#include <collocation_edges.h>

Inheritance diagram for corbo::ConstControlCombinedCompressedCollocationEdge:

[legend]

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

using	UPtr = std::unique_ptr< ConstControlCombinedCompressedCollocationEdge >

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

using	Ptr = std::shared_ptr< MixedEdge >

using	UPtr = std::unique_ptr< MixedEdge >

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

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

using	UPtr = std::unique_ptr< BaseMixedEdge >

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

using	UPtr = std::unique_ptr< EdgeInterface >

Public Member Functions
void	computeEqualityValues (Eigen::Ref< Eigen::VectorXd > eq_values) override

void	computeInequalityValues (Eigen::Ref< Eigen::VectorXd > ineq_values) override

void	computeObjectiveValues (Eigen::Ref< Eigen::VectorXd > obj_values) override

	ConstControlCombinedCompressedCollocationEdge (SystemDynamicsInterface::Ptr dynamics, StageCost::Ptr stage_cost, StageEqualityConstraint::Ptr stage_eq, StageInequalityConstraint::Ptr stage_ineq, bool eval_intermediate_constr, int k, VectorVertex &x1, VectorVertex &u1, ScalarVertex &dt, VectorVertex &x2)

int	getEqualityDimension () const override

int	getInequalityDimension () const override

int	getObjectiveDimension () const override

bool	isEqualityLinear () const override

bool	isInequalityLinear () const override

bool	isObjectiveLeastSquaresForm () const override

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

void	precompute () override

void	setCollocationMethod (QuadratureCollocationInterface::Ptr quadrature)

virtual	~ConstControlCombinedCompressedCollocationEdge ()

Public Member Functions inherited from corbo::MixedEdge< VectorVertex, VectorVertex, ScalarVertex, VectorVertex >
int	getEqualityDimension () const override=0

int	getInequalityDimension () const override=0

int	getNumVertices () const override
	Return number of attached vertices. More...

int	getObjectiveDimension () const override=0

const VertexInterface *	getVertex (int idx) const override

VertexInterface *	getVertexRaw (int idx) override
	Get access to vertex with index `idx` (0 <= idx < numVertices) More...

	MixedEdge ()=delete

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

Public Member Functions inherited from corbo::BaseMixedEdge
virtual void	computeConstraintHessians (int vtx_idx_i, int vtx_idx_j, const Eigen::Ref< const Eigen::MatrixXd > &eq_jacobian_i, const Eigen::Ref< const Eigen::MatrixXd > &ineq_jacobian_i, Eigen::Ref< Eigen::MatrixXd > eq_hessian_ij, Eigen::Ref< Eigen::MatrixXd > ineq_hessian_ij, const double multipliers_eq=nullptr, const double multipliers_ineq=nullptr)

virtual void	computeConstraintHessiansInc (int vtx_idx_i, int vtx_idx_j, const Eigen::Ref< const Eigen::MatrixXd > &eq_jacobian_i, const Eigen::Ref< const Eigen::MatrixXd > &ineq_jacobian_i, Eigen::Ref< Eigen::MatrixXd > eq_hessian_ij, Eigen::Ref< Eigen::MatrixXd > ineq_hessian_ij, const double multipliers_eq=nullptr, const double multipliers_ineq=nullptr)

virtual void	computeConstraintJacobians (int vtx_idx, Eigen::Ref< Eigen::MatrixXd > eq_jacobian, Eigen::Ref< Eigen::MatrixXd > ineq_jacobian, const double eq_multipliers=nullptr, const double ineq_multipliers=nullptr)

virtual void	computeEqualityHessian (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	computeEqualityHessianInc (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	computeEqualityJacobian (int vtx_idx, Eigen::Ref< Eigen::MatrixXd > block_jacobian, const double *multipliers=nullptr)

virtual void	computeHessians (int vtx_idx_i, int vtx_idx_j, const Eigen::Ref< const Eigen::MatrixXd > &obj_jacobian_i, const Eigen::Ref< const Eigen::MatrixXd > &eq_jacobian_i, const Eigen::Ref< const Eigen::MatrixXd > &ineq_jacobian_i, Eigen::Ref< Eigen::MatrixXd > obj_hessian_ij, Eigen::Ref< Eigen::MatrixXd > eq_hessian_ij, Eigen::Ref< Eigen::MatrixXd > ineq_hessian_ij, const double multipliers_eq=nullptr, const double multipliers_ineq=nullptr, double weight_obj=1.0)

virtual void	computeHessiansInc (int vtx_idx_i, int vtx_idx_j, const Eigen::Ref< const Eigen::MatrixXd > &obj_jacobian_i, const Eigen::Ref< const Eigen::MatrixXd > &eq_jacobian_i, const Eigen::Ref< const Eigen::MatrixXd > &ineq_jacobian_i, Eigen::Ref< Eigen::MatrixXd > obj_hessian_ij, Eigen::Ref< Eigen::MatrixXd > eq_hessian_ij, Eigen::Ref< Eigen::MatrixXd > ineq_hessian_ij, const double multipliers_eq=nullptr, const double multipliers_ineq=nullptr, double weight_obj=1.0)

virtual void	computeInequalityHessian (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	computeInequalityHessianInc (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	computeInequalityJacobian (int vtx_idx, Eigen::Ref< Eigen::MatrixXd > block_jacobian, const double *multipliers=nullptr)

virtual void	computeJacobians (int vtx_idx, Eigen::Ref< Eigen::MatrixXd > obj_jacobian, Eigen::Ref< Eigen::MatrixXd > eq_jacobian, Eigen::Ref< Eigen::MatrixXd > ineq_jacobian, const double obj_multipliers=nullptr, const double eq_multipliers=nullptr, const double *ineq_multipliers=nullptr)

virtual void	computeObjectiveHessian (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	computeObjectiveHessianInc (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	computeObjectiveJacobian (int vtx_idx, Eigen::Ref< Eigen::MatrixXd > block_jacobian, const double *multipliers=nullptr)

virtual double	computeSquaredNormOfObjectiveValues ()

virtual double	computeSumOfObjectiveValues ()

void	computeValues (Eigen::Ref< Eigen::VectorXd > values) final
	Compute function values. More...

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

void	reserveCacheMemory (int num_value_vectors, int num_jacobians)

void	reserveValuesCacheMemory (int num_obj_values, int num_eq_values, int num_ineq_values)

void	reserveJacobiansCacheMemory (int num_obj_jacobians, int num_eq_jacobians, int num_ineq_jacobians)

void	computeObjectiveValuesCached ()
	Call computeObjectiveValues() and store result to the internal cache. More...

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

void	computeEqualityValuesCached ()
	Call computeEqualityValues() and store result to the internal cache. More...

void	computeInequalityValuesCached ()
	Call computeInequalityValues() and store result to the internal cache. More...

EdgeCache &	getObjectiveCache ()

const EdgeCache &	getObjectiveCache () const

EdgeCache &	getEqualityCache ()

const EdgeCache &	getEqualityCache () const

EdgeCache &	getInequalityCache ()

const EdgeCache &	getInequalityCache () const

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

int	getEdgeEqualityIdx () const

int	getEdgeInequalityIdx () const

Public Member Functions inherited from corbo::EdgeInterface
virtual double	computeSquaredNormOfValues ()

virtual double	computeSumOfValues ()

int	getNumFiniteVerticesLowerBounds () const

int	getNumFiniteVerticesUpperBounds () const

virtual int	getNumVertices () const =0
	Return number of attached vertices. More...

virtual int	verticesDimension () const =0
	Return the combined dimension of all attached vertices (excluding fixed vertex components) More...

virtual	~EdgeInterface ()
	Virtual destructor. More...

Protected Member Functions
void	activateIntermediateConstraints ()

Private Attributes
QuadratureCollocationInterface::Ptr	_collocation

int	_dim_dyn = 0

int	_dim_eq = 0

int	_dim_ineq = 0

int	_dim_int_eq = 0

int	_dim_int_ineq = 0

int	_dim_lb_x = 0

int	_dim_nonint_eq = 0

int	_dim_nonint_ineq = 0

int	_dim_obj = 1

int	_dim_ub_x = 0

const ScalarVertex *	_dt = nullptr

SystemDynamicsInterface::Ptr	_dynamics

Eigen::VectorXd	_dynamics_quadrature

bool	_eval_intermediate_constr = false

std::vector< Eigen::VectorXd * >	_intermediate_x

int	_k = 0

StageCost::Ptr	_stage_cost

StageEqualityConstraint::Ptr	_stage_eq

StageInequalityConstraint::Ptr	_stage_ineq

const VectorVertex *	_u1 = nullptr

const VectorVertex *	_x1 = nullptr

const VectorVertex *	_x2 = nullptr

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

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

Protected Attributes inherited from corbo::BaseMixedEdge
int	_edge_idx_obj = 0

int	_edge_idx_eq = 0

int	_edge_idx_ineq = 0

EdgeCache	_objective_cache

EdgeCache	_equality_cache

EdgeCache	_inequality_cache

Detailed Description

Definition at line 573 of file collocation_edges.h.

Member Typedef Documentation

◆ Ptr

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

Definition at line 576 of file collocation_edges.h.

◆ UPtr

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

Definition at line 577 of file collocation_edges.h.

Constructor & Destructor Documentation

◆ ConstControlCombinedCompressedCollocationEdge()

corbo::ConstControlCombinedCompressedCollocationEdge::ConstControlCombinedCompressedCollocationEdge	(	SystemDynamicsInterface::Ptr	dynamics,
		StageCost::Ptr	stage_cost,
		StageEqualityConstraint::Ptr	stage_eq,
		StageInequalityConstraint::Ptr	stage_ineq,
		bool	eval_intermediate_constr,
		int	k,
		VectorVertex &	x1,
		VectorVertex &	u1,
		ScalarVertex &	dt,
		VectorVertex &	x2
	)

inlineexplicit

Definition at line 579 of file collocation_edges.h.

◆ ~ConstControlCombinedCompressedCollocationEdge()

virtual corbo::ConstControlCombinedCompressedCollocationEdge::~ConstControlCombinedCompressedCollocationEdge ( )

inlinevirtual

Definition at line 607 of file collocation_edges.h.

Member Function Documentation

◆ activateIntermediateConstraints()

void corbo::ConstControlCombinedCompressedCollocationEdge::activateIntermediateConstraints ( )

inlineprotected

Definition at line 740 of file collocation_edges.h.

◆ computeEqualityValues()

void corbo::ConstControlCombinedCompressedCollocationEdge::computeEqualityValues ( Eigen::Ref< Eigen::VectorXd > eq_values )

inlineoverridevirtual

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

Definition at line 648 of file collocation_edges.h.

◆ computeInequalityValues()

void corbo::ConstControlCombinedCompressedCollocationEdge::computeInequalityValues ( Eigen::Ref< Eigen::VectorXd > ineq_values )

inlineoverridevirtual

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

Definition at line 675 of file collocation_edges.h.

◆ computeObjectiveValues()

void corbo::ConstControlCombinedCompressedCollocationEdge::computeObjectiveValues ( Eigen::Ref< Eigen::VectorXd > obj_values )

inlineoverridevirtual

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

Definition at line 639 of file collocation_edges.h.

◆ getEqualityDimension()

int corbo::ConstControlCombinedCompressedCollocationEdge::getEqualityDimension ( ) const

inlineoverridevirtual

Implements corbo::BaseMixedEdge.

Definition at line 615 of file collocation_edges.h.

◆ getInequalityDimension()

int corbo::ConstControlCombinedCompressedCollocationEdge::getInequalityDimension ( ) const

inlineoverridevirtual

Implements corbo::BaseMixedEdge.

Definition at line 616 of file collocation_edges.h.

◆ getObjectiveDimension()

int corbo::ConstControlCombinedCompressedCollocationEdge::getObjectiveDimension ( ) const

inlineoverridevirtual

Implements corbo::BaseMixedEdge.

Definition at line 613 of file collocation_edges.h.

◆ isEqualityLinear()

bool corbo::ConstControlCombinedCompressedCollocationEdge::isEqualityLinear ( ) const

inlineoverridevirtual

Reimplemented from corbo::BaseMixedEdge.

Definition at line 620 of file collocation_edges.h.

◆ isInequalityLinear()

bool corbo::ConstControlCombinedCompressedCollocationEdge::isInequalityLinear ( ) const

inlineoverridevirtual

Reimplemented from corbo::BaseMixedEdge.

Definition at line 621 of file collocation_edges.h.

◆ isObjectiveLeastSquaresForm()

bool corbo::ConstControlCombinedCompressedCollocationEdge::isObjectiveLeastSquaresForm ( ) const

inlineoverridevirtual

Implements corbo::BaseMixedEdge.

Definition at line 625 of file collocation_edges.h.

◆ isObjectiveLinear()

bool corbo::ConstControlCombinedCompressedCollocationEdge::isObjectiveLinear ( ) const

inlineoverridevirtual

Return true if the edge is linear (and hence its Hessian is always zero)

Reimplemented from corbo::BaseMixedEdge.

Definition at line 619 of file collocation_edges.h.

◆ precompute()

void corbo::ConstControlCombinedCompressedCollocationEdge::precompute ( )

inlineoverridevirtual

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

Definition at line 627 of file collocation_edges.h.

◆ setCollocationMethod()

void corbo::ConstControlCombinedCompressedCollocationEdge::setCollocationMethod ( QuadratureCollocationInterface::Ptr quadrature )

inline

Definition at line 730 of file collocation_edges.h.

Member Data Documentation

◆ _collocation

QuadratureCollocationInterface::Ptr corbo::ConstControlCombinedCompressedCollocationEdge::_collocation

private

Definition at line 762 of file collocation_edges.h.

◆ _dim_dyn

int corbo::ConstControlCombinedCompressedCollocationEdge::_dim_dyn = 0

private

Definition at line 773 of file collocation_edges.h.

◆ _dim_eq

int corbo::ConstControlCombinedCompressedCollocationEdge::_dim_eq = 0

private

Definition at line 769 of file collocation_edges.h.

◆ _dim_ineq

int corbo::ConstControlCombinedCompressedCollocationEdge::_dim_ineq = 0

private

Definition at line 771 of file collocation_edges.h.

◆ _dim_int_eq

int corbo::ConstControlCombinedCompressedCollocationEdge::_dim_int_eq = 0

private

Definition at line 770 of file collocation_edges.h.

◆ _dim_int_ineq

int corbo::ConstControlCombinedCompressedCollocationEdge::_dim_int_ineq = 0

private

Definition at line 772 of file collocation_edges.h.

◆ _dim_lb_x

int corbo::ConstControlCombinedCompressedCollocationEdge::_dim_lb_x = 0

private

Definition at line 778 of file collocation_edges.h.

◆ _dim_nonint_eq

int corbo::ConstControlCombinedCompressedCollocationEdge::_dim_nonint_eq = 0

private

Definition at line 775 of file collocation_edges.h.

◆ _dim_nonint_ineq

int corbo::ConstControlCombinedCompressedCollocationEdge::_dim_nonint_ineq = 0

private

Definition at line 776 of file collocation_edges.h.

◆ _dim_obj

int corbo::ConstControlCombinedCompressedCollocationEdge::_dim_obj = 1

private

Definition at line 768 of file collocation_edges.h.

◆ _dim_ub_x

int corbo::ConstControlCombinedCompressedCollocationEdge::_dim_ub_x = 0

private

Definition at line 779 of file collocation_edges.h.

◆ _dt

const ScalarVertex* corbo::ConstControlCombinedCompressedCollocationEdge::_dt = nullptr

private

Definition at line 791 of file collocation_edges.h.

◆ _dynamics

SystemDynamicsInterface::Ptr corbo::ConstControlCombinedCompressedCollocationEdge::_dynamics

private

Definition at line 761 of file collocation_edges.h.

◆ _dynamics_quadrature

Eigen::VectorXd corbo::ConstControlCombinedCompressedCollocationEdge::_dynamics_quadrature

private

Definition at line 785 of file collocation_edges.h.

◆ _eval_intermediate_constr

bool corbo::ConstControlCombinedCompressedCollocationEdge::_eval_intermediate_constr = false

private

Definition at line 783 of file collocation_edges.h.

◆ _intermediate_x

std::vector<Eigen::VectorXd*> corbo::ConstControlCombinedCompressedCollocationEdge::_intermediate_x

private

Definition at line 786 of file collocation_edges.h.

◆ _k

int corbo::ConstControlCombinedCompressedCollocationEdge::_k = 0

private

Definition at line 781 of file collocation_edges.h.

◆ _stage_cost

StageCost::Ptr corbo::ConstControlCombinedCompressedCollocationEdge::_stage_cost

private

Definition at line 764 of file collocation_edges.h.

◆ _stage_eq

StageEqualityConstraint::Ptr corbo::ConstControlCombinedCompressedCollocationEdge::_stage_eq

private

Definition at line 765 of file collocation_edges.h.

◆ _stage_ineq

StageInequalityConstraint::Ptr corbo::ConstControlCombinedCompressedCollocationEdge::_stage_ineq

private

Definition at line 766 of file collocation_edges.h.

◆ _u1

const VectorVertex* corbo::ConstControlCombinedCompressedCollocationEdge::_u1 = nullptr

private

Definition at line 789 of file collocation_edges.h.

◆ _x1

const VectorVertex* corbo::ConstControlCombinedCompressedCollocationEdge::_x1 = nullptr

private

Definition at line 788 of file collocation_edges.h.

◆ _x2

const VectorVertex* corbo::ConstControlCombinedCompressedCollocationEdge::_x2 = nullptr

private

Definition at line 790 of file collocation_edges.h.

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

collocation_edges.h

Public Types

Public Member Functions

Protected Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ ConstControlCombinedCompressedCollocationEdge()

◆ ~ConstControlCombinedCompressedCollocationEdge()

Member Function Documentation

◆ activateIntermediateConstraints()

◆ computeEqualityValues()

◆ computeInequalityValues()

◆ computeObjectiveValues()

◆ getEqualityDimension()

◆ getInequalityDimension()

◆ getObjectiveDimension()

◆ isEqualityLinear()

◆ isInequalityLinear()

◆ isObjectiveLeastSquaresForm()

◆ isObjectiveLinear()

◆ precompute()

◆ setCollocationMethod()

Member Data Documentation

◆ _collocation

◆ _dim_dyn

◆ _dim_eq

◆ _dim_ineq

◆ _dim_int_eq

◆ _dim_int_ineq

◆ _dim_lb_x

◆ _dim_nonint_eq

◆ _dim_nonint_ineq

◆ _dim_obj

◆ _dim_ub_x

◆ _dt

◆ _dynamics

◆ _dynamics_quadrature

◆ _eval_intermediate_constr

◆ _intermediate_x

◆ _k

◆ _stage_cost

◆ _stage_eq

◆ _stage_ineq

◆ _u1

◆ _x1

◆ _x2