ConstrainedLQOCSolverTest.h File Reference

#include "../../testSystems/LinkedMasses.h"
#include "../../testSystems/LinearOscillator.h"

Go to the source code of this file.

Functions
template<size_t state_dim, size_t control_dim>
void	printSolution (const ct::core::StateVectorArray< state_dim > &x, const ct::core::ControlVectorArray< control_dim > &u, const ct::core::FeedbackArray< state_dim, control_dim > &K)
template<size_t state_dim, size_t control_dim>
void	assertControlBounds (const ct::core::ControlVectorArray< control_dim > &u, const Eigen::VectorXi sparsity, const Eigen::VectorXd u_lb, const Eigen::VectorXd u_ub)
	check that control bounds are respected More...
template<size_t state_dim, size_t control_dim>
void	assertStateBounds (const ct::core::StateVectorArray< state_dim > &x, const Eigen::VectorXi sparsity, const Eigen::VectorXd x_lb, const Eigen::VectorXd x_ub)
	check that state bounds are respected More...
template<size_t state_dim, size_t control_dim, typename LINEAR_SYSTEM >
void	boxConstraintsTest (ct::core::ControlVector< control_dim > u0, ct::core::StateVector< state_dim > x0, ct::core::StateVector< state_dim > xf, int nb_u, Eigen::VectorXd u_lb, Eigen::VectorXd u_ub, Eigen::VectorXi u_box_sparsity, int nb_x, Eigen::VectorXd x_lb, Eigen::VectorXd x_ub, Eigen::VectorXi x_box_sparsity)
template<size_t state_dim, size_t control_dim, typename LINEAR_SYSTEM >
void	generalConstraintsTest (ct::core::ControlVector< control_dim > u0, ct::core::StateVector< state_dim > x0, ct::core::StateVector< state_dim > xf, Eigen::VectorXd d_lb, Eigen::VectorXd d_ub, Eigen::MatrixXd C, Eigen::MatrixXd D)
	TEST (ConstrainedLQOCSolverTest, BoxConstrTest_small)
	TEST (ConstrainedLQOCSolverTest, BoxConstrTest_medium)
	TEST (ConstrainedLQOCSolverTest, GeneralConstrTest_small)
	TEST (ConstrainedLQOCSolverTest, GeneralConstrTest_medium)
	TEST (ConstrainedLQOCSolverTest, BoxConstraintUsingConstraintToolbox)

Variables
bool	verbose = false

Function Documentation

printSolution()

template<size_t state_dim, size_t control_dim>

void printSolution	(	const ct::core::StateVectorArray< state_dim > &	x,
		const ct::core::ControlVectorArray< control_dim > &	u,
		const ct::core::FeedbackArray< state_dim, control_dim > &	K
	)

assertControlBounds()

template<size_t state_dim, size_t control_dim>

void assertControlBounds	(	const ct::core::ControlVectorArray< control_dim > &	u,
		const Eigen::VectorXi	sparsity,
		const Eigen::VectorXd	u_lb,
		const Eigen::VectorXd	u_ub
	)

check that control bounds are respected

References n.

assertStateBounds()

template<size_t state_dim, size_t control_dim>

void assertStateBounds	(	const ct::core::StateVectorArray< state_dim > &	x,
		const Eigen::VectorXi	sparsity,
		const Eigen::VectorXd	x_lb,
		const Eigen::VectorXd	x_ub
	)

check that state bounds are respected

References n.

boxConstraintsTest()

template<size_t state_dim, size_t control_dim, typename LINEAR_SYSTEM >

void boxConstraintsTest	(	ct::core::ControlVector< control_dim >	u0,
		ct::core::StateVector< state_dim >	x0,
		ct::core::StateVector< state_dim >	xf,
		int	nb_u,
		Eigen::VectorXd	u_lb,
		Eigen::VectorXd	u_ub,
		Eigen::VectorXi	u_box_sparsity,
		int	nb_x,
		Eigen::VectorXd	x_lb,
		Eigen::VectorXd	x_ub,
		Eigen::VectorXi	x_box_sparsity
	)

References dt, ct::optcon::LQOCSolverSettings::lqoc_debug_print, ct::optcon::NLOptConSettings::lqoc_solver_settings, ct::core::SensitivityApproximationSettings::MATRIX_EXPONENTIAL, ct::optcon::LQOCSolverSettings::num_lqoc_iterations, and verbose.

generalConstraintsTest()

template<size_t state_dim, size_t control_dim, typename LINEAR_SYSTEM >

void generalConstraintsTest	(	ct::core::ControlVector< control_dim >	u0,
		ct::core::StateVector< state_dim >	x0,
		ct::core::StateVector< state_dim >	xf,
		Eigen::VectorXd	d_lb,
		Eigen::VectorXd	d_ub,
		Eigen::MatrixXd	C,
		Eigen::MatrixXd	D
	)

References dt, ct::optcon::NLOptConSettings::lqoc_solver_settings, ct::core::SensitivityApproximationSettings::MATRIX_EXPONENTIAL, ct::optcon::LQOCSolverSettings::num_lqoc_iterations, and verbose.

TEST() [1/5]

TEST	(	ConstrainedLQOCSolverTest	,
		BoxConstrTest_small
	)

References control_dim, state_dim, and x0.

TEST() [2/5]

TEST	(	ConstrainedLQOCSolverTest	,
		BoxConstrTest_medium
	)

References control_dim, state_dim, and x0.

TEST() [3/5]

TEST	(	ConstrainedLQOCSolverTest	,
		GeneralConstrTest_small
	)

References control_dim, state_dim, and x0.

TEST() [4/5]

TEST	(	ConstrainedLQOCSolverTest	,
		GeneralConstrTest_medium
	)

References control_dim, state_dim, and x0.

TEST() [5/5]

TEST	(	ConstrainedLQOCSolverTest	,
		BoxConstraintUsingConstraintToolbox
	)

References control_dim, dt, ct::optcon::LQOCSolverSettings::lqoc_debug_print, ct::optcon::NLOptConSettings::lqoc_solver_settings, ct::core::SensitivityApproximationSettings::MATRIX_EXPONENTIAL, ct::optcon::LQOCSolverSettings::num_lqoc_iterations, state_dim, verbose, and x0.

Variable Documentation

verbose

bool verbose = false

Referenced by boxConstraintsTest(), generalConstraintsTest(), and TEST().