The class takes continuous constraints defined with the constraint toolbox and discretizes them over the DMS shots. These discretized constraints can then be used in the NLP module. More...

#include <ConstraintDiscretizer.h>

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

Public Types
typedef ct::core::StateVector< STATE_DIM, SCALAR >	state_vector_t

typedef ct::core::StateVectorArray< STATE_DIM, SCALAR >	state_vector_array_t

typedef ct::core::ControlVector< CONTROL_DIM, SCALAR >	control_vector_t

typedef ct::core::ControlVectorArray< CONTROL_DIM, SCALAR >	control_vector_array_t

typedef ct::core::tpl::TimeArray< SCALAR >	time_array_t

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

Public Types inherited from ct::optcon::tpl::DiscreteConstraintBase< SCALAR >
using	VectorXs = Eigen::Matrix< SCALAR, Eigen::Dynamic, 1 >

Public Member Functions
	ConstraintDiscretizer ()=default
	Default constructor. More...

	~ConstraintDiscretizer () override=default
	Destructor. More...

	ConstraintDiscretizer (std::shared_ptr< OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >> w, std::shared_ptr< SplinerBase< control_vector_t, SCALAR >> controlSpliner, std::shared_ptr< tpl::TimeGrid< SCALAR >> timeGrid, size_t N)
	Custom constructor. More...

void	setBoxConstraints (std::shared_ptr< LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >> boxConstraints)

void	setGeneralConstraints (std::shared_ptr< LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >> generalConstraints)

VectorXs	eval () override
	Evaluates the constraint violation. More...

VectorXs	evalSparseJacobian () override
	Returns the non zero elements of the eval method with respect to the optimization variables. More...

size_t	getNumNonZerosJacobian () override
	Returns the number of non zero elements of the jacobian. More...

void	genSparsityPattern (Eigen::VectorXi &iRow_vec, Eigen::VectorXi &jCol_vec) override
	Returns the sparsity structure of the constraint jacobian. More...

VectorXs	getLowerBound () override
	Returns the lower bound of the constraint. More...

VectorXs	getUpperBound () override
	Returns the upper bound of the constraint. More...

size_t	getConstraintSize () override
	Returns size of the constraint vector. More...

Public Member Functions inherited from ct::optcon::tpl::DiscreteConstraintBase< SCALAR >
	DiscreteConstraintBase ()=default
	Default constructor. More...

virtual	~DiscreteConstraintBase ()=default
	Destructor. More...

virtual void	genSparsityPatternHessian (Eigen::VectorXi &iRow_vec, Eigen::VectorXi &jCol_vec)
	Returns the sparsity structure of the constraint hessian. More...

virtual void	sparseHessianValues (const Eigen::VectorXd &optVec, const Eigen::VectorXd &lambda, Eigen::VectorXd &sparseHes)
	Returns the non zero elements (values) of the Hessian matrix of this constraint. More...

Eigen::VectorXi &	iRowHessian ()

Eigen::VectorXi &	jColHessian ()

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef tpl::DiscreteConstraintBase< SCALAR >	BASE

Additional Inherited Members
Protected Member Functions inherited from ct::optcon::tpl::DiscreteConstraintBase< SCALAR >
size_t	genDiagonalIndices (const size_t col_start, const size_t num_elements, Eigen::VectorXi &iRow_vec, Eigen::VectorXi &jCol_vec, const size_t indexNumber)
	This method generates Row and Column vectors which indicate the sparsity pattern of the constraint jacobian for a quadratic matrix block containing diagonal entries only. More...

size_t	genBlockIndices (const size_t col_start, const size_t num_rows, const size_t num_cols, Eigen::VectorXi &iRow_vec, Eigen::VectorXi &jCol_vec, const size_t indexNumber)
	This method generates Row and Column vectors which indicate the sparsity pattern of the constraint jacobian for an arbitrary dense matrix block. More...

Protected Attributes inherited from ct::optcon::tpl::DiscreteConstraintBase< SCALAR >
Eigen::VectorXi	iRowHessian_

Eigen::VectorXi	jColHessian_

Detailed Description

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

The class takes continuous constraints defined with the constraint toolbox and discretizes them over the DMS shots. These discretized constraints can then be used in the NLP module.

Template Parameters

STATE_DIM	The state dimension
CONTROL_DIM	The input dimension

Member Typedef Documentation

◆ state_vector_t

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

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

◆ state_vector_array_t

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

typedef ct::core::StateVectorArray<STATE_DIM, SCALAR> ct::optcon::ConstraintDiscretizer< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_array_t

◆ control_vector_t

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

typedef ct::core::ControlVector<CONTROL_DIM, SCALAR> ct::optcon::ConstraintDiscretizer< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_t

◆ control_vector_array_t

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

typedef ct::core::ControlVectorArray<CONTROL_DIM, SCALAR> ct::optcon::ConstraintDiscretizer< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_array_t

◆ time_array_t

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

typedef ct::core::tpl::TimeArray<SCALAR> ct::optcon::ConstraintDiscretizer< STATE_DIM, CONTROL_DIM, SCALAR >::time_array_t

◆ VectorXs

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

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

Constructor & Destructor Documentation

◆ ConstraintDiscretizer() [1/2]

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

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

default

Default constructor.

◆ ~ConstraintDiscretizer()

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

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

overridedefault

Destructor.

◆ ConstraintDiscretizer() [2/2]

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

ct::optcon::ConstraintDiscretizer< STATE_DIM, CONTROL_DIM, SCALAR >::ConstraintDiscretizer	(	std::shared_ptr< OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >>	w,
		std::shared_ptr< SplinerBase< control_vector_t, SCALAR >>	controlSpliner,
		std::shared_ptr< tpl::TimeGrid< SCALAR >>	timeGrid,
		size_t	N
	)

inline

Custom constructor.

Parameters

[in]	w	The optimization variables
[in]	c_continuous	The continuous constraints
[in]	activeInd	A vector defining at which shots the constraint is active

Member Function Documentation

◆ setBoxConstraints()

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

void ct::optcon::ConstraintDiscretizer< STATE_DIM, CONTROL_DIM, SCALAR >::setBoxConstraints ( std::shared_ptr< LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >> boxConstraints )

inline

◆ setGeneralConstraints()

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

void ct::optcon::ConstraintDiscretizer< STATE_DIM, CONTROL_DIM, SCALAR >::setGeneralConstraints ( std::shared_ptr< LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR >> generalConstraints )

inline

◆ eval()

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

VectorXs ct::optcon::ConstraintDiscretizer< STATE_DIM, CONTROL_DIM, SCALAR >::eval ( )

inlineoverridevirtual

Evaluates the constraint violation.

Returns: A vector of the evaluated constraint violation

Implements ct::optcon::tpl::DiscreteConstraintBase< SCALAR >.

References n.

◆ evalSparseJacobian()

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

VectorXs ct::optcon::ConstraintDiscretizer< STATE_DIM, CONTROL_DIM, SCALAR >::evalSparseJacobian ( )

inlineoverridevirtual

Returns the non zero elements of the eval method with respect to the optimization variables.

Returns: A vector of the non zero elements of the constraint jacobian

Implements ct::optcon::tpl::DiscreteConstraintBase< SCALAR >.

References n.

◆ getNumNonZerosJacobian()

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

size_t ct::optcon::ConstraintDiscretizer< STATE_DIM, CONTROL_DIM, SCALAR >::getNumNonZerosJacobian ( )

inlineoverridevirtual

Returns the number of non zero elements of the jacobian.

Returns: The number of non zero elements of the jacobian (which should be equal to the return value of evalSparseJacobian)

Implements ct::optcon::tpl::DiscreteConstraintBase< SCALAR >.

◆ genSparsityPattern()

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

void ct::optcon::ConstraintDiscretizer< STATE_DIM, CONTROL_DIM, SCALAR >::genSparsityPattern	(	Eigen::VectorXi &	iRow_vec,
		Eigen::VectorXi &	jCol_vec
	)

inlineoverridevirtual

Returns the sparsity structure of the constraint jacobian.

Parameters

[out]	iRow_vec	A vector containing the row indices of the non zero elements of the constraint jacobian
[out]	jCol_vec	A vector containing the column indices of the non zero elements of the constraint jacobian

Implements ct::optcon::tpl::DiscreteConstraintBase< SCALAR >.

References n.

◆ getLowerBound()

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

VectorXs ct::optcon::ConstraintDiscretizer< STATE_DIM, CONTROL_DIM, SCALAR >::getLowerBound ( )

inlineoverridevirtual

Returns the lower bound of the constraint.

Returns: The lower constraint bound

Implements ct::optcon::tpl::DiscreteConstraintBase< SCALAR >.

References n.

◆ getUpperBound()

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

VectorXs ct::optcon::ConstraintDiscretizer< STATE_DIM, CONTROL_DIM, SCALAR >::getUpperBound ( )

inlineoverridevirtual

Returns the upper bound of the constraint.

Returns: The upper constraint bound

Implements ct::optcon::tpl::DiscreteConstraintBase< SCALAR >.

References n.

◆ getConstraintSize()

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

size_t ct::optcon::ConstraintDiscretizer< STATE_DIM, CONTROL_DIM, SCALAR >::getConstraintSize ( )

inlineoverridevirtual

Returns size of the constraint vector.

Returns: The size of the constraint vector (should be equal to the size of the return value of the eval method)

Implements ct::optcon::tpl::DiscreteConstraintBase< SCALAR >.

Member Data Documentation

◆ BASE

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

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef tpl::DiscreteConstraintBase<SCALAR> ct::optcon::ConstraintDiscretizer< STATE_DIM, CONTROL_DIM, SCALAR >::BASE

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/dms/constraints/ConstraintDiscretizer.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::ConstraintDiscretizer< STATE_DIM, CONTROL_DIM, SCALAR >

Member Typedef Documentation

◆ state_vector_t

◆ state_vector_array_t

◆ control_vector_t

◆ control_vector_array_t

◆ time_array_t

◆ VectorXs

Constructor & Destructor Documentation

◆ ConstraintDiscretizer() [1/2]

◆ ~ConstraintDiscretizer()

◆ ConstraintDiscretizer() [2/2]

Member Function Documentation

◆ setBoxConstraints()

◆ setGeneralConstraints()

◆ eval()

◆ evalSparseJacobian()

◆ getNumNonZerosJacobian()

◆ genSparsityPattern()

◆ getLowerBound()

◆ getUpperBound()

◆ getConstraintSize()

Member Data Documentation

◆ BASE

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