ConstrainedNLOCTest.cpp File Reference

#include <ct/optcon/optcon.h>
#include "nloc_test_dir.h"
#include <gtest/gtest.h>

Classes
class	ControlInputGenConstraint
class	StateGenConstraint

Functions
std::shared_ptr< ct::core::ControlledSystem< state_dim, control_dim > >	oscillatorDynamics (new ct::core::SecondOrderSystem(w_n, zeta))
std::shared_ptr< ct::core::SystemLinearizer< state_dim, control_dim > >	linearizer (new ct::core::SystemLinearizer< state_dim, control_dim >(oscillatorDynamics))
void	compareSolutions (const ct::core::StateFeedbackController< state_dim, control_dim > &sol1, const ct::core::StateFeedbackController< state_dim, control_dim > &sol2)
NLOptConSolver< state_dim, control_dim >	generateSolver (ContinuousOptConProblem< state_dim, control_dim > ocp)
ContinuousOptConProblem< state_dim, control_dim >	generateUnconstrainedOCP ()
	TEST (Constrained_NLOC_Test, comparePureControlConstraints)
	TEST (Constrained_NLOC_Test, comparePureStateConstraints)
int	main (int argc, char **argv)

Variables
const bool	verbose = false
const size_t	state_dim = ct::core::SecondOrderSystem::STATE_DIM
const size_t	control_dim = ct::core::SecondOrderSystem::CONTROL_DIM
StateVector< state_dim >	x0 = StateVector<state_dim>::Zero()
ct::core::Time	timeHorizon = 3.0
const double	w_n = 0.1
const double	zeta = 5.0
std::string	nloc_test_dir = std::string(NLOC_TEST_DIR)

Function Documentation

oscillatorDynamics()

std::shared_ptr<ct::core::ControlledSystem<state_dim, control_dim> > oscillatorDynamics

(

new

ct::core::SecondOrderSystemw_n, zeta

)

Examples:

LQR.cpp, NLOC.cpp, NLOC_boxConstrained.cpp, NLOC_generalConstrained.cpp, and NLOC_MPC.cpp.

Referenced by generateUnconstrainedOCP(), and main().

linearizer()

std::shared_ptr<ct::core::SystemLinearizer<state_dim, control_dim> > linearizer

(

new ct::core::SystemLinearizer< state_dim, control_dim >

oscillatorDynamics

)

Examples:

KalmanDisturbanceFiltering.cpp, and KalmanFiltering.cpp.

Referenced by generateUnconstrainedOCP(), and main().

compareSolutions()

void compareSolutions	(	const ct::core::StateFeedbackController< state_dim, control_dim > &	sol1,
		const ct::core::StateFeedbackController< state_dim, control_dim > &	sol2
	)

References control_dim, n, state_dim, ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::uff(), and ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::x_ref().

Referenced by TEST().

generateSolver()

NLOptConSolver<state_dim, control_dim> generateSolver

(

ContinuousOptConProblem< state_dim, control_dim >

ocp

)

References ct::optcon::NLOptConSettings::computeK(), ct::optcon::NLOptConSettings::discretization, ct::optcon::NLOptConSettings::dt, ct::optcon::NLOptConSettings::integrator, ct::optcon::NLOptConSettings::lineSearchSettings, ct::optcon::NLOptConSettings::lqoc_solver_settings, ct::optcon::NLOptConSettings::lqocp_solver, ct::optcon::NLOptConSettings::max_iterations, ct::optcon::NLOptConSettings::nlocp_algorithm, ct::optcon::NLOptConSettings::nThreads, ct::optcon::LQOCSolverSettings::num_lqoc_iterations, ct::optcon::NLOptConSettings::printSummary, ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::setInitialGuess(), timeHorizon, and ct::optcon::LineSearchSettings::type.

Referenced by TEST().

generateUnconstrainedOCP()

ContinuousOptConProblem<state_dim, control_dim> generateUnconstrainedOCP

(

)

References linearizer(), oscillatorDynamics(), timeHorizon, verbose, and x0.

Referenced by TEST().

TEST() [1/2]

TEST	(	Constrained_NLOC_Test	,
		comparePureControlConstraints
	)

References compareSolutions(), control_dim, generateSolver(), generateUnconstrainedOCP(), and verbose.

TEST() [2/2]

TEST	(	Constrained_NLOC_Test	,
		comparePureStateConstraints
	)

References compareSolutions(), generateSolver(), generateUnconstrainedOCP(), state_dim, and verbose.

main()

int main	(	int	argc,
		char **	argv
	)

Variable Documentation

verbose

const bool verbose = false

Referenced by generateUnconstrainedOCP(), and TEST().

state_dim

const size_t state_dim = ct::core::SecondOrderSystem::STATE_DIM

Referenced by compareSolutions(), and TEST().

control_dim

const size_t control_dim = ct::core::SecondOrderSystem::CONTROL_DIM

Referenced by compareSolutions(), and TEST().

x0

StateVector<state_dim> x0 = StateVector<state_dim>::Zero()

Examples:

LinearSystemTest.h, NLOC.cpp, NLOC_boxConstrained.cpp, NLOC_generalConstrained.cpp, NLOC_MPC.cpp, NonlinearSystemTest.h, switched_continuous_optcon.cpp, and SymplecticTest.h.

Referenced by ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::changeInitialState(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeInitialState(), ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::changeInitialState(), ct::optcon::DmsProblem< STATE_DIM, CONTROL_DIM, SCALAR >::DmsProblem(), generateUnconstrainedOCP(), main(), ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SCALAR >::OptConProblemBase(), ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >::runIteration(), ct::optcon::LQOCProblem< STATE_DIM, CONTROL_DIM, SCALAR >::setFromTimeInvariantLinearQuadraticProblem(), ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::setInitGuess(), ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SCALAR >::setInitialState(), ct::optcon::example::symplecticTest(), ct::optcon::example::TEST(), TEST(), timeSingleSolve(), and ct::optcon::InitStateConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::updateConstraint().

timeHorizon

ct::core::Time timeHorizon = 3.0

Examples:

NLOC.cpp, NLOC_boxConstrained.cpp, NLOC_generalConstrained.cpp, NLOC_MPC.cpp, and switched_continuous_optcon.cpp.

Referenced by ct::optcon::tpl::TimeGrid< SCALAR >::changeTimeHorizon(), generateSolver(), generateUnconstrainedOCP(), main(), and ct::optcon::example::TEST().

w_n

const double w_n = 0.1

Examples:

DMS.cpp, KalmanDisturbanceFiltering.cpp, KalmanFiltering.cpp, LQR.cpp, NLOC.cpp, NLOC_boxConstrained.cpp, NLOC_generalConstrained.cpp, and NLOC_MPC.cpp.

Referenced by main().

zeta

const double zeta = 5.0

Examples:

DMS.cpp, NLOC.cpp, NLOC_boxConstrained.cpp, NLOC_generalConstrained.cpp, and NLOC_MPC.cpp.

Referenced by main().

nloc_test_dir

std::string nloc_test_dir = std::string(NLOC_TEST_DIR)