#include <multiple_shooting_edges.h>

Inheritance diagram for corbo::MultipleShootingEdgeSingleControlTimeScaling:

[legend]

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

using	UPtr = std::unique_ptr< MultipleShootingEdgeSingleControlTimeScaling >

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

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...

	MultipleShootingEdgeSingleControlTimeScaling (SystemDynamicsInterface::Ptr dynamics, StageCost::ConstPtr stage_cost, StageEqualityConstraint::ConstPtr stage_eq, StageInequalityConstraint::ConstPtr stage_ineq, int k, VectorVertex &x_k, VectorVertex &u_k, ScalarVertex &time, VectorVertex &x_kp1, double dt)

void	precompute () override

void	setIntegrator (NumericalIntegratorExplicitInterface::Ptr integrator)

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	configureIntegrand ()

Private Attributes
Eigen::VectorXd	_current

double	_dt = 0.1

int	_dyn_dim = 0

SystemDynamicsInterface::Ptr	_dynamics

int	_ineq_dim = 0

std::function< void(const Eigen::VectorXd &, Eigen::Ref< Eigen::VectorXd >)>	_integrand

NumericalIntegratorExplicitInterface::Ptr	_integrator

int	_k = 0

int	_obj_dim = 0

int	_other_eq_dim = 0

StageCost::ConstPtr	_stage_cost

StageEqualityConstraint::ConstPtr	_stage_eq

StageInequalityConstraint::ConstPtr	_stage_ineq

const ScalarVertex *	_timevert = nullptr

const VectorVertex *	_ukvert = nullptr

Eigen::VectorXd	_values

const VectorVertex *	_xkvert = nullptr

const VectorVertex *	_xnextvert = 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 327 of file multiple_shooting_edges.h.

Member Typedef Documentation

◆ Ptr

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

Definition at line 330 of file multiple_shooting_edges.h.

◆ UPtr

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

Definition at line 331 of file multiple_shooting_edges.h.

Constructor & Destructor Documentation

◆ MultipleShootingEdgeSingleControlTimeScaling()

corbo::MultipleShootingEdgeSingleControlTimeScaling::MultipleShootingEdgeSingleControlTimeScaling	(	SystemDynamicsInterface::Ptr	dynamics,
		StageCost::ConstPtr	stage_cost,
		StageEqualityConstraint::ConstPtr	stage_eq,
		StageInequalityConstraint::ConstPtr	stage_ineq,
		int	k,
		VectorVertex &	x_k,
		VectorVertex &	u_k,
		ScalarVertex &	time,
		VectorVertex &	x_kp1,
		double	dt
	)

inlineexplicit

Definition at line 333 of file multiple_shooting_edges.h.

Member Function Documentation

◆ computeEqualityValues()

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

inlineoverridevirtual

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

Definition at line 406 of file multiple_shooting_edges.h.

◆ computeInequalityValues()

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

inlineoverridevirtual

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

Definition at line 415 of file multiple_shooting_edges.h.

◆ computeObjectiveValues()

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

inlineoverridevirtual

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

Definition at line 402 of file multiple_shooting_edges.h.

◆ configureIntegrand()

void corbo::MultipleShootingEdgeSingleControlTimeScaling::configureIntegrand ( )

inlineprotected

Definition at line 423 of file multiple_shooting_edges.h.

◆ getEqualityDimension()

int corbo::MultipleShootingEdgeSingleControlTimeScaling::getEqualityDimension ( ) const

inlineoverridevirtual

Implements corbo::BaseMixedEdge.

Definition at line 368 of file multiple_shooting_edges.h.

◆ getInequalityDimension()

int corbo::MultipleShootingEdgeSingleControlTimeScaling::getInequalityDimension ( ) const

inlineoverridevirtual

Implements corbo::BaseMixedEdge.

Definition at line 370 of file multiple_shooting_edges.h.

◆ getObjectiveDimension()

int corbo::MultipleShootingEdgeSingleControlTimeScaling::getObjectiveDimension ( ) const

inlineoverridevirtual

Implements corbo::BaseMixedEdge.

Definition at line 366 of file multiple_shooting_edges.h.

◆ isEqualityLinear()

bool corbo::MultipleShootingEdgeSingleControlTimeScaling::isEqualityLinear ( ) const

inlineoverridevirtual

Reimplemented from corbo::BaseMixedEdge.

Definition at line 375 of file multiple_shooting_edges.h.

◆ isInequalityLinear()

bool corbo::MultipleShootingEdgeSingleControlTimeScaling::isInequalityLinear ( ) const

inlineoverridevirtual

Reimplemented from corbo::BaseMixedEdge.

Definition at line 376 of file multiple_shooting_edges.h.

◆ isObjectiveLeastSquaresForm()

bool corbo::MultipleShootingEdgeSingleControlTimeScaling::isObjectiveLeastSquaresForm ( ) const

inlineoverridevirtual

Implements corbo::BaseMixedEdge.

Definition at line 381 of file multiple_shooting_edges.h.

◆ isObjectiveLinear()

bool corbo::MultipleShootingEdgeSingleControlTimeScaling::isObjectiveLinear ( ) const

inlineoverridevirtual

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

Reimplemented from corbo::BaseMixedEdge.

Definition at line 374 of file multiple_shooting_edges.h.

◆ precompute()

void corbo::MultipleShootingEdgeSingleControlTimeScaling::precompute ( )

inlineoverridevirtual

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

Definition at line 383 of file multiple_shooting_edges.h.

◆ setIntegrator()

void corbo::MultipleShootingEdgeSingleControlTimeScaling::setIntegrator ( NumericalIntegratorExplicitInterface::Ptr integrator )

inline

Definition at line 420 of file multiple_shooting_edges.h.

Member Data Documentation

◆ _current

Eigen::VectorXd corbo::MultipleShootingEdgeSingleControlTimeScaling::_current

private

Definition at line 468 of file multiple_shooting_edges.h.

◆ _dt

double corbo::MultipleShootingEdgeSingleControlTimeScaling::_dt = 0.1

private

Definition at line 480 of file multiple_shooting_edges.h.

◆ _dyn_dim

int corbo::MultipleShootingEdgeSingleControlTimeScaling::_dyn_dim = 0

private

Definition at line 463 of file multiple_shooting_edges.h.

◆ _dynamics

SystemDynamicsInterface::Ptr corbo::MultipleShootingEdgeSingleControlTimeScaling::_dynamics

private

Definition at line 477 of file multiple_shooting_edges.h.

◆ _ineq_dim

int corbo::MultipleShootingEdgeSingleControlTimeScaling::_ineq_dim = 0

private

Definition at line 466 of file multiple_shooting_edges.h.

◆ _integrand

std::function<void(const Eigen::VectorXd&, Eigen::Ref<Eigen::VectorXd>)> corbo::MultipleShootingEdgeSingleControlTimeScaling::_integrand

private

Definition at line 471 of file multiple_shooting_edges.h.

◆ _integrator

NumericalIntegratorExplicitInterface::Ptr corbo::MultipleShootingEdgeSingleControlTimeScaling::_integrator

private

Definition at line 478 of file multiple_shooting_edges.h.

◆ _k

int corbo::MultipleShootingEdgeSingleControlTimeScaling::_k = 0

private

Definition at line 482 of file multiple_shooting_edges.h.

◆ _obj_dim

int corbo::MultipleShootingEdgeSingleControlTimeScaling::_obj_dim = 0

private

Definition at line 464 of file multiple_shooting_edges.h.

◆ _other_eq_dim

int corbo::MultipleShootingEdgeSingleControlTimeScaling::_other_eq_dim = 0

private

Definition at line 465 of file multiple_shooting_edges.h.

◆ _stage_cost

StageCost::ConstPtr corbo::MultipleShootingEdgeSingleControlTimeScaling::_stage_cost

private

Definition at line 473 of file multiple_shooting_edges.h.

◆ _stage_eq

StageEqualityConstraint::ConstPtr corbo::MultipleShootingEdgeSingleControlTimeScaling::_stage_eq

private

Definition at line 474 of file multiple_shooting_edges.h.

◆ _stage_ineq

StageInequalityConstraint::ConstPtr corbo::MultipleShootingEdgeSingleControlTimeScaling::_stage_ineq

private

Definition at line 475 of file multiple_shooting_edges.h.

◆ _timevert

const ScalarVertex* corbo::MultipleShootingEdgeSingleControlTimeScaling::_timevert = nullptr

private

Definition at line 460 of file multiple_shooting_edges.h.

◆ _ukvert

const VectorVertex* corbo::MultipleShootingEdgeSingleControlTimeScaling::_ukvert = nullptr

private

Definition at line 459 of file multiple_shooting_edges.h.

◆ _values

Eigen::VectorXd corbo::MultipleShootingEdgeSingleControlTimeScaling::_values

private

Definition at line 469 of file multiple_shooting_edges.h.

◆ _xkvert

const VectorVertex* corbo::MultipleShootingEdgeSingleControlTimeScaling::_xkvert = nullptr

private

Definition at line 458 of file multiple_shooting_edges.h.

◆ _xnextvert

const VectorVertex* corbo::MultipleShootingEdgeSingleControlTimeScaling::_xnextvert = nullptr

private

Definition at line 461 of file multiple_shooting_edges.h.

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

multiple_shooting_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

◆ MultipleShootingEdgeSingleControlTimeScaling()

Member Function Documentation

◆ computeEqualityValues()

◆ computeInequalityValues()

◆ computeObjectiveValues()

◆ configureIntegrand()

◆ getEqualityDimension()

◆ getInequalityDimension()

◆ getObjectiveDimension()

◆ isEqualityLinear()

◆ isInequalityLinear()

◆ isObjectiveLeastSquaresForm()

◆ isObjectiveLinear()

◆ precompute()

◆ setIntegrator()

Member Data Documentation

◆ _current

◆ _dt

◆ _dyn_dim

◆ _dynamics

◆ _ineq_dim

◆ _integrand

◆ _integrator

◆ _k

◆ _obj_dim

◆ _other_eq_dim

◆ _stage_cost

◆ _stage_eq

◆ _stage_ineq

◆ _timevert

◆ _ukvert

◆ _values

◆ _xkvert

◆ _xnextvert