#include <final_state_constraints.h>

Inheritance diagram for corbo::TerminalPartialEqualityConstraint:

Public Types
using	ConstPtr = std::shared_ptr< const TerminalPartialEqualityConstraint >

using	Ptr = std::shared_ptr< TerminalPartialEqualityConstraint >

Public Types inherited from corbo::TerminalEqualityConstraint
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::Matrix< bool, -1, 1 > &	getXFixed () const

const Eigen::VectorXd &	getXRef () const

bool	isEqualityConstraint () const override

void	setActiveComponents (const Eigen::Ref< const Eigen::Matrix< bool, -1, 1 >> &active_components)

void	setXRef (const Eigen::Ref< const Eigen::VectorXd > &xref, const Eigen::Ref< const Eigen::Matrix< bool, -1, 1 >> &xfixed)

	TerminalPartialEqualityConstraint ()=default

	TerminalPartialEqualityConstraint (const Eigen::Ref< const Eigen::Matrix< bool, -1, 1 >> &active_components)

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

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

	TerminalEqualityConstraint ()=default

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

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::Matrix< bool, -1, 1 >	_active_components

int	_num_active = 0

Protected Attributes inherited from corbo::TerminalEqualityConstraint
Eigen::VectorXd	_xref

Detailed Description

Definition at line 198 of file final_state_constraints.h.

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 202 of file final_state_constraints.h.

◆ Ptr

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

Definition at line 201 of file final_state_constraints.h.

Constructor & Destructor Documentation

◆ TerminalPartialEqualityConstraint() [1/2]

corbo::TerminalPartialEqualityConstraint::TerminalPartialEqualityConstraint ( )

default

◆ TerminalPartialEqualityConstraint() [2/2]

corbo::TerminalPartialEqualityConstraint::TerminalPartialEqualityConstraint ( const Eigen::Ref< const Eigen::Matrix< bool, -1, 1 >> & active_components )

inlineexplicit

Definition at line 205 of file final_state_constraints.h.

Member Function Documentation

◆ checkParameters()

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

inlineoverridevirtual

Reimplemented from corbo::TerminalEqualityConstraint.

Definition at line 255 of file final_state_constraints.h.

◆ computeNonIntegralStateTerm()

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

inlineoverridevirtual

Reimplemented from corbo::TerminalEqualityConstraint.

Definition at line 230 of file final_state_constraints.h.

◆ getInstance()

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

inlineoverridevirtual

Return a newly created shared instance of the implemented class.

Reimplemented from corbo::TerminalEqualityConstraint.

Definition at line 210 of file final_state_constraints.h.

◆ getNonIntegralStateTermDimension()

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

inlineoverridevirtual

Reimplemented from corbo::TerminalEqualityConstraint.

Definition at line 214 of file final_state_constraints.h.

◆ getXFixed()

const Eigen::Matrix<bool, -1, 1>& corbo::TerminalPartialEqualityConstraint::getXFixed ( ) const

inline

Definition at line 228 of file final_state_constraints.h.

◆ getXRef()

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

inline

Definition at line 227 of file final_state_constraints.h.

◆ isEqualityConstraint()

bool corbo::TerminalPartialEqualityConstraint::isEqualityConstraint ( ) const

inlineoverridevirtual

Reimplemented from corbo::TerminalEqualityConstraint.

Definition at line 212 of file final_state_constraints.h.

◆ setActiveComponents()

void corbo::TerminalPartialEqualityConstraint::setActiveComponents ( const Eigen::Ref< const Eigen::Matrix< bool, -1, 1 >> & active_components )

inline

Definition at line 216 of file final_state_constraints.h.

◆ setXRef()

void corbo::TerminalPartialEqualityConstraint::setXRef	(	const Eigen::Ref< const Eigen::VectorXd > &	xref,
		const Eigen::Ref< const Eigen::Matrix< bool, -1, 1 >> &	xfixed
	)

inline

Definition at line 222 of file final_state_constraints.h.

◆ update()

bool corbo::TerminalPartialEqualityConstraint::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::TerminalEqualityConstraint.

Definition at line 248 of file final_state_constraints.h.

Member Data Documentation

◆ _active_components

Eigen::Matrix<bool, -1, 1> corbo::TerminalPartialEqualityConstraint::_active_components

protected

Definition at line 302 of file final_state_constraints.h.

◆ _num_active

int corbo::TerminalPartialEqualityConstraint::_num_active = 0

protected

Definition at line 303 of file final_state_constraints.h.

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

final_state_constraints.h

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ TerminalPartialEqualityConstraint() [1/2]

◆ TerminalPartialEqualityConstraint() [2/2]

Member Function Documentation

◆ checkParameters()

◆ computeNonIntegralStateTerm()

◆ getInstance()

◆ getNonIntegralStateTermDimension()

◆ getXFixed()

◆ getXRef()

◆ isEqualityConstraint()

◆ setActiveComponents()

◆ setXRef()

◆ update()

Member Data Documentation

◆ _active_components

◆ _num_active