A simple 1d constraint term. More...

Inheritance diagram for ConstraintTerm1D:

Public Types
typedef ct::core::StateVector< state_dim >	state_vector_t

typedef ct::core::ControlVector< control_dim >	control_vector_t

Public Types inherited from ct::optcon::ConstraintBase< state_dim, control_dim >
typedef core::StateVector< STATE_DIM, double >	state_vector_t

typedef core::ControlVector< CONTROL_DIM, double >	control_vector_t

typedef Eigen::Matrix< double, Eigen::Dynamic, 1 >	VectorXs

typedef Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic >	MatrixXs

Public Member Functions
	ConstraintTerm1D ()
	constructor with hard-coded constraint boundaries. More...

virtual	~ConstraintTerm1D ()

virtual ConstraintTerm1D *	clone () const override
	Creates a new instance of the object with same properties than original. More...

virtual size_t	getConstraintSize () const override
	The evaluate method used for jit compilation in constraint container ad. More...

virtual Eigen::VectorXd	evaluate (const state_vector_t &x, const control_vector_t &u, const double t) override

virtual Eigen::Matrix< ct::core::ADCGScalar, Eigen::Dynamic, 1 >	evaluateCppadCg (const ct::core::StateVector< state_dim, ct::core::ADCGScalar > &x, const ct::core::ControlVector< control_dim, ct::core::ADCGScalar > &u, ct::core::ADCGScalar t) override

Public Member Functions inherited from ct::optcon::ConstraintBase< state_dim, control_dim >
	ConstraintBase (std::string name="Unnamed")
	Custom constructor. More...

	ConstraintBase (const ConstraintBase &arg)
	Copy constructor. More...

virtual	~ConstraintBase ()
	Destructor. More...

virtual VectorXs	evaluate (const state_vector_t &x, const control_vector_t &u, const double t)=0
	The evaluation of the constraint violation. Note this method is SCALAR typed. More...

virtual MatrixXs	jacobianState (const state_vector_t &x, const control_vector_t &u, const double t)
	Returns the constraint jacobian wrt state. More...

virtual MatrixXs	jacobianInput (const state_vector_t &x, const control_vector_t &u, const double t)
	Returns the constraint jacobian wrt input. More...

virtual VectorXs	getLowerBound () const
	Returns the lower constraint bound. More...

virtual VectorXs	getUpperBound () const
	Returns the upper constraint bound. More...

void	getName (std::string &constraintName) const
	Returns the constraint name. More...

void	setName (const std::string constraintName)
	Sets the constraint name. More...

virtual size_t	getNumNonZerosJacobianState () const
	Returns the number of nonzeros in the jacobian wrt state. The default implementation assumes a dense matrix with only nonzero elements. More...

virtual size_t	getNumNonZerosJacobianInput () const
	Returns the number of nonzeros in the jacobian wrt control input. The default implementation assumes a dense matrix with only nonzero elements. More...

virtual VectorXs	jacobianStateSparse (const state_vector_t &x, const control_vector_t &u, const double t)
	Returns the constraint jacobian wrt state in sparse structure. The default implementation maps the JacobianState matrix to a vector. More...

virtual VectorXs	jacobianInputSparse (const state_vector_t &x, const control_vector_t &u, const double t)
	Returns the constraint jacobian wrt control input in sparse structure. The default implementation maps the JacobianState matrix to a vector. More...

virtual void	sparsityPatternState (Eigen::VectorXi &rows, Eigen::VectorXi &cols)
	Generates the sparsity pattern of the jacobian wrt state. The default implementation returns a vector of ones corresponding to the dense jacobianState. More...

virtual void	sparsityPatternInput (Eigen::VectorXi &rows, Eigen::VectorXi &cols)
	Generates the sparsity pattern of the jacobian wrt control input. The default implementation returns a vector of ones corresponding to the dense jacobianInput. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ct::optcon::ConstraintBase< state_dim, control_dim >	Base

Public Attributes inherited from ct::optcon::ConstraintBase< state_dim, control_dim >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ct::core::tpl::TraitSelector< double >::Trait	Trait

Additional Inherited Members
Static Protected Member Functions inherited from ct::optcon::ConstraintBase< state_dim, control_dim >
static void	genDiagonalIndices (const size_t num_elements, Eigen::VectorXi &iRow_vec, Eigen::VectorXi &jCol_vec)
	upper bound on the constraints More...

static void	genSparseDiagonalIndices (const Eigen::VectorXi &diag_sparsity, Eigen::VectorXi &iRow_vec, Eigen::VectorXi &jCol_vec)
	Generates indices of a sparse diagonal square matrix. More...

static void	genBlockIndices (const size_t num_rows, const size_t num_cols, Eigen::VectorXi &iRow_vec, Eigen::VectorXi &jCol_vec)
	Generates indices of a full matrix. More...

Protected Attributes inherited from ct::optcon::ConstraintBase< state_dim, control_dim >
VectorXs	lb_

VectorXs	ub_
	lower bound on the constraints More...

Detailed Description

A simple 1d constraint term.

This term implements the general inequality constraints $d_{lb} \leq u \cdot p^2 \leq d_{ub}$ where $ p $ denotes the position of the oscillator mass.

This constraint can be thought of a position-varying bound on the control input. At large oscillator deflections, the control bounds shrink

Examples:: ConstraintComparison.h, and NLOC_generalConstrained.cpp.

Member Typedef Documentation

◆ state_vector_t

typedef ct::core::StateVector<state_dim> ConstraintTerm1D::state_vector_t

◆ control_vector_t

typedef ct::core::ControlVector<control_dim> ConstraintTerm1D::control_vector_t

Constructor & Destructor Documentation

◆ ConstraintTerm1D()

ConstraintTerm1D::ConstraintTerm1D ( )

inline

constructor with hard-coded constraint boundaries.

◆ ~ConstraintTerm1D()

virtual ConstraintTerm1D::~ConstraintTerm1D ( )

inlinevirtual

Member Function Documentation

◆ clone()

virtual ConstraintTerm1D* ConstraintTerm1D::clone ( ) const

inlineoverridevirtual

Creates a new instance of the object with same properties than original.

Returns: Copy of this object.

Implements ct::optcon::ConstraintBase< state_dim, control_dim >.

◆ getConstraintSize()

virtual size_t ConstraintTerm1D::getConstraintSize ( ) const

inlineoverridevirtual

The evaluate method used for jit compilation in constraint container ad.

Parameters

[in]	x	The state vector
[in]	u	The control vector
[in]	t	The time

Returns: The constraint violation Returns the number of constraints; The number of constraints

Implements ct::optcon::ConstraintBase< state_dim, control_dim >.

◆ evaluate()

virtual Eigen::VectorXd ConstraintTerm1D::evaluate	(	const state_vector_t &	x,
		const control_vector_t &	u,
		const double	t
	)

inlineoverridevirtual

References u, and x.

◆ evaluateCppadCg()

virtual Eigen::Matrix<ct::core::ADCGScalar, Eigen::Dynamic, 1> ConstraintTerm1D::evaluateCppadCg	(	const ct::core::StateVector< state_dim, ct::core::ADCGScalar > &	x,
		const ct::core::ControlVector< control_dim, ct::core::ADCGScalar > &	u,
		ct::core::ADCGScalar	t
	)

inlineoverridevirtual

References u, and x.

Member Data Documentation

◆ Base

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ct::optcon::ConstraintBase<state_dim, control_dim> ConstraintTerm1D::Base

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/examples/NLOC_generalConstrained.cpp

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ state_vector_t

◆ control_vector_t

Constructor & Destructor Documentation

◆ ConstraintTerm1D()

◆ ~ConstraintTerm1D()

Member Function Documentation

◆ clone()

◆ getConstraintSize()

◆ evaluate()

◆ evaluateCppadCg()

Member Data Documentation

◆ Base