LoadFromFileTest.cpp File Reference

#include <gtest/gtest.h>
#include <ct/optcon/optcon.h>
#include "compareCostFunctions.h"
#include "costfunction_test_dir.h"

Namespaces
	ct
	ct::optcon
	ct::optcon::example

Functions
	ct::optcon::example::TEST (LoadCostFromFileTest, LoadAnalyticalDirect)
	Test case: trying to load analytical cost function directly from file. More...
	ct::optcon::example::TEST (LoadCostFromFileTest, LoadAnalyticalViaTerms)
	Test case: trying to load analytical cost terms separately and then add them cost function. More...
	ct::optcon::example::TEST (LoadCostFromFileTest, LoadADViaTerms)
	Test case: trying to load AD cost terms separately and then add them to the cost function. More...
	ct::optcon::example::TEST (LoadCostFromFileTest, LoadADDirect1)
	Test case: trying to load AD cost directly, but calling standard constructor first. More...
	ct::optcon::example::TEST (LoadCostFromFileTest, LoadADDirect2)
	Test case: trying to load AD cost directly. More...
int	main (int argc, char **argv)

Variables
std::string	costFunctionFile = std::string(COSTFUNCTION_TEST_DIR) + "/example_cost_file.info"
const bool	verbose = false
const size_t	state_dim = 12
const size_t	control_dim = 6
ct::core::StateVector< state_dim >	x = ct::core::StateVector<state_dim>::Random()
ct::core::ControlVector< control_dim >	u = ct::core::ControlVector<control_dim>::Random()
double	t = 0.0

Function Documentation

main()

int main	(	int	argc,
		char **	argv
	)

Variable Documentation

costFunctionFile

std::string costFunctionFile = std::string(COSTFUNCTION_TEST_DIR) + "/example_cost_file.info"

Examples:

NonlinearSystemTest.h.

Referenced by ct::optcon::example::TEST().

verbose

const bool verbose = false

state_dim

const size_t state_dim = 12

control_dim

const size_t control_dim = 6

x

ct::core::StateVector<state_dim> x = ct::core::StateVector<state_dim>::Random()

Examples:

ConstraintComparison.h, ConstraintTest.h, KalmanDisturbanceFiltering.cpp, KalmanFiltering.cpp, LQR.cpp, NLOC_generalConstrained.cpp, and SymplecticTest.h.

Referenced by ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >::computeDynamics(), ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, DiscreteOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >::configure(), ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::eval(), StateSumConstraint::evaluate(), ct::optcon::TermLinear< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate(), ct::optcon::TermSmoothAbs< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate(), ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate(), ct::optcon::TerminalConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::evaluate(), ct::optcon::TermQuadTracking< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate(), ct::optcon::TermMixed< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate(), ct::optcon::example::PureStateConstraint_Example< STATE_DIM, CONTROL_DIM, SCALAR >::evaluate(), ConstraintTerm1D::evaluate(), ct::optcon::example::ConstraintTerm1D< STATE_DIM, CONTROL_DIM, SCALAR >::evaluate(), ct::optcon::TermQuadMult< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate(), ct::optcon::ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::evaluate(), ct::optcon::StateConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::evaluate(), ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate(), ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate(), StateGenConstraint::evaluate(), ct::optcon::example::ConstraintTerm2D< STATE_DIM, CONTROL_DIM, SCALAR >::evaluate(), StateSumConstraint::evaluateCppadCg(), ConstraintTerm1D::evaluateCppadCg(), ct::optcon::example::ConstraintTerm1D< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateCppadCg(), ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluateCppadCg(), StateGenConstraint::evaluateCppadCg(), ct::optcon::example::ConstraintTerm2D< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateCppadCg(), ct::optcon::MPC< OPTCON_SOLVER >::finishIteration(), ct::optcon::example::LinearizedSystem::getDerivativeState(), ct::optcon::example::DiehlSystemLinear::getDerivativeState(), ct::optcon::example::ConstraintTerm1D< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInput(), ct::optcon::example::ConstraintTerm2D< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInput(), ct::optcon::example::ConstraintTerm1D< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianState(), ct::optcon::example::ConstraintTerm2D< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianState(), main(), ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::setControlledSystem(), ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::setCurrentStateAndControl(), ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::setCurrentStateAndControl(), ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::setCurrentStateAndControl(), ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::setEstimate(), ct::optcon::tpl::OptVector< SCALAR >::setNewIpoptSolution(), ct::optcon::tpl::OptVector< SCALAR >::setNewSnoptSolution(), ct::optcon::tpl::OptVector< SCALAR >::setOptimizationVars(), ct::optcon::example::TEST(), ct::optcon::ConstraintBase< 2, 1 >::~ConstraintBase(), and ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::~OptconContinuousSystemInterface().

u

ct::core::ControlVector<control_dim> u = ct::core::ControlVector<control_dim>::Random()

Examples:

ConstraintComparison.h, ConstraintTest.h, LQR.cpp, NLOC_generalConstrained.cpp, and SymplecticTest.h.

Referenced by ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >::computeDerivativeState(), ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >::computeDynamics(), ct::optcon::UnscentedKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::computeSigmaPointTransition(), ct::optcon::UnscentedKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::computeStatePrediction(), ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, DiscreteOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >::configure(), ct::optcon::TermQuadTracking< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::controlDerivative(), ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::EstimatorBase(), ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::eval(), ct::optcon::TermLinear< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evalLocal(), ct::optcon::TermQuadTracking< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evalLocal(), ct::optcon::TermLinear< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate(), ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate(), ct::optcon::TermSmoothAbs< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate(), ct::optcon::TerminalConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::evaluate(), ct::optcon::TermQuadTracking< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate(), ct::optcon::TermMixed< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate(), ct::optcon::example::ConstraintTerm1D< STATE_DIM, CONTROL_DIM, SCALAR >::evaluate(), ConstraintTerm1D::evaluate(), ct::optcon::TermQuadMult< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate(), ct::optcon::ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::evaluate(), ct::optcon::StateConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::evaluate(), ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate(), ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate(), ControlInputGenConstraint::evaluate(), ct::optcon::example::StateInputConstraint_Example< STATE_DIM, CONTROL_DIM, SCALAR >::evaluate(), ct::optcon::example::ConstraintTerm2D< STATE_DIM, CONTROL_DIM, SCALAR >::evaluate(), ct::optcon::example::ConstraintTerm1D< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateCppadCg(), ConstraintTerm1D::evaluateCppadCg(), ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluateCppadCg(), ControlInputGenConstraint::evaluateCppadCg(), ct::optcon::example::ConstraintTerm2D< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateCppadCg(), ct::optcon::example::ConstraintTerm1D< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianState(), ct::optcon::example::ConstraintTerm2D< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianState(), main(), ct::optcon::ExtendedKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::predict(), ct::optcon::SteadyStateKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::predict(), ct::optcon::UnscentedKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::predict(), ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::setCurrentStateAndControl(), ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::setCurrentStateAndControl(), ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::setCurrentStateAndControl(), ct::optcon::example::TEST(), ct::optcon::ConstraintBase< 2, 1 >::~ConstraintBase(), and ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::~OptconContinuousSystemInterface().

t

double t = 0.0

Referenced by ct::optcon::example::TEST().