { SignalType::TimeSeries, SignalType::Measurement, SignalType::Values, SignalType::TimeSeriesSequence, SignalType::IndexedValues, SignalType::IndexedValuesSet, SignalType::LabeledValues, SignalType::LabeledValuesSet, SignalType::Matrix, SignalType::MatrixSet }
	Available signal types (must match messages::SignalType enumeration) More...

enum	SolverStatus { SolverStatus::Converged, SolverStatus::EarlyTerminated, SolverStatus::Infeasible, SolverStatus::Error }

enum	TextColorCode { TextColorCode::FG_DEFAULT = 39, TextColorCode::FG_RED = 31, TextColorCode::FG_GREEN = 32, TextColorCode::FG_BLUE = 34, TextColorCode::FG_BLACK = 30, TextColorCode::FG_YELLOW = 33, TextColorCode::FG_MAGENTA = 35, TextColorCode::FG_CYAN = 36, TextColorCode::FG_LIGHT_GRAY = 37, TextColorCode::FG_DARK_GRAY = 90, TextColorCode::FG_LIGHT_RED = 91, TextColorCode::FG_LIGHT_GREEN = 92, TextColorCode::FG_LIGHT_YELLOW = 93, TextColorCode::FG_LIGHT_BLUE = 94, TextColorCode::FG_LIGHT_MAGENTA = 95, TextColorCode::FG_LIGHT_CYAN = 96, TextColorCode::FG_WHITE = 97, TextColorCode::BG_RED = 41, TextColorCode::BG_GREEN = 42, TextColorCode::BG_BLUE = 44, TextColorCode::BG_DEFAULT = 49 }
	Color codes for colored text in consoles/terminals (if supported) More...

Functions
bool	approx_equal (double a, double b, double epsilon=1e-6)
	Check if two doubles are appoximately equal. More...

bool	approx_equal (const std::complex< double > &a, const std::complex< double > &b, double epsilon=1e-6)
	Check if two complex numbers are appoximately equal by comparing their real and imaginary parts. More...

bool	approx_equal_abs (double a, double b, double epsilon=1e-6)
	Check if two doubles are similar (but with an absolute threshold!) More...

bool	approx_zero (double val, double epsilon=1e-10)
	Check if a double is appoximately zero. More...

template<typename EdgeContainer >
bool	check_edge_vertices (const std::vector< VertexInterface *> &vertices, EdgeContainer &edges)

std::string	coloredText (const std::string &text, TextColorCode color)
	Return input text as colored text for terminal output (note: the terminal must support colored text) More...

template<typename Derived >
double	compute_condition_number (const Eigen::MatrixBase< Derived > &matrix)
	Compute condition number of matrix using SVD. More...

template<typename Derived >
double	compute_condition_number_square_matrix (const Eigen::MatrixBase< Derived > &matrix)
	Compute condition number of a square matrix using the EigenvaluesThis method computes the eigenvalues and returns abs(eig_max / eig_min). For a version based on the SVD refer to compute_condition_number() More...

template<typename Derived >
void	compute_pseudo_inverse (const Eigen::MatrixBase< Derived > &matrix, Eigen::MatrixBase< Derived > &pinvmat, double tolerance=1e-6)
	Compute the pseudo inverse using SVD. More...

void	convert_triplet (const Eigen::Ref< const Eigen::VectorXi > &i_row, const Eigen::Ref< const Eigen::VectorXi > &j_col, const Eigen::Ref< const Eigen::VectorXd > &values, std::vector< Eigen::Triplet< double >> &triplets)

template<typename Object >
std::shared_ptr< Object >	create_from_factory (const std::string &name)
	Helper function to create new (derived) objects from factory. More...

bool	definitely_greater_than (double a, double b, double epsilon=1e-6)
	Check if a value is definetly greater than another value. More...

bool	definitely_less_than (double a, double b, double epsilon=1e-6)
	Check if a value is definetly less than another value. More...

bool	essentially_equal (double a, double b, double epsilon=1e-6)
	Check if two doubles are essentially equal. More...

bool	essentially_equal (const std::complex< double > &a, const std::complex< double > &b, double epsilon=1e-6)
	Check if two compelx numbers are essentially equal by comparing their real and imaginary parts. More...

	FACTORY_REGISTER_DATA_EXPORTER (TsvExporter)

	FACTORY_REGISTER_DATA_EXPORTER (YamlExporter)

template<typename DerivedA , typename DerivedB >
bool	have_equal_size (const Eigen::MatrixBase< DerivedA > &matrix1, const Eigen::MatrixBase< DerivedB > &matrix2)
	Determine if two matrices exhibit equal sizes/dimensions. More...

template<typename DerivedA , typename DerivedB , typename... Derived>
bool	have_equal_size (const Eigen::MatrixBase< DerivedA > &matrix1, const Eigen::MatrixBase< DerivedB > &matrix2, const Eigen::MatrixBase< Derived > &... matrices_other)
	Determine if N matrices exhibit equal sizes/dimensions. More...

template<typename Derived >
bool	is_positive_definite (const Eigen::MatrixBase< Derived > &matrix)
	Determine if a given matrix is positive definiteThe current implementation performs Eigen's Cholesky decomposition in order to test whether the given matrix appears to be positive definite. More...

template<typename Derived >
bool	is_square (const Eigen::MatrixBase< Derived > &matrix)
	Determine if a given matrix is square. More...

bool	is_square (int numel)
	Determine if a given number of elements defines a square matrix. More...

bool	ok ()
	global method to check whether to proceed or cancel the current action More...

std::ostream &	operator<< (std::ostream &os, TextColorCode code)
	Output stream operator to change the color of subsequent stream output. More...

std::ostream &	operator<< (std::ostream &out, const TimeSeries &ts)

template<class Predicate >
bool	reorder_schur_blocks (Eigen::Ref< Eigen::MatrixXd > T, Eigen::Ref< Eigen::MatrixXd > Q, Predicate predicate, int *subspace_dim, bool standardize)

void	schur_decomposition_2d (Eigen::Ref< Eigen::Matrix2d > T, Eigen::Ref< Eigen::Matrix2d > U)
	Perform the 2D Real Schur decompositionIn contrast to Eigen::RealSchur this function enforces diagonal blocks of complex eigenvalues to be in the form: $T = \begin{bmatrix} a & b \\ c & d \end{bmatrix}$ with a denoting the real part and $\sqrt{b c}$ the imaginary part. It is . More...

void	setOk (bool ok)
	Change the current program state to ok or request the termination of the current action. More...

bool	swap_schur_blocks (Eigen::Ref< Eigen::MatrixXd > T, int ra11, int p, int q, Eigen::Ref< Eigen::MatrixXd > Q, bool standardize)

Variables
static constexpr const double	cd_delta = 1e-9

static constexpr const double	cd_neg2delta = -2 * cd_delta

static constexpr const double	cd_scalar = 1.0 / (2 * cd_delta)

constexpr const double	CORBO_INF_DBL = 2e30
	Representation for infinity (double version) More...

constexpr const int	CORBO_INF_INT = CORBO_MAX_INT - 1000
	Representation for infinity (integer version) More...

constexpr const double	CORBO_MAX_DBL = std::numeric_limits<double>::max()
	Maximum double value. More...

constexpr const int	CORBO_MAX_INT = std::numeric_limits<int>::max()
	Maximum integer value. More...

constexpr const double	CORBO_MIN_DBL = std::numeric_limits<double>::lowest()
	Minimum (negative) double value. More...

constexpr const int	CORBO_MIN_INT = std::numeric_limits<int>::lowest()
	Minimum (negative) integer value. More...

static bool	global_ok = true

constexpr const double	HESSIAN_DELTA = 1e-2

constexpr const char	SIGNAL_NAMESPACE_DELIMITER = '/'

Typedef Documentation

◆ ControllerFactory

using corbo::ControllerFactory = typedef Factory<ControllerInterface>

Definition at line 166 of file controller_interface.h.

◆ DataExporterFactory

using corbo::DataExporterFactory = typedef Factory<DataExporterInterface>

Definition at line 81 of file data_exporter_interface.h.

◆ DiscretizationGridFactory

using corbo::DiscretizationGridFactory = typedef Factory<DiscretizationGridInterface>

Definition at line 173 of file discretization_grid_interface.h.

◆ DisturbanceFactory

using corbo::DisturbanceFactory = typedef Factory<DisturbanceInterface>

Definition at line 87 of file disturbance_interface.h.

◆ DynamicsEvalFactory

using corbo::DynamicsEvalFactory = typedef Factory<DynamicsEvalInterface>

Definition at line 116 of file dynamics_eval_interface.h.

◆ FilterFactory

using corbo::FilterFactory = typedef Factory<FilterInterface>

Definition at line 74 of file filter_interface.h.

◆ FinalStageConstraintFactory

using corbo::FinalStageConstraintFactory = typedef Factory<FinalStageConstraint>

Definition at line 273 of file stage_functions.h.

◆ FinalStageCostFactory

using corbo::FinalStageCostFactory = typedef Factory<FinalStageCost>

Definition at line 199 of file stage_functions.h.

◆ FiniteDifferencesCollocationFactory

using corbo::FiniteDifferencesCollocationFactory = typedef Factory<FiniteDifferencesCollocationInterface>

Definition at line 102 of file finite_differences_collocation.h.

◆ FiniteDifferencesFactory

using corbo::FiniteDifferencesFactory = typedef Factory<FiniteDifferencesInterface>

Definition at line 261 of file finite_differences_interface.h.

◆ HyperGraphOptimizationProblemFactory

using corbo::HyperGraphOptimizationProblemFactory = typedef Factory<BaseHyperGraphOptimizationProblem>

Definition at line 265 of file hyper_graph_optimization_problem_base.h.

◆ NlpSolverFactory

using corbo::NlpSolverFactory = typedef Factory<NlpSolverInterface>

Definition at line 117 of file nlp_solver_interface.h.

◆ ObserverFactory

using corbo::ObserverFactory = typedef Factory<ObserverInterface>

Definition at line 126 of file observer_interface.h.

◆ OptimalControlProgramFactory

using corbo::OptimalControlProgramFactory = typedef Factory<OptimalControlProblemInterface>

Definition at line 94 of file optimal_control_problem_interface.h.

◆ OutputFunctionFactory

using corbo::OutputFunctionFactory = typedef Factory<SystemOutputInterface>

Definition at line 101 of file output_function_interface.h.

◆ PlantFactory

using corbo::PlantFactory = typedef Factory<PlantInterface>

Definition at line 152 of file plant_interface.h.

◆ QpSolverFactory

using corbo::QpSolverFactory = typedef Factory<QpSolverInterface>

Definition at line 147 of file qp_solver_interface.h.

◆ ReferenceTrajectoryFactory

using corbo::ReferenceTrajectoryFactory = typedef Factory<ReferenceTrajectoryInterface>

Definition at line 97 of file reference_trajectory.h.

◆ StageCostFactory

using corbo::StageCostFactory = typedef Factory<StageCost>

Definition at line 147 of file stage_functions.h.

◆ StageEqualitiesFactory

using corbo::StageEqualitiesFactory = typedef Factory<StageEqualityConstraint>

Definition at line 291 of file stage_functions.h.

◆ StageInequalitiesFactory

using corbo::StageInequalitiesFactory = typedef Factory<StageInequalityConstraint>

Definition at line 309 of file stage_functions.h.

◆ StagePreprocessorFactory

using corbo::StagePreprocessorFactory = typedef Factory<StagePreprocessor>

Definition at line 66 of file stage_preprocessor.h.

◆ SystemDynamicsFactory

using corbo::SystemDynamicsFactory = typedef Factory<SystemDynamicsInterface>

Definition at line 179 of file system_dynamics_interface.h.

◆ TaskFactory

using corbo::TaskFactory = typedef Factory<TaskInterface>

Definition at line 116 of file task_interface.h.

Enumeration Type Documentation

◆ SignalType

enum corbo::SignalType

strong

Available signal types (must match messages::SignalType enumeration)

Enumerator
TimeSeries
Measurement
Values
TimeSeriesSequence
IndexedValues
IndexedValuesSet
LabeledValues
LabeledValuesSet
Matrix
MatrixSet

Definition at line 49 of file signals.h.

◆ SolverStatus

enum corbo::SolverStatus

strong

Enumerator
Converged
EarlyTerminated
Infeasible
Error

Definition at line 30 of file optimization/include/corbo-optimization/types.h.

◆ TextColorCode

enum corbo::TextColorCode

strong

Color codes for colored text in consoles/terminals (if supported)

see http://stackoverflow.com/questions/2616906/how-do-i-output-coloured-text-to-a-linux-terminal and http://misc.flogisoft.com/bash/tip_colors_and_formatting

Enumerator
FG_DEFAULT
FG_RED
FG_GREEN
FG_BLUE
FG_BLACK
FG_YELLOW
FG_MAGENTA
FG_CYAN
FG_LIGHT_GRAY
FG_DARK_GRAY
FG_LIGHT_RED
FG_LIGHT_GREEN
FG_LIGHT_YELLOW
FG_LIGHT_BLUE
FG_LIGHT_MAGENTA
FG_LIGHT_CYAN
FG_WHITE
BG_RED
BG_GREEN
BG_BLUE
BG_DEFAULT

Definition at line 40 of file text_style.h.

Function Documentation

◆ approx_equal() [1/2]

bool corbo::approx_equal	(	double	a,
		double	b,
		double	epsilon = `1e-6`
	)

inline

Check if two doubles are appoximately equal.

Warning: use approx_zero() if you want to compare against zero

Parameters

a	first value
b	second value
epsilon	minimum treshold to state that a and b are similar (\|a-b\| <= epsilon*max(a,b))

Returns: true if fabs(a-b)<= epsilon*max(a,b) , otherwise false

Definition at line 56 of file value_comparison.h.

◆ approx_equal() [2/2]

bool corbo::approx_equal	(	const std::complex< double > &	a,
		const std::complex< double > &	b,
		double	epsilon = `1e-6`
	)

inline

Check if two complex numbers are appoximately equal by comparing their real and imaginary parts.

Parameters

a	first complex value
b	second complex value
epsilon	minimum treshold to state that a and b are similar (\|a-b\| <= epsilon*max(a,b))

Returns: true if fabs(a-b)<= epsilon*max(a,b) , otherwise false

Definition at line 66 of file value_comparison.h.

◆ approx_equal_abs()

bool corbo::approx_equal_abs	(	double	a,
		double	b,
		double	epsilon = `1e-6`
	)

inline

Check if two doubles are similar (but with an absolute threshold!)

Warning: better use relative comparisons to be much more robust against different magnitutes

Parameters

a	first value
b	second value
epsilon	minimum treshold to state that a and b are similar (\|a-b\| < epsilon)

Returns: true if fabs(a-b)< epsilon , otherwise false

Definition at line 43 of file value_comparison.h.

◆ approx_zero()

bool corbo::approx_zero	(	double	val,
		double	epsilon = `1e-10`
	)

inline

Check if a double is appoximately zero.

Parameters

val	first value
epsilon	minimum treshold to state that val is similar (\|a\| <= epsilon)

Returns: true if fabs(val)<= epsilon) , otherwise false

Definition at line 102 of file value_comparison.h.

◆ check_edge_vertices()

template<typename EdgeContainer >

bool corbo::check_edge_vertices	(	const std::vector< VertexInterface *> &	vertices,
		EdgeContainer &	edges
	)

Definition at line 36 of file hyper_graph.cpp.

◆ coloredText()

std::string corbo::coloredText	(	const std::string &	text,
		TextColorCode	color
	)

inline

Return input text as colored text for terminal output (note: the terminal must support colored text)

Definition at line 75 of file text_style.h.

◆ compute_condition_number()

template<typename Derived >

double corbo::compute_condition_number ( const Eigen::MatrixBase< Derived > & matrix )

inline

Compute condition number of matrix using SVD.

Parameters

matrix generic matrix type

Returns: condition number

Definition at line 144 of file matrix_utilities.h.

◆ compute_condition_number_square_matrix()

template<typename Derived >

double corbo::compute_condition_number_square_matrix ( const Eigen::MatrixBase< Derived > & matrix )

inline

Compute condition number of a square matrix using the EigenvaluesThis method computes the eigenvalues and returns abs(eig_max / eig_min). For a version based on the SVD refer to compute_condition_number()

Parameters

matrix generic matrix type

Returns: condition number

Definition at line 121 of file matrix_utilities.h.

◆ compute_pseudo_inverse()

template<typename Derived >

void corbo::compute_pseudo_inverse	(	const Eigen::MatrixBase< Derived > &	matrix,
		Eigen::MatrixBase< Derived > &	pinvmat,
		double	tolerance = `1e-6`
	)

Compute the pseudo inverse using SVD.

Definition at line 164 of file matrix_utilities.h.

◆ convert_triplet()

void corbo::convert_triplet	(	const Eigen::Ref< const Eigen::VectorXi > &	i_row,
		const Eigen::Ref< const Eigen::VectorXi > &	j_col,
		const Eigen::Ref< const Eigen::VectorXd > &	values,
		std::vector< Eigen::Triplet< double >> &	triplets
	)

Definition at line 29 of file misc.cpp.

◆ create_from_factory()

template<typename Object >

std::shared_ptr<Object> corbo::create_from_factory ( const std::string & name )

Helper function to create new (derived) objects from factory.

This functino requries the Objects class to provide a getFactory() method.

Parameters

[in] name Unique object identifier

Returns: shared pointer to the derived class if name is known, an empty shared_ptr otherwise

Template Parameters

Object The object type itself or base type to be created

Definition at line 150 of file factory.h.

◆ definitely_greater_than()

bool corbo::definitely_greater_than	(	double	a,
		double	b,
		double	epsilon = `1e-6`
	)

inline

Check if a value is definetly greater than another value.

Parameters

a	first value
b	second value
epsilon	minimum treshold to state that a and b are similar (\|a-b\| > epsilon*max(a,b))

Returns: true if fabs(a-b)> epsilon*min(a,b) , otherwise false

Definition at line 112 of file value_comparison.h.

◆ definitely_less_than()

bool corbo::definitely_less_than	(	double	a,
		double	b,
		double	epsilon = `1e-6`
	)

inline

Check if a value is definetly less than another value.

Parameters

a	first value
b	second value
epsilon	minimum treshold to state that a and b are similar (\|b-a\| > epsilon*min(a,b))

Returns: true if fabs(b-a)> epsilon*max(a,b) , otherwise false

Definition at line 122 of file value_comparison.h.

◆ essentially_equal() [1/2]

bool corbo::essentially_equal	(	double	a,
		double	b,
		double	epsilon = `1e-6`
	)

inline

Check if two doubles are essentially equal.

Warning: use approx_zero() if you want to compare against zero

Parameters

a	first value
b	second value
epsilon	minimum treshold to state that a and b are similar (\|a-b\| <= epsilon*min(a,b))

Returns: true if fabs(a-b)<= epsilon*min(a,b) , otherwise false

Definition at line 80 of file value_comparison.h.

◆ essentially_equal() [2/2]

bool corbo::essentially_equal	(	const std::complex< double > &	a,
		const std::complex< double > &	b,
		double	epsilon = `1e-6`
	)

inline

Check if two compelx numbers are essentially equal by comparing their real and imaginary parts.

Parameters

a	first complex value
b	second complex value
epsilon	minimum treshold to state that a and b are similar (\|a-b\| <= epsilon*min(a,b))

Returns: true if fabs(a-b)<= epsilon*min(a,b) , otherwise false

Definition at line 90 of file value_comparison.h.

◆ FACTORY_REGISTER_DATA_EXPORTER() [1/2]

corbo::FACTORY_REGISTER_DATA_EXPORTER ( TsvExporter )

◆ FACTORY_REGISTER_DATA_EXPORTER() [2/2]

corbo::FACTORY_REGISTER_DATA_EXPORTER ( YamlExporter )

◆ have_equal_size() [1/2]

template<typename DerivedA , typename DerivedB >

bool corbo::have_equal_size	(	const Eigen::MatrixBase< DerivedA > &	matrix1,
		const Eigen::MatrixBase< DerivedB > &	matrix2
	)

inline

Determine if two matrices exhibit equal sizes/dimensions.

Parameters

matrix1	generic matrix type
matrix2	generic matrix type

Returns: true if equal dimensions, false otherwise.

Definition at line 71 of file matrix_utilities.h.

◆ have_equal_size() [2/2]

template<typename DerivedA , typename DerivedB , typename... Derived>

bool corbo::have_equal_size	(	const Eigen::MatrixBase< DerivedA > &	matrix1,
		const Eigen::MatrixBase< DerivedB > &	matrix2,
		const Eigen::MatrixBase< Derived > &...	matrices_other
	)

inline

Determine if N matrices exhibit equal sizes/dimensions.

Parameters

matrix1	generic matrix type
matrix2	generic matrix type

Returns: true if equal dimensions, false otherwise.

Definition at line 85 of file matrix_utilities.h.

◆ is_positive_definite()

template<typename Derived >

bool corbo::is_positive_definite ( const Eigen::MatrixBase< Derived > & matrix )

inline

Determine if a given matrix is positive definiteThe current implementation performs Eigen's Cholesky decomposition in order to test whether the given matrix appears to be positive definite.

Parameters

matrix generic matrix type to be tested

Returns: true if positive definite, false otherwise.

Definition at line 103 of file matrix_utilities.h.

◆ is_square() [1/2]

template<typename Derived >

bool corbo::is_square ( const Eigen::MatrixBase< Derived > & matrix )

inline

Determine if a given matrix is square.

Parameters

matrix generic matrix type to be tested

Returns: true if square, false otherwise.

Definition at line 43 of file matrix_utilities.h.

◆ is_square() [2/2]

bool corbo::is_square ( int numel )

inline

Determine if a given number of elements defines a square matrix.

Parameters

numel number of elements to be checked for square matrix

Returns: true if square, false otherwise.

Definition at line 55 of file matrix_utilities.h.

◆ ok()

bool corbo::ok ( )

global method to check whether to proceed or cancel the current action

Time consuming parts of the program should check whether the current state is ok. If not, they should return immediately. This allows other processes to interrupt resepctively preempt long running processes.

E.g. the execution of closed-loop control tasks might be configured for a long time duration, but the user wants to stop by setting setOk(bool ok) to false. The tasks can check for ok() frequently and abort its execution in this case.

Returns: true if everything is still ok, false if an abort of the current action is requested.

Definition at line 32 of file global.cpp.

◆ operator<<() [1/2]

std::ostream& corbo::operator<<	(	std::ostream &	os,
		TextColorCode	code
	)

inline

Output stream operator to change the color of subsequent stream output.

Definition at line 65 of file text_style.h.

◆ operator<<() [2/2]

std::ostream& corbo::operator<<	(	std::ostream &	out,
		const TimeSeries &	ts
	)

Parameters

out	output stream
ts	time series object to be printed

Returns

Definition at line 432 of file time_series.cpp.

◆ reorder_schur_blocks()

template<class Predicate >

bool corbo::reorder_schur_blocks	(	Eigen::Ref< Eigen::MatrixXd >	T,
		Eigen::Ref< Eigen::MatrixXd >	Q,
		Predicate	predicate,
		int *	subspace_dim,
		bool	standardize
	)

Definition at line 35 of file schur.hpp.

◆ schur_decomposition_2d()

void corbo::schur_decomposition_2d	(	Eigen::Ref< Eigen::Matrix2d >	T,
		Eigen::Ref< Eigen::Matrix2d >	U
	)

Perform the 2D Real Schur decompositionIn contrast to Eigen::RealSchur this function enforces diagonal blocks of complex eigenvalues to be in the form:

$T = \begin{bmatrix} a & b \\ c & d \end{bmatrix}$

with a denoting the real part and $\sqrt{b c}$ the imaginary part. It is $ a c < 0 $ .

This function is mainly used in swap_blocks_schur_form() to ensure that swapped blocks are in standard form.

The implementation is based on LAPACKs SLANV2 routine [1].

[1] http://www.netlib.org/lapack/explore-3.1.1-html/slanv2.f.html#SLANV2.1

Parameters

[in,out]	T	[2 x 2] matrix which is subject to decomposition, this matrix will be overwritten by the resulting upper triangular matrix.
[out]	U	Unitary matrix which transforms T to Schur form: T = U^T T U

Definition at line 44 of file schur.cpp.

◆ setOk()

void corbo::setOk ( bool ok )

Change the current program state to ok or request the termination of the current action.

Refer to ok() for more details.

Parameters

ok	set to false, if current actions should be terminated (requires actions to check for ok()).

Definition at line 33 of file global.cpp.

◆ swap_schur_blocks()

bool corbo::swap_schur_blocks	(	Eigen::Ref< Eigen::MatrixXd >	T,
		int	ra11,
		int	p,
		int	q,
		Eigen::Ref< Eigen::MatrixXd >	Q,
		bool	standardize
	)

Definition at line 170 of file schur.cpp.

Variable Documentation

◆ cd_delta

constexpr const double corbo::cd_delta = 1e-9

static

Definition at line 29 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ cd_neg2delta

constexpr const double corbo::cd_neg2delta = -2 * cd_delta

static

Definition at line 30 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ cd_scalar

constexpr const double corbo::cd_scalar = 1.0 / (2 * cd_delta)

static

Definition at line 31 of file hyper_graph_optimization_problem_vertex_based.cpp.

◆ CORBO_INF_DBL

constexpr const double corbo::CORBO_INF_DBL = 2e30

Representation for infinity (double version)

Definition at line 53 of file core/include/corbo-core/types.h.

◆ CORBO_INF_INT

constexpr const int corbo::CORBO_INF_INT = CORBO_MAX_INT - 1000

Representation for infinity (integer version)

Definition at line 55 of file core/include/corbo-core/types.h.

◆ CORBO_MAX_DBL

constexpr const double corbo::CORBO_MAX_DBL = std::numeric_limits<double>::max()

Maximum double value.

Definition at line 44 of file core/include/corbo-core/types.h.

◆ CORBO_MAX_INT

constexpr const int corbo::CORBO_MAX_INT = std::numeric_limits<int>::max()

Maximum integer value.

Definition at line 48 of file core/include/corbo-core/types.h.

◆ CORBO_MIN_DBL

constexpr const double corbo::CORBO_MIN_DBL = std::numeric_limits<double>::lowest()

Minimum (negative) double value.

Definition at line 46 of file core/include/corbo-core/types.h.

◆ CORBO_MIN_INT

constexpr const int corbo::CORBO_MIN_INT = std::numeric_limits<int>::lowest()

Minimum (negative) integer value.

Definition at line 50 of file core/include/corbo-core/types.h.

◆ global_ok

bool corbo::global_ok = true

static

Definition at line 30 of file global.cpp.

◆ HESSIAN_DELTA

constexpr const double corbo::HESSIAN_DELTA = 1e-2

Definition at line 32 of file edge_interface.cpp.

◆ SIGNAL_NAMESPACE_DELIMITER

constexpr const char corbo::SIGNAL_NAMESPACE_DELIMITER = '/'

Definition at line 46 of file signals.h.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ ControllerFactory

◆ DataExporterFactory

◆ DiscretizationGridFactory

◆ DisturbanceFactory

◆ DynamicsEvalFactory

◆ FilterFactory

◆ FinalStageConstraintFactory

◆ FinalStageCostFactory

◆ FiniteDifferencesCollocationFactory

◆ FiniteDifferencesFactory

◆ HyperGraphOptimizationProblemFactory

◆ NlpSolverFactory

◆ ObserverFactory

◆ OptimalControlProgramFactory

◆ OutputFunctionFactory

◆ PlantFactory

◆ QpSolverFactory

◆ ReferenceTrajectoryFactory

◆ StageCostFactory

◆ StageEqualitiesFactory

◆ StageInequalitiesFactory

◆ StagePreprocessorFactory

◆ SystemDynamicsFactory

◆ TaskFactory

Enumeration Type Documentation

◆ SignalType

◆ SolverStatus

◆ TextColorCode

Function Documentation

◆ approx_equal() [1/2]

◆ approx_equal() [2/2]

◆ approx_equal_abs()

◆ approx_zero()

◆ check_edge_vertices()

◆ coloredText()

◆ compute_condition_number()

◆ compute_condition_number_square_matrix()

◆ compute_pseudo_inverse()

◆ convert_triplet()

◆ create_from_factory()

◆ definitely_greater_than()

◆ definitely_less_than()

◆ essentially_equal() [1/2]

◆ essentially_equal() [2/2]

◆ FACTORY_REGISTER_DATA_EXPORTER() [1/2]

◆ FACTORY_REGISTER_DATA_EXPORTER() [2/2]

◆ have_equal_size() [1/2]

◆ have_equal_size() [2/2]

◆ is_positive_definite()

◆ is_square() [1/2]

◆ is_square() [2/2]

◆ ok()

◆ operator<<() [1/2]

◆ operator<<() [2/2]

◆ reorder_schur_blocks()

◆ schur_decomposition_2d()

◆ setOk()

◆ swap_schur_blocks()

Variable Documentation

◆ cd_delta

◆ cd_neg2delta

◆ cd_scalar

◆ CORBO_INF_DBL

◆ CORBO_INF_INT

◆ CORBO_MAX_DBL

◆ CORBO_MAX_INT

◆ CORBO_MIN_DBL

◆ CORBO_MIN_INT

◆ global_ok

◆ HESSIAN_DELTA

◆ SIGNAL_NAMESPACE_DELIMITER