#include <collocation_edges.h>

Inheritance diagram for corbo::CombinedUncompressedCollocationEdge:

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

using	UPtr = std::unique_ptr< CombinedUncompressedCollocationEdge >

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

using	Ptr = std::shared_ptr< MixedEdge >

using	UPtr = std::unique_ptr< MixedEdge >

using	VertexContainer = std::vector< VertexInterface * >
	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
	CombinedUncompressedCollocationEdge (SystemDynamicsInterface::Ptr dynamics, QuadratureCollocationInterface::Ptr quadrature, StageCost::Ptr stage_cost, StageEqualityConstraint::Ptr stage_eq, StageInequalityConstraint::Ptr stage_ineq, bool eval_intermediate_constr, int k)

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

void	finalize ()

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

virtual	~CombinedUncompressedCollocationEdge ()

Public Member Functions inherited from corbo::MixedEdge<>
int	getNumVertices () const override
	Return number of attached vertices. More...

const VertexInterface *	getVertex (int idx) const override

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

	MixedEdge ()

	MixedEdge (int num_vertices)

void	resizeVertexContainer (int n)
	Set number `n` of vertices attached to this edge. More...

void	setVertex (int idx, VertexInterface &vertex)

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...

int	getEdgeEqualityIdx () const

int	getEdgeInequalityIdx () const

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

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

virtual double	computeSumOfValues ()

int	getNumFiniteVerticesLowerBounds () const

int	getNumFiniteVerticesUpperBounds () const

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

Protected Member Functions
void	activateIntermediateConstraints ()

void	clearInternalBuffer ()

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_nonint_eq = 0

int	_dim_nonint_ineq = 0

int	_dim_obj = 1

const ScalarVertex *	_dt = nullptr

SystemDynamicsInterface::Ptr	_dynamics

Eigen::VectorXd	_dynamics_quadrature

bool	_eval_intermediate_constr = false

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

bool	_intermediate_u_internal_buf = false

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

int	_k = 0

Eigen::VectorXd	_midpoint_error

int	_num_intermediate_points = 0

StageCost::Ptr	_stage_cost

StageEqualityConstraint::Ptr	_stage_eq

StageInequalityConstraint::Ptr	_stage_ineq

const VectorVertex *	_u1 = nullptr

const VectorVertex *	_u2 = nullptr

const VectorVertex *	_x1 = nullptr

const VectorVertex *	_x2 = nullptr

Additional Inherited Members
Protected Attributes inherited from corbo::MixedEdge<>
VertexContainer	_vertices
	Vertex container. More...

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

int	_edge_idx_ineq = 0

int	_edge_idx_obj = 0

EdgeCache	_equality_cache

EdgeCache	_inequality_cache

EdgeCache	_objective_cache

Detailed Description

Definition at line 1392 of file collocation_edges.h.

Member Typedef Documentation

◆ Ptr

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

Definition at line 1395 of file collocation_edges.h.

◆ UPtr

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

Definition at line 1396 of file collocation_edges.h.

Constructor & Destructor Documentation

◆ CombinedUncompressedCollocationEdge()

corbo::CombinedUncompressedCollocationEdge::CombinedUncompressedCollocationEdge	(	SystemDynamicsInterface::Ptr	dynamics,
		QuadratureCollocationInterface::Ptr	quadrature,
		StageCost::Ptr	stage_cost,
		StageEqualityConstraint::Ptr	stage_eq,
		StageInequalityConstraint::Ptr	stage_ineq,
		bool	eval_intermediate_constr,
		int	k
	)

inlineexplicit

Definition at line 1398 of file collocation_edges.h.

◆ ~CombinedUncompressedCollocationEdge()

virtual corbo::CombinedUncompressedCollocationEdge::~CombinedUncompressedCollocationEdge ( )

inlinevirtual

Definition at line 1413 of file collocation_edges.h.

Member Function Documentation

◆ activateIntermediateConstraints()

void corbo::CombinedUncompressedCollocationEdge::activateIntermediateConstraints ( )

inlineprotected

Definition at line 1574 of file collocation_edges.h.

◆ clearInternalBuffer()

void corbo::CombinedUncompressedCollocationEdge::clearInternalBuffer ( )

inlineprotected

Definition at line 1590 of file collocation_edges.h.

◆ computeEqualityValues()

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

inlineoverridevirtual

Implements corbo::MixedEdge<>.

Definition at line 1514 of file collocation_edges.h.

◆ computeInequalityValues()

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

inlineoverridevirtual

Implements corbo::MixedEdge<>.

Definition at line 1547 of file collocation_edges.h.

◆ computeObjectiveValues()

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

inlineoverridevirtual

Implements corbo::MixedEdge<>.

Definition at line 1504 of file collocation_edges.h.

◆ finalize()

void corbo::CombinedUncompressedCollocationEdge::finalize ( )

inline

Definition at line 1415 of file collocation_edges.h.

◆ getEqualityDimension()

int corbo::CombinedUncompressedCollocationEdge::getEqualityDimension ( ) const

inlineoverridevirtual

Implements corbo::MixedEdge<>.

Definition at line 1472 of file collocation_edges.h.

◆ getInequalityDimension()

int corbo::CombinedUncompressedCollocationEdge::getInequalityDimension ( ) const

inlineoverridevirtual

Implements corbo::MixedEdge<>.

Definition at line 1473 of file collocation_edges.h.

◆ getObjectiveDimension()

int corbo::CombinedUncompressedCollocationEdge::getObjectiveDimension ( ) const

inlineoverridevirtual

Implements corbo::MixedEdge<>.

Definition at line 1470 of file collocation_edges.h.

◆ isEqualityLinear()

bool corbo::CombinedUncompressedCollocationEdge::isEqualityLinear ( ) const

inlineoverridevirtual

Reimplemented from corbo::BaseMixedEdge.

Definition at line 1477 of file collocation_edges.h.

◆ isInequalityLinear()

bool corbo::CombinedUncompressedCollocationEdge::isInequalityLinear ( ) const

inlineoverridevirtual

Reimplemented from corbo::BaseMixedEdge.

Definition at line 1478 of file collocation_edges.h.

◆ isObjectiveLeastSquaresForm()

bool corbo::CombinedUncompressedCollocationEdge::isObjectiveLeastSquaresForm ( ) const

inlineoverridevirtual

Implements corbo::BaseMixedEdge.

Definition at line 1482 of file collocation_edges.h.

◆ isObjectiveLinear()

bool corbo::CombinedUncompressedCollocationEdge::isObjectiveLinear ( ) const

inlineoverridevirtual

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

Reimplemented from corbo::BaseMixedEdge.

Definition at line 1476 of file collocation_edges.h.

◆ precompute()

void corbo::CombinedUncompressedCollocationEdge::precompute ( )

inlineoverridevirtual

Implements corbo::MixedEdge<>.

Definition at line 1484 of file collocation_edges.h.

Member Data Documentation

◆ _collocation

QuadratureCollocationInterface::Ptr corbo::CombinedUncompressedCollocationEdge::_collocation

private

Definition at line 1601 of file collocation_edges.h.

◆ _dim_dyn

int corbo::CombinedUncompressedCollocationEdge::_dim_dyn = 0

private

Definition at line 1612 of file collocation_edges.h.

◆ _dim_eq

int corbo::CombinedUncompressedCollocationEdge::_dim_eq = 0

private

Definition at line 1608 of file collocation_edges.h.

◆ _dim_ineq

int corbo::CombinedUncompressedCollocationEdge::_dim_ineq = 0

private

Definition at line 1610 of file collocation_edges.h.

◆ _dim_int_eq

int corbo::CombinedUncompressedCollocationEdge::_dim_int_eq = 0

private

Definition at line 1609 of file collocation_edges.h.

◆ _dim_int_ineq

int corbo::CombinedUncompressedCollocationEdge::_dim_int_ineq = 0

private

Definition at line 1611 of file collocation_edges.h.

◆ _dim_nonint_eq

int corbo::CombinedUncompressedCollocationEdge::_dim_nonint_eq = 0

private

Definition at line 1614 of file collocation_edges.h.

◆ _dim_nonint_ineq

int corbo::CombinedUncompressedCollocationEdge::_dim_nonint_ineq = 0

private

Definition at line 1615 of file collocation_edges.h.

◆ _dim_obj

int corbo::CombinedUncompressedCollocationEdge::_dim_obj = 1

private

Definition at line 1607 of file collocation_edges.h.

◆ _dt

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

private

Definition at line 1633 of file collocation_edges.h.

◆ _dynamics

SystemDynamicsInterface::Ptr corbo::CombinedUncompressedCollocationEdge::_dynamics

private

Definition at line 1600 of file collocation_edges.h.

◆ _dynamics_quadrature

Eigen::VectorXd corbo::CombinedUncompressedCollocationEdge::_dynamics_quadrature

private

Definition at line 1621 of file collocation_edges.h.

◆ _eval_intermediate_constr

bool corbo::CombinedUncompressedCollocationEdge::_eval_intermediate_constr = false

private

Definition at line 1619 of file collocation_edges.h.

◆ _intermediate_u

std::vector<Eigen::VectorXd*> corbo::CombinedUncompressedCollocationEdge::_intermediate_u

private

Definition at line 1626 of file collocation_edges.h.

◆ _intermediate_u_internal_buf

bool corbo::CombinedUncompressedCollocationEdge::_intermediate_u_internal_buf = false

private

Definition at line 1627 of file collocation_edges.h.

◆ _intermediate_x

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

private

Definition at line 1625 of file collocation_edges.h.

◆ _k

int corbo::CombinedUncompressedCollocationEdge::_k = 0

private

Definition at line 1617 of file collocation_edges.h.

◆ _midpoint_error

Eigen::VectorXd corbo::CombinedUncompressedCollocationEdge::_midpoint_error

private

Definition at line 1622 of file collocation_edges.h.

◆ _num_intermediate_points

int corbo::CombinedUncompressedCollocationEdge::_num_intermediate_points = 0

private

Definition at line 1624 of file collocation_edges.h.

◆ _stage_cost

StageCost::Ptr corbo::CombinedUncompressedCollocationEdge::_stage_cost

private

Definition at line 1603 of file collocation_edges.h.

◆ _stage_eq

StageEqualityConstraint::Ptr corbo::CombinedUncompressedCollocationEdge::_stage_eq

private

Definition at line 1604 of file collocation_edges.h.

◆ _stage_ineq

StageInequalityConstraint::Ptr corbo::CombinedUncompressedCollocationEdge::_stage_ineq

private

Definition at line 1605 of file collocation_edges.h.

◆ _u1

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

private

Definition at line 1630 of file collocation_edges.h.

◆ _u2

const VectorVertex* corbo::CombinedUncompressedCollocationEdge::_u2 = nullptr

private

Definition at line 1631 of file collocation_edges.h.

◆ _x1

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

private

Definition at line 1629 of file collocation_edges.h.

◆ _x2

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

private

Definition at line 1632 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

◆ CombinedUncompressedCollocationEdge()

◆ ~CombinedUncompressedCollocationEdge()

Member Function Documentation

◆ activateIntermediateConstraints()

◆ clearInternalBuffer()

◆ computeEqualityValues()

◆ computeInequalityValues()

◆ computeObjectiveValues()

◆ finalize()

◆ getEqualityDimension()

◆ getInequalityDimension()

◆ getObjectiveDimension()

◆ isEqualityLinear()

◆ isInequalityLinear()

◆ isObjectiveLeastSquaresForm()

◆ isObjectiveLinear()

◆ precompute()

Member Data Documentation

◆ _collocation

◆ _dim_dyn

◆ _dim_eq

◆ _dim_ineq

◆ _dim_int_eq

◆ _dim_int_ineq

◆ _dim_nonint_eq

◆ _dim_nonint_ineq

◆ _dim_obj

◆ _dt

◆ _dynamics

◆ _dynamics_quadrature

◆ _eval_intermediate_constr

◆ _intermediate_u

◆ _intermediate_u_internal_buf

◆ _intermediate_x

◆ _k

◆ _midpoint_error

◆ _num_intermediate_points

◆ _stage_cost

◆ _stage_eq

◆ _stage_ineq

◆ _u1

◆ _u2

◆ _x1

◆ _x2