corbo::TerminalEqualityConstraint Class Reference

#include <final_state_constraints.h>

Inheritance diagram for corbo::TerminalEqualityConstraint:

Public Types
using	ConstPtr = std::shared_ptr< const TerminalEqualityConstraint >
using	Ptr = std::shared_ptr< TerminalEqualityConstraint >
Public Types inherited from corbo::FinalStageConstraint
using	ConstPtr = std::shared_ptr< const FinalStageConstraint >
using	Ptr = std::shared_ptr< FinalStageConstraint >
Public Types inherited from corbo::StageFunction
using	ConstPtr = std::shared_ptr< const StageFunction >
using	Ptr = std::shared_ptr< StageFunction >

Public Member Functions
bool	checkParameters (int state_dim, int control_dim, FinalStageCost::ConstPtr final_stage_cost, std::stringstream *issues) const override
void	computeNonIntegralStateTerm (int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, Eigen::Ref< Eigen::VectorXd > cost) const override
FinalStageConstraint::Ptr	getInstance () const override
	Return a newly created shared instance of the implemented class. More...
int	getNonIntegralStateTermDimension (int k) const override
const Eigen::VectorXd &	getXRef () const
bool	isEqualityConstraint () const override
void	setXRef (const Eigen::Ref< const Eigen::VectorXd > &xref)
	TerminalEqualityConstraint ()=default
	TerminalEqualityConstraint (const Eigen::Ref< const Eigen::VectorXd > &xref)
bool	update (int n, double t, ReferenceTrajectoryInterface &xref, ReferenceTrajectoryInterface &uref, ReferenceTrajectoryInterface *sref, bool single_dt, const Eigen::VectorXd &x0, FinalStageCost::ConstPtr final_stage_cost, StagePreprocessor::Ptr stage_preprocessor, const std::vector< double > &dts, const DiscretizationGridInterface *) override
Public Member Functions inherited from corbo::FinalStageConstraint
bool	hasIntegralTerms (int k) const final
bool	hasNonIntegralTerms (int k) const final
bool	isInequalityConstraint () const
bool	update (int n, double t, ReferenceTrajectoryInterface &xref, ReferenceTrajectoryInterface &uref, ReferenceTrajectoryInterface *sref, bool single_dt, const Eigen::VectorXd &x0, StagePreprocessor::Ptr stage_preprocessor, const std::vector< double > &dts, const DiscretizationGridInterface *grid) final
Public Member Functions inherited from corbo::StageFunction
virtual bool	checkParameters (int state_dim, int control_dim, std::stringstream *issues) const
virtual void	computeConcatenatedNonIntegralStateControlTerms (int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, const Eigen::Ref< const Eigen::VectorXd > &u_k, double dt_k, Eigen::Ref< Eigen::VectorXd > cost, bool lsq_mode=false) const
virtual void	computeConcatenatedNonIntegralStateTerms (int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, const Eigen::Ref< const Eigen::VectorXd > &u_k, double dt_k, Eigen::Ref< Eigen::VectorXd > cost, bool lsq_mode=false) const
virtual void	computeNonIntegralStateDtTerm (int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, double dt_k, Eigen::Ref< Eigen::VectorXd > cost) const
	computeNonIntegralStateDtTerm: warning: currently only supported for full discretization More...
virtual int	getConcatenatedNonIntegralStateControlTermDimension (int k, bool lsq_mode=false) const
virtual int	getConcatenatedNonIntegralStateTermDimension (int k, bool lsq_mode=false) const
virtual int	getNonIntegralStateDtTermDimension (int k) const
virtual bool	isLinearNonIntegralControlTerm (int k) const
virtual bool	isLinearNonIntegralDtTerm (int k) const
virtual bool	isLinearNonIntegralStateTerm (int k) const
virtual bool	isLsqFormNonIntegralControlTerm (int k) const
virtual bool	isLsqFormNonIntegralDtTerm (int k) const
virtual bool	isLsqFormNonIntegralStateTerm (int k) const
virtual	~StageFunction ()=default
	Default destructor. More...

Protected Attributes
Eigen::VectorXd	_xref

Detailed Description

Definition at line 130 of file final_state_constraints.h.

Member Typedef Documentation

ConstPtr

using corbo::TerminalEqualityConstraint::ConstPtr = std::shared_ptr<const TerminalEqualityConstraint>

Definition at line 134 of file final_state_constraints.h.

Ptr

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

Definition at line 133 of file final_state_constraints.h.

Constructor & Destructor Documentation

TerminalEqualityConstraint() [1/2]

corbo::TerminalEqualityConstraint::TerminalEqualityConstraint ( )

default

TerminalEqualityConstraint() [2/2]

corbo::TerminalEqualityConstraint::TerminalEqualityConstraint ( const Eigen::Ref< const Eigen::VectorXd > &  xref )

inline

Definition at line 138 of file final_state_constraints.h.

Member Function Documentation

checkParameters()

bool corbo::TerminalEqualityConstraint::checkParameters ( int  state_dim, int  control_dim, FinalStageCost::ConstPtr  final_stage_cost, std::stringstream *  issues  ) const

inlineoverridevirtual

Reimplemented from corbo::FinalStageConstraint.

Reimplemented in corbo::TerminalPartialEqualityConstraint.

Definition at line 163 of file final_state_constraints.h.

computeNonIntegralStateTerm()

void corbo::TerminalEqualityConstraint::computeNonIntegralStateTerm ( int  k, const Eigen::Ref< const Eigen::VectorXd > &  x_k, Eigen::Ref< Eigen::VectorXd >  cost  ) const

inlineoverridevirtual

Implements corbo::FinalStageConstraint.

Reimplemented in corbo::TerminalPartialEqualityConstraint.

Definition at line 149 of file final_state_constraints.h.

getInstance()

FinalStageConstraint::Ptr corbo::TerminalEqualityConstraint::getInstance ( ) const

inlineoverridevirtual

Return a newly created shared instance of the implemented class.

Implements corbo::FinalStageConstraint.

Reimplemented in corbo::TerminalPartialEqualityConstraint.

Definition at line 140 of file final_state_constraints.h.

getNonIntegralStateTermDimension()

int corbo::TerminalEqualityConstraint::getNonIntegralStateTermDimension ( int  k ) const

inlineoverridevirtual

Implements corbo::FinalStageConstraint.

Reimplemented in corbo::TerminalPartialEqualityConstraint.

Definition at line 144 of file final_state_constraints.h.

getXRef()

const Eigen::VectorXd& corbo::TerminalEqualityConstraint::getXRef ( ) const

inline

Definition at line 147 of file final_state_constraints.h.

isEqualityConstraint()

bool corbo::TerminalEqualityConstraint::isEqualityConstraint ( ) const

inlineoverridevirtual

Implements corbo::FinalStageConstraint.

Reimplemented in corbo::TerminalPartialEqualityConstraint.

Definition at line 142 of file final_state_constraints.h.

setXRef()

void corbo::TerminalEqualityConstraint::setXRef ( const Eigen::Ref< const Eigen::VectorXd > &  xref )

inline

Definition at line 146 of file final_state_constraints.h.

update()

bool corbo::TerminalEqualityConstraint::update ( int  n, double  t, ReferenceTrajectoryInterface &  xref, ReferenceTrajectoryInterface &  uref, ReferenceTrajectoryInterface *  sref, bool  single_dt, const Eigen::VectorXd &  x0, FinalStageCost::ConstPtr  final_stage_cost, StagePreprocessor::Ptr  stage_preprocessor, const std::vector< double > &  dts, const DiscretizationGridInterface *    )

inlineoverridevirtual

Reimplemented from corbo::FinalStageConstraint.

Reimplemented in corbo::TerminalPartialEqualityConstraint.

Definition at line 156 of file final_state_constraints.h.

Member Data Documentation

_xref

Eigen::VectorXd corbo::TerminalEqualityConstraint::_xref

protected

Definition at line 194 of file final_state_constraints.h.

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

• final_state_constraints.h