#include <optimal_control_problem_interface.h>

Inheritance diagram for corbo::OptimalControlProblemInterface:

Public Types
using	ControlVector = Eigen::VectorXd

using	Ptr = std::shared_ptr< OptimalControlProblemInterface >

using	StateVector = Eigen::VectorXd

using	UPtr = std::unique_ptr< OptimalControlProblemInterface >

Public Member Functions
virtual bool	compute (const StateVector &x, ReferenceTrajectoryInterface &xref, ReferenceTrajectoryInterface &uref, ReferenceTrajectoryInterface sref, const Time &t, bool new_run=true, SignalTargetInterface signal_target=nullptr, ReferenceTrajectoryInterface xinit=nullptr, ReferenceTrajectoryInterface uinit=nullptr, const std::string &ns="")=0

virtual int	getControlInputDimension () const =0

virtual double	getCurrentObjectiveValue ()

virtual bool	getFirstControlInput (ControlVector &u0) const =0

virtual double	getFirstDt () const =0

virtual Ptr	getInstance () const =0

virtual int	getN () const =0

virtual int	getStateDimension () const =0

virtual OptimalControlProblemStatistics::Ptr	getStatistics () const

virtual void	getTimeSeries (TimeSeries::Ptr x_sequence, TimeSeries::Ptr u_sequence, double t_max=CORBO_INF_DBL)=0

virtual bool	initialize ()

virtual bool	isConstantControlAction () const =0

virtual bool	providesFutureControls () const =0

virtual bool	providesFutureStates () const =0

virtual void	reset ()=0

virtual void	setPreviousControlInput (const Eigen::Ref< const ControlVector > &u_prev, double dt)

virtual void	setPreviousControlInputDt (double dt)

virtual	~OptimalControlProblemInterface ()

Detailed Description

Definition at line 66 of file optimal_control_problem_interface.h.

Member Typedef Documentation

◆ ControlVector

using corbo::OptimalControlProblemInterface::ControlVector = Eigen::VectorXd

Definition at line 94 of file optimal_control_problem_interface.h.

◆ Ptr

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

Definition at line 91 of file optimal_control_problem_interface.h.

◆ StateVector

using corbo::OptimalControlProblemInterface::StateVector = Eigen::VectorXd

Definition at line 93 of file optimal_control_problem_interface.h.

◆ UPtr

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

Definition at line 92 of file optimal_control_problem_interface.h.

Constructor & Destructor Documentation

◆ ~OptimalControlProblemInterface()

virtual corbo::OptimalControlProblemInterface::~OptimalControlProblemInterface ( )

inlinevirtual

Definition at line 96 of file optimal_control_problem_interface.h.

Member Function Documentation

◆ compute()

virtual bool corbo::OptimalControlProblemInterface::compute	(	const StateVector &	x,
		ReferenceTrajectoryInterface &	xref,
		ReferenceTrajectoryInterface &	uref,
		ReferenceTrajectoryInterface *	sref,
		const Time &	t,
		bool	new_run = `true`,
		SignalTargetInterface *	signal_target = `nullptr`,
		ReferenceTrajectoryInterface *	xinit = `nullptr`,
		ReferenceTrajectoryInterface *	uinit = `nullptr`,
		const std::string &	ns = `""`
	)

pure virtual

Implemented in corbo::StructuredOptimalControlProblem.

◆ getControlInputDimension()

virtual int corbo::OptimalControlProblemInterface::getControlInputDimension ( ) const

pure virtual

Implemented in corbo::StructuredOptimalControlProblem.

◆ getCurrentObjectiveValue()

virtual double corbo::OptimalControlProblemInterface::getCurrentObjectiveValue ( )

inlinevirtual

Reimplemented in corbo::StructuredOptimalControlProblem.

Definition at line 118 of file optimal_control_problem_interface.h.

◆ getFirstControlInput()

virtual bool corbo::OptimalControlProblemInterface::getFirstControlInput ( ControlVector & u0 ) const

pure virtual

Implemented in corbo::StructuredOptimalControlProblem.

◆ getFirstDt()

virtual double corbo::OptimalControlProblemInterface::getFirstDt ( ) const

pure virtual

Implemented in corbo::StructuredOptimalControlProblem.

◆ getInstance()

virtual Ptr corbo::OptimalControlProblemInterface::getInstance ( ) const

pure virtual

Implemented in corbo::StructuredOptimalControlProblem.

◆ getN()

virtual int corbo::OptimalControlProblemInterface::getN ( ) const

pure virtual

Implemented in corbo::StructuredOptimalControlProblem.

◆ getStateDimension()

virtual int corbo::OptimalControlProblemInterface::getStateDimension ( ) const

pure virtual

Implemented in corbo::StructuredOptimalControlProblem.

◆ getStatistics()

virtual OptimalControlProblemStatistics::Ptr corbo::OptimalControlProblemInterface::getStatistics ( ) const

inlinevirtual

Reimplemented in corbo::StructuredOptimalControlProblem.

Definition at line 130 of file optimal_control_problem_interface.h.

◆ getTimeSeries()

virtual void corbo::OptimalControlProblemInterface::getTimeSeries	(	TimeSeries::Ptr	x_sequence,
		TimeSeries::Ptr	u_sequence,
		double	t_max = `CORBO_INF_DBL`
	)