Contains all the constraints using analytically calculated jacobians. More...

#include <ConstraintContainerAnalytical.h>

Inheritance diagram for ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >:

Public Types
typedef core::ControlVector< CONTROL_DIM, SCALAR >	input_vector_t

typedef ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR > *	ConstraintContainerAnalytical_Raw_Ptr_t

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

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

Public Types inherited from ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >
typedef core::ControlVector< CONTROL_DIM, SCALAR >	input_vector_t

typedef LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR > *	LinearConstraintContainer_Raw_Ptr_t

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

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

Public Types inherited from ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >
typedef core::ControlVector< CONTROL_DIM, SCALAR >	input_vector_t

typedef ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR > *	ConstraintBase_Raw_Ptr_t

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

Public Member Functions
	ConstraintContainerAnalytical ()

	ConstraintContainerAnalytical (const state_vector_t &x, const input_vector_t &u, const SCALAR &t=0.0)
	Constructor using state, control and time. More...

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

virtual ConstraintContainerAnalytical_Raw_Ptr_t	clone () const override
	Deep-cloning of Constraint. More...

virtual	~ConstraintContainerAnalytical ()
	Destructor. More...

void	addIntermediateConstraint (std::shared_ptr< ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >> constraint, bool verbose)
	Adds an intermedaite constraint. More...

void	addTerminalConstraint (std::shared_ptr< ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >> constraint, bool verbose)
	Adds a terminal constraint. More...

virtual VectorXs	evaluateIntermediate () override
	Evaluates the intermediate constraints. More...

virtual VectorXs	evaluateTerminal () override
	Evaluates the terminal constraints. More...

virtual size_t	getIntermediateConstraintsCount () override
	Retrieves the number of intermediate constraints. More...

virtual size_t	getTerminalConstraintsCount () override
	Retrieves the number of final constraints. More...

virtual VectorXs	jacobianStateSparseIntermediate () override
	Evaluates the constraint jacobian wrt the state using sparse representation. More...

virtual MatrixXs	jacobianStateIntermediate () override
	Evaluates the constraint jacobian wrt the state. More...

virtual VectorXs	jacobianStateSparseTerminal () override
	Evaluates the constraint jacobian wrt the state using sparse representation. More...

virtual MatrixXs	jacobianStateTerminal () override
	Evaluates the constraint jacobian wrt the state. More...

virtual VectorXs	jacobianInputSparseIntermediate () override
	Evaluates the constraint jacobian wrt the control input using sparse representation. More...

virtual MatrixXs	jacobianInputIntermediate () override
	Evaluates the constraint jacobian wrt the control input. More...

virtual VectorXs	jacobianInputSparseTerminal () override
	Evaluates the constraint jacobian wrt the control input using sparse representation. More...

virtual MatrixXs	jacobianInputTerminal () override
	Evaluates the constraint jacobian wrt the control input. More...

virtual void	sparsityPatternStateIntermediate (Eigen::VectorXi &iRows, Eigen::VectorXi &jCols) override
	Returns the sparsity pattern for the jacobian wrt state. More...

virtual void	sparsityPatternStateTerminal (Eigen::VectorXi &iRows, Eigen::VectorXi &jCols) override
	Returns the sparsity pattern for the jacobian wrt state. More...

virtual void	sparsityPatternInputIntermediate (Eigen::VectorXi &iRows, Eigen::VectorXi &jCols) override
	Returns the sparsity pattern for the jacobian wrt control. More...

virtual void	sparsityPatternInputTerminal (Eigen::VectorXi &iRows, Eigen::VectorXi &jCols) override
	Returns the sparsity pattern for the jacobian wrt control. More...

virtual size_t	getJacobianStateNonZeroCountIntermediate () override
	Returns the number of non zero elements in the constraint jacobian wrt state. More...

virtual size_t	getJacobianStateNonZeroCountTerminal () override
	Returns the number of non zero elements in the constraint jacobian wrt state. More...

virtual size_t	getJacobianInputNonZeroCountIntermediate () override
	Returns the number of non zero elements in the constraint jacobian wrt input. More...

virtual size_t	getJacobianInputNonZeroCountTerminal () override
	Returns the number of non zero elements in the constraint jacobian wrt input. More...

virtual bool	initializeIntermediate () override
	Initializes the intermediate constraints. More...

virtual bool	initializeTerminal () override
	Initializes the terminal constraints. More...

Public Member Functions inherited from ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >
	LinearConstraintContainer ()
	Default constructor. More...

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

virtual	~LinearConstraintContainer ()
	Destructor. More...

size_t	getJacNonZeroCount ()
	Returns the number of non zeros in the constraint jacobian wrt to state and input. More...

void	initialize ()
	Initializes the constraint container. More...

bool	isInitialized ()
	Checks if the constraint container is initialized. More...

void	printout ()
	Print out sparsity patterns, jacobians, etc. Serves for quick visual inspection. More...

Public Member Functions inherited from ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >
	ConstraintContainerBase ()
	Default constructor. More...

	ConstraintContainerBase (const ConstraintContainerBase &arg)
	copy constructor More...

virtual	~ConstraintContainerBase ()
	Destructor. More...

virtual void	setCurrentStateAndControl (const state_vector_t &x, const input_vector_t &u, const SCALAR t=SCALAR(0.0))

size_t	getConstraintsCount ()
	Retrieves the total number of constraints. More...

VectorXs	getLowerBoundsIntermediate () const
	Retrieves the lower constraint bound on the intermediate constraints. More...

VectorXs	getLowerBoundsTerminal () const
	Retrieves the lower constraint bound on the terminal constraints. More...

VectorXs	getUpperBoundsIntermediate () const
	Retrieves the upper constraint bound on the intermediate constraints. More...

VectorXs	getUpperBoundsTerminal () const
	Retrieves the upper constraint bound on the terminal constraints. More...

VectorXs	getUpperBoundsViolationIntermediate ()
	Retrieves the violation of the upper constraint bound on the intermediate constraints. More...

VectorXs	getLowerBoundsViolationIntermediate ()
	Retrieves the violation of the lower constraint bound on the intermediate constraints. More...

VectorXs	getUpperBoundsViolationTerminal ()
	Retrieves the violation of the upper constraint bound on the terminal constraints. More...

VectorXs	getLowerBoundsViolationTerminal ()
	Retrieves the violation of the lower constraint bound on the terminal constraints. More...

VectorXs	getTotalBoundsViolationIntermediate ()
	Retrieves the total violation of the constraints bounds on the intermediate constraints. More...

VectorXs	getTotalBoundsViolationTerminal ()
	Retrieves the total violation of the constraints bounds on the terminal constraints. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef core::StateVector< STATE_DIM, SCALAR >	state_vector_t

Public Attributes inherited from ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef core::StateVector< STATE_DIM, SCALAR >	state_vector_t

Public Attributes inherited from ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef core::StateVector< STATE_DIM, SCALAR >	state_vector_t

Additional Inherited Members
Protected Attributes inherited from ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >
bool	initializedIntermediate_

bool	initializedTerminal_

Protected Attributes inherited from ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >
state_vector_t	x_

input_vector_t	u_

SCALAR	t_

VectorXs	lowerBoundsIntermediate_

VectorXs	lowerBoundsTerminal_

VectorXs	upperBoundsIntermediate_

VectorXs	upperBoundsTerminal_

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
class ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >

Contains all the constraints using analytically calculated jacobians.

Template Parameters

STATE_DIM	The state dimension
CONTROL_DIM	The control dimension

Examples:: ConstraintComparison.h, ConstraintTest.h, DMS.cpp, NLOC_boxConstrained.cpp, oscDMSTest.cpp, and oscDMSTestAllVariants.cpp.

Member Typedef Documentation

◆ input_vector_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef core::ControlVector<CONTROL_DIM, SCALAR> ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::input_vector_t

◆ ConstraintContainerAnalytical_Raw_Ptr_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef ConstraintContainerAnalytical<STATE_DIM, CONTROL_DIM, SCALAR>* ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::ConstraintContainerAnalytical_Raw_Ptr_t

◆ VectorXs

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef Eigen::Matrix<SCALAR, Eigen::Dynamic, 1> ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXs

◆ MatrixXs

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef Eigen::Matrix<SCALAR, Eigen::Dynamic, Eigen::Dynamic> ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::MatrixXs

Constructor & Destructor Documentation

◆ ConstraintContainerAnalytical() [1/3]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::ConstraintContainerAnalytical ( )

◆ ConstraintContainerAnalytical() [2/3]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::ConstraintContainerAnalytical	(	const state_vector_t &	x,
		const input_vector_t &	u,
		const SCALAR &	t = `0.0`
	)

Constructor using state, control and time.

Parameters

x	state vector
u	control vector
t	time

◆ ConstraintContainerAnalytical() [3/3]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::ConstraintContainerAnalytical ( const ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR > & arg )

Copy constructor.

Parameters

arg	constraint class to copy

References i.

◆ ~ConstraintContainerAnalytical()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::~ConstraintContainerAnalytical ( )

virtual

Destructor.

Member Function Documentation

◆ clone()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::ConstraintContainerAnalytical_Raw_Ptr_t ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::clone ( ) const

overridevirtual

Deep-cloning of Constraint.

Returns: Copy of this object.

Implements ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >.

◆ addIntermediateConstraint()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::addIntermediateConstraint	(	std::shared_ptr< ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >>	constraint,
		bool	verbose
	)

Adds an intermedaite constraint.

Parameters

[in]	constraint	The constraint to be added
[in]	verbose	Flag indicating whether verbosity is on or off

References ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::initializedIntermediate_.

◆ addTerminalConstraint()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::addTerminalConstraint	(	std::shared_ptr< ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >>	constraint,
		bool	verbose
	)

Adds a terminal constraint.

Parameters

[in]	constraint	The constraint to be added
[in]	verbose	Flag indicating whether verbosity is on or off

References ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::initializedTerminal_.

◆ evaluateIntermediate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXs ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateIntermediate ( )

overridevirtual

Evaluates the intermediate constraints.

Returns: The evaluation of the intermediate constraints

Implements ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::t_, ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::u_, and ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::x_.

◆ evaluateTerminal()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXs ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateTerminal ( )

overridevirtual

Evaluates the terminal constraints.

Returns: The evaluation of the terminal constraints

Implements ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::t_, ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::u_, and ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::x_.

◆ getIntermediateConstraintsCount()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

size_t ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::getIntermediateConstraintsCount ( )

overridevirtual

Retrieves the number of intermediate constraints.

Returns: The number of intermediate constraints

Implements ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >.

Referenced by ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::initializeIntermediate().

◆ getTerminalConstraintsCount()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

size_t ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::getTerminalConstraintsCount ( )

overridevirtual

Retrieves the number of final constraints.

Returns: The number of final constraints

Implements ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >.

Referenced by ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::initializeTerminal().

◆ jacobianStateSparseIntermediate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXs ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianStateSparseIntermediate ( )

overridevirtual

Evaluates the constraint jacobian wrt the state using sparse representation.

Parameters

jacVec	The sparse jacobian vector
count	The size of jacVec

Implements ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::t_, ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::u_, and ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::x_.

◆ jacobianStateIntermediate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::MatrixXs ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianStateIntermediate ( )

overridevirtual

Evaluates the constraint jacobian wrt the state.

Returns: The jacobian wrt state

Implements ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::t_, ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::u_, and ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::x_.

◆ jacobianStateSparseTerminal()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXs ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianStateSparseTerminal ( )

overridevirtual

Evaluates the constraint jacobian wrt the state using sparse representation.

Parameters

jacVec	The sparse jacobian vector
count	The size of jacVec

Implements ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::t_, ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::u_, and ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::x_.

◆ jacobianStateTerminal()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::MatrixXs ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianStateTerminal ( )

overridevirtual

Evaluates the constraint jacobian wrt the state.

Returns: The jacobian wrt state

Implements ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::t_, ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::u_, and ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::x_.

◆ jacobianInputSparseIntermediate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXs ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInputSparseIntermediate ( )

overridevirtual

Evaluates the constraint jacobian wrt the control input using sparse representation.

Parameters

jacVec	The sparse jacobian vector
count	The size of jacVec

Implements ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::t_, ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::u_, and ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::x_.

◆ jacobianInputIntermediate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::MatrixXs ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInputIntermediate ( )

overridevirtual

Evaluates the constraint jacobian wrt the control input.

Returns: The jacobian wrt control

Implements ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::t_, ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::u_, and ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::x_.

◆ jacobianInputSparseTerminal()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXs ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInputSparseTerminal ( )

overridevirtual

Evaluates the constraint jacobian wrt the control input using sparse representation.

Parameters

jacVec	The sparse jacobian vector
count	The size of jacVec

Implements ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::t_, ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::u_, and ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::x_.

◆ jacobianInputTerminal()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::MatrixXs ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInputTerminal ( )

overridevirtual

Evaluates the constraint jacobian wrt the control input.

Returns: The jacobian wrt control

Implements ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::t_, ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::u_, and ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::x_.

◆ sparsityPatternStateIntermediate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::sparsityPatternStateIntermediate	(	Eigen::VectorXi &	iRows,
		Eigen::VectorXi &	jCols
	)

overridevirtual

Returns the sparsity pattern for the jacobian wrt state.

Parameters

iRows	The vector of the row indices containing non zero elements in the constraint jacobian
jCols	The vector of the column indices containing non zero elements in the constraint jacobian

Returns: The size of iRow and jCols

Implements ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >.

◆ sparsityPatternStateTerminal()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::sparsityPatternStateTerminal	(	Eigen::VectorXi &	iRows,
		Eigen::VectorXi &	jCols
	)

overridevirtual

Returns the sparsity pattern for the jacobian wrt state.

Parameters

iRows	The vector of the row indices containing non zero elements in the constraint jacobian
jCols	The vector of the column indices containing non zero elements in the constraint jacobian

Returns: The size of iRow and jCols

Implements ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::initializedTerminal_.

◆ sparsityPatternInputIntermediate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::sparsityPatternInputIntermediate	(	Eigen::VectorXi &	iRows,
		Eigen::VectorXi &	jCols
	)

overridevirtual

Returns the sparsity pattern for the jacobian wrt control.

Parameters

iRows	The vector of the row indices containing non zero elements in the constraint jacobian
jCols	The vector of the column indices containing non zero elements in the constraint jacobian

Returns: The size of iRow and jCols

Implements ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >.

◆ sparsityPatternInputTerminal()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::sparsityPatternInputTerminal	(	Eigen::VectorXi &	iRows,
		Eigen::VectorXi &	jCols
	)

overridevirtual

Returns the sparsity pattern for the jacobian wrt control.

Parameters

iRows	The vector of the row indices containing non zero elements in the constraint jacobian
jCols	The vector of the column indices containing non zero elements in the constraint jacobian

Returns: The size of iRow and jCols

Implements ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::initializedTerminal_.

◆ getJacobianStateNonZeroCountIntermediate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

size_t ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::getJacobianStateNonZeroCountIntermediate ( )

overridevirtual

Returns the number of non zero elements in the constraint jacobian wrt state.

Returns: The number of the non zeros

Implements ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >.

Referenced by ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::initializeIntermediate().

◆ getJacobianStateNonZeroCountTerminal()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

size_t ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::getJacobianStateNonZeroCountTerminal ( )

overridevirtual

Returns the number of non zero elements in the constraint jacobian wrt state.

Returns: The number of the non zeros

Implements ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >.

Referenced by ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::initializeTerminal().

◆ getJacobianInputNonZeroCountIntermediate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

size_t ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::getJacobianInputNonZeroCountIntermediate ( )

overridevirtual

Returns the number of non zero elements in the constraint jacobian wrt input.

Returns: The number of the non zeros

Implements ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >.

Referenced by ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::initializeIntermediate().

◆ getJacobianInputNonZeroCountTerminal()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

size_t ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::getJacobianInputNonZeroCountTerminal ( )

overridevirtual

Returns the number of non zero elements in the constraint jacobian wrt input.

Returns: The number of the non zeros

Implements ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >.

Referenced by ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::initializeTerminal().

◆ initializeIntermediate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

bool ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::initializeIntermediate ( )

overridevirtual

Initializes the intermediate constraints.

Returns: Returns true if the initialization was successful

Implements ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::getIntermediateConstraintsCount(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::getJacobianInputNonZeroCountIntermediate(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::getJacobianStateNonZeroCountIntermediate(), ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::lowerBoundsIntermediate_, and ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::upperBoundsIntermediate_.

◆ initializeTerminal()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

bool ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::initializeTerminal ( )

overridevirtual

Initializes the terminal constraints.

Returns: Returns true if the initialization was successful

Implements ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::getJacobianInputNonZeroCountTerminal(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::getJacobianStateNonZeroCountTerminal(), ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::getTerminalConstraintsCount(), ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::initializedIntermediate_, ct::optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >::initializedTerminal_, ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::lowerBoundsTerminal_, and ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::upperBoundsTerminal_.

Member Data Documentation

◆ state_vector_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef core::StateVector<STATE_DIM, SCALAR> ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_t

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/constraint/ConstraintContainerAnalytical.h
/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/constraint/ConstraintContainerAnalytical-impl.h

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double> class ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >

Member Typedef Documentation

◆ input_vector_t

◆ ConstraintContainerAnalytical_Raw_Ptr_t

◆ VectorXs

◆ MatrixXs

Constructor & Destructor Documentation

◆ ConstraintContainerAnalytical() [1/3]

◆ ConstraintContainerAnalytical() [2/3]

◆ ConstraintContainerAnalytical() [3/3]

◆ ~ConstraintContainerAnalytical()

Member Function Documentation

◆ clone()

◆ addIntermediateConstraint()

◆ addTerminalConstraint()

◆ evaluateIntermediate()

◆ evaluateTerminal()

◆ getIntermediateConstraintsCount()

◆ getTerminalConstraintsCount()

◆ jacobianStateSparseIntermediate()

◆ jacobianStateIntermediate()

◆ jacobianStateSparseTerminal()

◆ jacobianStateTerminal()

◆ jacobianInputSparseIntermediate()

◆ jacobianInputIntermediate()

◆ jacobianInputSparseTerminal()

◆ jacobianInputTerminal()

◆ sparsityPatternStateIntermediate()

◆ sparsityPatternStateTerminal()

◆ sparsityPatternInputIntermediate()

◆ sparsityPatternInputTerminal()

◆ getJacobianStateNonZeroCountIntermediate()

◆ getJacobianStateNonZeroCountTerminal()

◆ getJacobianInputNonZeroCountIntermediate()

◆ getJacobianInputNonZeroCountTerminal()

◆ initializeIntermediate()

◆ initializeTerminal()

Member Data Documentation

◆ state_vector_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
class ct::optcon::ConstraintContainerAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >