#include <structured_optimal_control_problem.h>

Inheritance diagram for corbo::StructuredOptimalControlProblem:

Public Types
using	ControlVector = Eigen::VectorXd

using	Ptr = std::shared_ptr< StructuredOptimalControlProblem >

using	StateVector = Eigen::VectorXd

using	UPtr = std::unique_ptr< StructuredOptimalControlProblem >

Public Types inherited from corbo::OptimalControlProblemInterface
using	ControlVector = Eigen::VectorXd

using	Ptr = std::shared_ptr< OptimalControlProblemInterface >

using	StateVector = Eigen::VectorXd

using	UPtr = std::unique_ptr< OptimalControlProblemInterface >

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

int	getControlInputDimension () const override

double	getCurrentObjectiveValue () override

DiscretizationGridInterface::Ptr	getDiscretizationGrid ()

bool	getFirstControlInput (ControlVector &u0) const override

double	getFirstDt () const override

OptimalControlProblemInterface::Ptr	getInstance () const override

int	getN () const override

const NlpFunctions &	getNlpFunctions () const

int	getStateDimension () const override

OptimalControlProblemStatistics::Ptr	getStatistics () const override

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

bool	initialize () override

bool	isConstantControlAction () const override

bool	providesFutureControls () const override

bool	providesFutureStates () const override

void	reset () override

void	setBounds (const Eigen::VectorXd &x_lb, const Eigen::VectorXd &x_ub, const Eigen::VectorXd &u_lb, const Eigen::VectorXd &u_ub)

void	setControlBounds (const Eigen::VectorXd &u_lb, const Eigen::VectorXd &u_ub)

void	setDiscretizationGrid (DiscretizationGridInterface::Ptr grid)

void	setFinalStageConstraint (FinalStageConstraint::Ptr final_stage_constraint)

void	setFinalStageCost (FinalStageCost::Ptr final_stage_cost)

void	setHyperGraphOptimizationProblem (BaseHyperGraphOptimizationProblem::Ptr optim_prob)

void	setOptimizedTimeSeriesDt (double dt)

void	setOptimizedTimeSeriesTf (double tf)

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

void	setPreviousControlInputDt (double dt) override

void	setSolver (NlpSolverInterface::Ptr solver)

void	setStageCost (StageCost::Ptr stage_cost)

void	setStageEqualityConstraint (StageEqualityConstraint::Ptr stage_eq)

void	setStageInequalityConstraint (StageInequalityConstraint::Ptr stage_ineq)

void	setStagePreprocessor (StagePreprocessor::Ptr stage_preprocessor)

void	setStateBounds (const Eigen::VectorXd &x_lb, const Eigen::VectorXd &x_ub)

void	setStatisticsObject (OptimalControlProblemStatistics::Ptr statistics)

void	setSystemDynamics (SystemDynamicsInterface::Ptr dynamics)

	StructuredOptimalControlProblem ()

	StructuredOptimalControlProblem (DiscretizationGridInterface::Ptr grid, SystemDynamicsInterface::Ptr dynamics, BaseHyperGraphOptimizationProblem::Ptr optim_prob, NlpSolverInterface::Ptr solver)

virtual	~StructuredOptimalControlProblem ()

Public Member Functions inherited from corbo::OptimalControlProblemInterface
virtual	~OptimalControlProblemInterface ()

Protected Attributes
SystemDynamicsInterface::Ptr	_dynamics

OptimizationEdgeSet::Ptr	_edges = std::make_shared<OptimizationEdgeSet>()

NlpFunctions	_functions

DiscretizationGridInterface::Ptr	_grid

bool	_increase_n_if_infeas = false

double	_objective_value = -1

bool	_ocp_modified = true

BaseHyperGraphOptimizationProblem::Ptr	_optim_prob

double	_resample_dt_hint = -1

double	_resample_tf = -1

NlpSolverInterface::Ptr	_solver

OptimalControlProblemStatistics::Ptr	_statistics

double	_ts_dt_cache = 0

TimeSeries::Ptr	_ts_u_cache

TimeSeries::Ptr	_ts_x_cache

ControlVector	_u_prev

double	_u_prev_dt = 0

Detailed Description

Definition at line 62 of file structured_optimal_control_problem.h.

Member Typedef Documentation

◆ ControlVector

using corbo::StructuredOptimalControlProblem::ControlVector = Eigen::VectorXd

Definition at line 90 of file structured_optimal_control_problem.h.

◆ Ptr

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

Definition at line 87 of file structured_optimal_control_problem.h.

◆ StateVector

using corbo::StructuredOptimalControlProblem::StateVector = Eigen::VectorXd

Definition at line 89 of file structured_optimal_control_problem.h.

◆ UPtr

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

Definition at line 88 of file structured_optimal_control_problem.h.

Constructor & Destructor Documentation

◆ StructuredOptimalControlProblem() [1/2]

StructuredOptimalControlProblem::StructuredOptimalControlProblem ( )

Definition at line 63 of file structured_optimal_control_problem.cpp.

◆ StructuredOptimalControlProblem() [2/2]

StructuredOptimalControlProblem::StructuredOptimalControlProblem	(	DiscretizationGridInterface::Ptr	grid,
		SystemDynamicsInterface::Ptr	dynamics,
		BaseHyperGraphOptimizationProblem::Ptr	optim_prob,
		NlpSolverInterface::Ptr	solver
	)

Definition at line 65 of file structured_optimal_control_problem.cpp.

◆ ~StructuredOptimalControlProblem()

virtual corbo::StructuredOptimalControlProblem::~StructuredOptimalControlProblem ( )

inlinevirtual

Definition at line 96 of file structured_optimal_control_problem.h.

Member Function Documentation

◆ compute()

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

overridevirtual

Implements corbo::OptimalControlProblemInterface.

Definition at line 99 of file structured_optimal_control_problem.cpp.

◆ getControlInputDimension()

int corbo::StructuredOptimalControlProblem::getControlInputDimension ( ) const

inlineoverridevirtual

Implements corbo::OptimalControlProblemInterface.

Definition at line 100 of file structured_optimal_control_problem.h.

◆ getCurrentObjectiveValue()

double corbo::StructuredOptimalControlProblem::getCurrentObjectiveValue ( )

inlineoverridevirtual

Reimplemented from corbo::OptimalControlProblemInterface.

Definition at line 194 of file structured_optimal_control_problem.h.

◆ getDiscretizationGrid()

DiscretizationGridInterface::Ptr corbo::StructuredOptimalControlProblem::getDiscretizationGrid ( )

inline

Definition at line 171 of file structured_optimal_control_problem.h.

◆ getFirstControlInput()

bool StructuredOptimalControlProblem::getFirstControlInput ( ControlVector & u0 ) const

overridevirtual

Implements corbo::OptimalControlProblemInterface.

Definition at line 178 of file structured_optimal_control_problem.cpp.

◆ getFirstDt()

double corbo::StructuredOptimalControlProblem::getFirstDt ( ) const

inlineoverridevirtual

Implements corbo::OptimalControlProblemInterface.

Definition at line 103 of file structured_optimal_control_problem.h.

◆ getInstance()

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

inlineoverridevirtual

Implements corbo::OptimalControlProblemInterface.

Definition at line 98 of file structured_optimal_control_problem.h.

◆ getN()

int corbo::StructuredOptimalControlProblem::getN ( ) const

inlineoverridevirtual

Implements corbo::OptimalControlProblemInterface.

Definition at line 102 of file structured_optimal_control_problem.h.

◆ getNlpFunctions()

const NlpFunctions& corbo::StructuredOptimalControlProblem::getNlpFunctions ( ) const

inline

Definition at line 196 of file structured_optimal_control_problem.h.

◆ getStateDimension()

int corbo::StructuredOptimalControlProblem::getStateDimension ( ) const

inlineoverridevirtual

Implements corbo::OptimalControlProblemInterface.

Definition at line 101 of file structured_optimal_control_problem.h.

◆ getStatistics()

OptimalControlProblemStatistics::Ptr corbo::StructuredOptimalControlProblem::getStatistics ( ) const

inlineoverridevirtual

Reimplemented from corbo::OptimalControlProblemInterface.

Definition at line 190 of file structured_optimal_control_problem.h.

◆ getTimeSeries()

void StructuredOptimalControlProblem::getTimeSeries	(	TimeSeries::Ptr	x_sequence,
		TimeSeries::Ptr	u_sequence,
		double	t_max = `CORBO_INF_DBL`
	)

overridevirtual

Implements corbo::OptimalControlProblemInterface.

Definition at line 211 of file structured_optimal_control_problem.cpp.

◆ initialize()

bool StructuredOptimalControlProblem::initialize ( )

overridevirtual

Reimplemented from corbo::OptimalControlProblemInterface.

Definition at line 76 of file structured_optimal_control_problem.cpp.

◆ isConstantControlAction()

bool corbo::StructuredOptimalControlProblem::isConstantControlAction ( ) const

inlineoverridevirtual

Implements corbo::OptimalControlProblemInterface.

Definition at line 104 of file structured_optimal_control_problem.h.

◆ providesFutureControls()

bool StructuredOptimalControlProblem::providesFutureControls ( ) const

overridevirtual

Implements corbo::OptimalControlProblemInterface.

Definition at line 72 of file structured_optimal_control_problem.cpp.

◆ providesFutureStates()

bool StructuredOptimalControlProblem::providesFutureStates ( ) const

overridevirtual

Implements corbo::OptimalControlProblemInterface.

Definition at line 74 of file structured_optimal_control_problem.cpp.

◆ reset()

void StructuredOptimalControlProblem::reset ( )

overridevirtual

Implements corbo::OptimalControlProblemInterface.

Definition at line 221 of file structured_optimal_control_problem.cpp.

◆ setBounds()

void StructuredOptimalControlProblem::setBounds	(	const Eigen::VectorXd &	x_lb,
		const Eigen::VectorXd &	x_ub,
		const Eigen::VectorXd &	u_lb,
		const Eigen::VectorXd &	u_ub
	)

Definition at line 187 of file structured_optimal_control_problem.cpp.

◆ setControlBounds()

void StructuredOptimalControlProblem::setControlBounds	(	const Eigen::VectorXd &	u_lb,
		const Eigen::VectorXd &	u_ub
	)

Definition at line 204 of file structured_optimal_control_problem.cpp.

◆ setDiscretizationGrid()

void corbo::StructuredOptimalControlProblem::setDiscretizationGrid ( DiscretizationGridInterface::Ptr grid )

inline

Definition at line 165 of file structured_optimal_control_problem.h.

◆ setFinalStageConstraint()

void corbo::StructuredOptimalControlProblem::setFinalStageConstraint ( FinalStageConstraint::Ptr final_stage_constraint )

inline

Definition at line 153 of file structured_optimal_control_problem.h.

◆ setFinalStageCost()

void corbo::StructuredOptimalControlProblem::setFinalStageCost ( FinalStageCost::Ptr final_stage_cost )

inline

Definition at line 135 of file structured_optimal_control_problem.h.

◆ setHyperGraphOptimizationProblem()

void corbo::StructuredOptimalControlProblem::setHyperGraphOptimizationProblem ( BaseHyperGraphOptimizationProblem::Ptr optim_prob )

inline

Definition at line 174 of file structured_optimal_control_problem.h.

◆ setOptimizedTimeSeriesDt()

void corbo::StructuredOptimalControlProblem::setOptimizedTimeSeriesDt ( double dt )

inline

Definition at line 186 of file structured_optimal_control_problem.h.

◆ setOptimizedTimeSeriesTf()

void corbo::StructuredOptimalControlProblem::setOptimizedTimeSeriesTf ( double tf )

inline

Definition at line 187 of file structured_optimal_control_problem.h.

◆ setPreviousControlInput()

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

inlineoverridevirtual

Reimplemented from corbo::OptimalControlProblemInterface.

Definition at line 117 of file structured_optimal_control_problem.h.

◆ setPreviousControlInputDt()

void corbo::StructuredOptimalControlProblem::setPreviousControlInputDt ( double dt )

inlineoverridevirtual

Reimplemented from corbo::OptimalControlProblemInterface.

Definition at line 123 of file structured_optimal_control_problem.h.

◆ setSolver()

void corbo::StructuredOptimalControlProblem::setSolver ( NlpSolverInterface::Ptr solver )

inline

Definition at line 180 of file structured_optimal_control_problem.h.

◆ setStageCost()

void corbo::StructuredOptimalControlProblem::setStageCost ( StageCost::Ptr stage_cost )

inline

Definition at line 129 of file structured_optimal_control_problem.h.

◆ setStageEqualityConstraint()

void corbo::StructuredOptimalControlProblem::setStageEqualityConstraint ( StageEqualityConstraint::Ptr stage_eq )

inline

Definition at line 141 of file structured_optimal_control_problem.h.

◆ setStageInequalityConstraint()

void corbo::StructuredOptimalControlProblem::setStageInequalityConstraint ( StageInequalityConstraint::Ptr stage_ineq )

inline

Definition at line 147 of file structured_optimal_control_problem.h.

◆ setStagePreprocessor()

void corbo::StructuredOptimalControlProblem::setStagePreprocessor ( StagePreprocessor::Ptr stage_preprocessor )

inline

Definition at line 159 of file structured_optimal_control_problem.h.

◆ setStateBounds()

void StructuredOptimalControlProblem::setStateBounds	(	const Eigen::VectorXd &	x_lb,
		const Eigen::VectorXd &	x_ub
	)

Definition at line 197 of file structured_optimal_control_problem.cpp.

◆ setStatisticsObject()

void corbo::StructuredOptimalControlProblem::setStatisticsObject ( OptimalControlProblemStatistics::Ptr statistics )

inline

Definition at line 189 of file structured_optimal_control_problem.h.

◆ setSystemDynamics()

void corbo::StructuredOptimalControlProblem::setSystemDynamics ( SystemDynamicsInterface::Ptr dynamics )

inline

Definition at line 173 of file structured_optimal_control_problem.h.

Member Data Documentation

◆ _dynamics

SystemDynamicsInterface::Ptr corbo::StructuredOptimalControlProblem::_dynamics

protected

Definition at line 210 of file structured_optimal_control_problem.h.

◆ _edges

OptimizationEdgeSet::Ptr corbo::StructuredOptimalControlProblem::_edges = std::make_shared<OptimizationEdgeSet>()

protected

Definition at line 208 of file structured_optimal_control_problem.h.

◆ _functions

NlpFunctions corbo::StructuredOptimalControlProblem::_functions

protected

Definition at line 206 of file structured_optimal_control_problem.h.

◆ _grid

DiscretizationGridInterface::Ptr corbo::StructuredOptimalControlProblem::_grid

protected

Definition at line 207 of file structured_optimal_control_problem.h.

◆ _increase_n_if_infeas

bool corbo::StructuredOptimalControlProblem::_increase_n_if_infeas = false

protected

Definition at line 228 of file structured_optimal_control_problem.h.

◆ _objective_value

double corbo::StructuredOptimalControlProblem::_objective_value = -1

protected

Definition at line 214 of file structured_optimal_control_problem.h.

◆ _ocp_modified

bool corbo::StructuredOptimalControlProblem::_ocp_modified = true

protected

Definition at line 223 of file structured_optimal_control_problem.h.

◆ _optim_prob

BaseHyperGraphOptimizationProblem::Ptr corbo::StructuredOptimalControlProblem::_optim_prob

protected

Definition at line 209 of file structured_optimal_control_problem.h.

◆ _resample_dt_hint

double corbo::StructuredOptimalControlProblem::_resample_dt_hint = -1

protected

Definition at line 225 of file structured_optimal_control_problem.h.

◆ _resample_tf

double corbo::StructuredOptimalControlProblem::_resample_tf = -1

protected

Definition at line 226 of file structured_optimal_control_problem.h.

◆ _solver

NlpSolverInterface::Ptr corbo::StructuredOptimalControlProblem::_solver

protected

Definition at line 211 of file structured_optimal_control_problem.h.

◆ _statistics

OptimalControlProblemStatistics::Ptr corbo::StructuredOptimalControlProblem::_statistics

protected

Definition at line 212 of file structured_optimal_control_problem.h.

◆ _ts_dt_cache

double corbo::StructuredOptimalControlProblem::_ts_dt_cache = 0

protected

Definition at line 221 of file structured_optimal_control_problem.h.

◆ _ts_u_cache

TimeSeries::Ptr corbo::StructuredOptimalControlProblem::_ts_u_cache

protected

Definition at line 219 of file structured_optimal_control_problem.h.

◆ _ts_x_cache

TimeSeries::Ptr corbo::StructuredOptimalControlProblem::_ts_x_cache

protected

Definition at line 220 of file structured_optimal_control_problem.h.

◆ _u_prev

ControlVector corbo::StructuredOptimalControlProblem::_u_prev

protected

Definition at line 216 of file structured_optimal_control_problem.h.

◆ _u_prev_dt

double corbo::StructuredOptimalControlProblem::_u_prev_dt = 0

protected

Definition at line 217 of file structured_optimal_control_problem.h.

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

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ControlVector

◆ Ptr

◆ StateVector

◆ UPtr

Constructor & Destructor Documentation

◆ StructuredOptimalControlProblem() [1/2]

◆ StructuredOptimalControlProblem() [2/2]

◆ ~StructuredOptimalControlProblem()

Member Function Documentation

◆ compute()

◆ getControlInputDimension()

◆ getCurrentObjectiveValue()

◆ getDiscretizationGrid()

◆ getFirstControlInput()

◆ getFirstDt()

◆ getInstance()

◆ getN()

◆ getNlpFunctions()

◆ getStateDimension()

◆ getStatistics()

◆ getTimeSeries()

◆ initialize()

◆ isConstantControlAction()

◆ providesFutureControls()

◆ providesFutureStates()

◆ reset()

◆ setBounds()

◆ setControlBounds()

◆ setDiscretizationGrid()

◆ setFinalStageConstraint()

◆ setFinalStageCost()

◆ setHyperGraphOptimizationProblem()

◆ setOptimizedTimeSeriesDt()

◆ setOptimizedTimeSeriesTf()

◆ setPreviousControlInput()

◆ setPreviousControlInputDt()

◆ setSolver()

◆ setStageCost()

◆ setStageEqualityConstraint()

◆ setStageInequalityConstraint()

◆ setStagePreprocessor()

◆ setStateBounds()

◆ setStatisticsObject()

◆ setSystemDynamics()

Member Data Documentation

◆ _dynamics

◆ _edges

◆ _functions

◆ _grid

◆ _increase_n_if_infeas

◆ _objective_value

◆ _ocp_modified

◆ _optim_prob

◆ _resample_dt_hint

◆ _resample_tf

◆ _solver

◆ _statistics

◆ _ts_dt_cache

◆ _ts_u_cache

◆ _ts_x_cache

◆ _u_prev

◆ _u_prev_dt