full_discretization_grid_move_blocking_base.h

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 *
 *  Software License Agreement
 *
 *  Copyright (c) 2020,
 *  TU Dortmund - Institute of Control Theory and Systems Engineering.
 *  All rights reserved.
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 *  This program is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
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 *  Authors: Maximilian Krämer, Christoph Rösmann
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#ifndef SRC_OPTIMAL_CONTROL_INCLUDE_CORBO_OPTIMAL_CONTROL_STRUCTURED_OCP_DISCRETIZATION_GRIDS_FULL_DISCRETIZATION_GRID_MOVE_BLOCKING_BASE_H_
#define SRC_OPTIMAL_CONTROL_INCLUDE_CORBO_OPTIMAL_CONTROL_STRUCTURED_OCP_DISCRETIZATION_GRIDS_FULL_DISCRETIZATION_GRID_MOVE_BLOCKING_BASE_H_
 
#include <corbo-optimal-control/structured_ocp/discretization_grids/full_discretization_grid_base.h>
 
namespace corbo {
 
class FullDiscretizationGridMoveBlockingBase : public FullDiscretizationGridBase
{
 public:
    using Ptr  = std::shared_ptr<FullDiscretizationGridMoveBlockingBase>;
    using UPtr = std::unique_ptr<FullDiscretizationGridMoveBlockingBase>;
 
    FullDiscretizationGridMoveBlockingBase()          = default;
    virtual ~FullDiscretizationGridMoveBlockingBase() = default;
 
    DiscretizationGridInterface::Ptr getInstance() const override = 0;
 
    void getStateAndControlTimeSeries(TimeSeries::Ptr x_sequence, TimeSeries::Ptr u_sequence, double t_max = CORBO_INF_DBL) const override;
 
    bool isValid() const override;
 
    void getBlockingMatrix(Eigen::Ref<Eigen::VectorXi> B) { B = _blocking_vector; }
    void setBlockingMatrix(const Eigen::Ref<const Eigen::VectorXi>& B) { _blocking_vector = B; }
 
    void setWarmStartShiftU(bool shift_u) { _warm_start_shift_u = shift_u; }
 
#ifdef MESSAGE_SUPPORT
    void fromMessage(const messages::DiscretizationGrid& message, std::stringstream* issues) override {}
    void toMessage(messages::DiscretizationGrid& message) const override {}
#endif
 
 protected:
    Eigen::VectorXi _blocking_vector;
    bool _warm_start_shift_u = false;
 
    void initializeSequences(const Eigen::VectorXd& x0, const Eigen::VectorXd& xf, ReferenceTrajectoryInterface& uref,
                             NlpFunctions& nlp_fun) override;
    void initializeSequences(const Eigen::VectorXd& x0, const Eigen::VectorXd& xf, ReferenceTrajectoryInterface& xref,
                             ReferenceTrajectoryInterface& uref, NlpFunctions& nlp_fun) override;
 
    void warmStartShifting(const Eigen::VectorXd& x0) override;
 
    void resampleTrajectory(int n_new) override;
 
    void createEdges(NlpFunctions& nlp_fun, OptimizationEdgeSet& edges, SystemDynamicsInterface::Ptr dynamics) override = 0;
 
    void computeActiveVertices() override;
};
 
}  // namespace corbo
 
#endif  // SRC_OPTIMAL_CONTROL_INCLUDE_CORBO_OPTIMAL_CONTROL_STRUCTURED_OCP_DISCRETIZATION_GRIDS_FULL_DISCRETIZATION_GRID_MOVE_BLOCKING_BASE_H_