Container class for the constraints used in DMS. More...

#include <ConstraintsContainerDms.h>

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

Public Types
typedef DIMENSIONS::state_vector_t	state_vector_t

typedef DIMENSIONS::control_vector_t	control_vector_t

typedef DIMENSIONS::state_matrix_t	state_matrix_t

typedef DIMENSIONS::control_matrix_t	control_matrix_t

typedef DIMENSIONS::state_control_matrix_t	state_control_matrix_t

typedef DIMENSIONS::state_matrix_array_t	state_matrix_array_t

typedef DIMENSIONS::state_control_matrix_array_t	state_control_matrix_array_t

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

using	VectorXi = Eigen::Matrix< int, Eigen::Dynamic, 1 >

using	MapVecXs = Eigen::Map< VectorXs >

using	MapVecXi = Eigen::Map< VectorXi >

Public Member Functions
	ConstraintsContainerDms (std::shared_ptr< OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >> w, std::shared_ptr< tpl::TimeGrid< SCALAR >> timeGrid, std::vector< std::shared_ptr< ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >>> shotContainers, std::shared_ptr< ConstraintDiscretizer< STATE_DIM, CONTROL_DIM, SCALAR >> discretizedConstraints, const state_vector_t &x0, const DmsSettings settings)
	Custom constructor. More...

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

void	prepareEvaluation () override
	Gets called before the constraint evaluation. This method should contain all the calculations needed to evaluate the constraints. More...

void	prepareJacobianEvaluation () override
	Gets called before the constraint jacobian evaluation. This method should contain all the calculations needed to evaluate the constraint jacobian. More...

void	changeInitialConstraint (const state_vector_t &x0)
	Updates the initial constraint. More...

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

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

void	evalConstraints (MapVecXs &c_nlp)
	Writes the constraint evaluations into the large constraint optimization vector. More...

void	evalConstraints (VectorXs &c_nlp)

void	evalSparseJacobian (MapVecXs &jac_nlp, const int nzz_jac_g)
	Evaluates the jacobian of the constraints and writes them into the nlp vector. More...

void	getSparsityPattern (Eigen::Map< Eigen::VectorXi > &iRow_nlp, Eigen::Map< Eigen::VectorXi > &jCol_nlp, const int nnz_jac_g)
	Retrieves the sparsity pattern of the constraint Jacobian and writes them into the nlp vectors. More...

size_t	getConstraintsCount () const
	Returns the number of constraints in the NLP. More...

size_t	getNonZerosJacobianCount () const
	Returns the number of non zeros in the constraint jacobian. More...

void	getSparsityPatternHessian (Eigen::VectorXi &iRow, Eigen::VectorXi &jCol, size_t numOptVar)
	creates the combined hessian sparsity pattern from a number of constraint terms More...

Eigen::VectorXd	sparseHessianValues (const Eigen::VectorXd &optVec, const Eigen::VectorXd &lambda)
	Evaluates the constraint Hessian. More...

void	getBounds (MapVecXs &lowerBound, MapVecXs &upperBound)
	Retrieves the constraint bounds and writes them into the vectors used in the NLP. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef DmsDimensions< STATE_DIM, CONTROL_DIM, SCALAR >	DIMENSIONS

Additional Inherited Members
Protected Attributes inherited from ct::optcon::tpl::DiscreteConstraintContainerBase< SCALAR >
std::vector< std::shared_ptr< DiscreteConstraintBase< SCALAR > > >	constraints_
	Container which holds all the constraints of the NLP. More...

std::vector< int >	iRowHessianStdVec_

std::vector< int >	jColHessianStdVec_

Detailed Description

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

Container class for the constraints used in DMS.

Template Parameters

STATE_DIM	The state dimension
CONTROL_DIM	The control dimension

Member Typedef Documentation

◆ state_vector_t

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

typedef DIMENSIONS::state_vector_t ct::optcon::ConstraintsContainerDms< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_t

◆ control_vector_t

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

typedef DIMENSIONS::control_vector_t ct::optcon::ConstraintsContainerDms< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_t

◆ state_matrix_t

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

typedef DIMENSIONS::state_matrix_t ct::optcon::ConstraintsContainerDms< STATE_DIM, CONTROL_DIM, SCALAR >::state_matrix_t

◆ control_matrix_t

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

typedef DIMENSIONS::control_matrix_t ct::optcon::ConstraintsContainerDms< STATE_DIM, CONTROL_DIM, SCALAR >::control_matrix_t

◆ state_control_matrix_t

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

typedef DIMENSIONS::state_control_matrix_t ct::optcon::ConstraintsContainerDms< STATE_DIM, CONTROL_DIM, SCALAR >::state_control_matrix_t

◆ state_matrix_array_t

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

typedef DIMENSIONS::state_matrix_array_t ct::optcon::ConstraintsContainerDms< STATE_DIM, CONTROL_DIM, SCALAR >::state_matrix_array_t

◆ state_control_matrix_array_t

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

typedef DIMENSIONS::state_control_matrix_array_t ct::optcon::ConstraintsContainerDms< STATE_DIM, CONTROL_DIM, SCALAR >::state_control_matrix_array_t

Constructor & Destructor Documentation

◆ ConstraintsContainerDms()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ConstraintsContainerDms::ConstraintsContainerDms	(	std::shared_ptr< OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >>	w,
		std::shared_ptr< tpl::TimeGrid< SCALAR >>	timeGrid,
		std::vector< std::shared_ptr< ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >>>	shotContainers,
		std::shared_ptr< ConstraintDiscretizer< STATE_DIM, CONTROL_DIM, SCALAR >>	discretizedConstraints,
		const state_vector_t &	x0,
		const DmsSettings	settings
	)

Custom constructor.

Parameters

[in]	w	The optimization variables
[in]	timeGrid	The time grid
[in]	shotContainers	The shot containers
[in]	constraintsIntermediate	The intermediate constraints
[in]	constraintsFinal	The final constraints
[in]	x0	The initial state
[in]	settings	The dms settings

◆ ~ConstraintsContainerDms()

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

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

overridedefault

Destructor.

Member Function Documentation

◆ prepareEvaluation()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ConstraintsContainerDms::prepareEvaluation ( )

overridevirtual

Gets called before the constraint evaluation. This method should contain all the calculations needed to evaluate the constraints.

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

◆ prepareJacobianEvaluation()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ConstraintsContainerDms::prepareJacobianEvaluation ( )

overridevirtual

Gets called before the constraint jacobian evaluation. This method should contain all the calculations needed to evaluate the constraint jacobian.

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

◆ changeInitialConstraint()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ConstraintsContainerDms::changeInitialConstraint ( const state_vector_t & x0 )

Updates the initial constraint.

Parameters

[in] x0 The new initial state

Member Data Documentation

◆ DIMENSIONS

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

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef DmsDimensions<STATE_DIM, CONTROL_DIM, SCALAR> ct::optcon::ConstraintsContainerDms< STATE_DIM, CONTROL_DIM, SCALAR >::DIMENSIONS

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

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

Member Typedef Documentation

◆ state_vector_t

◆ control_vector_t

◆ state_matrix_t

◆ control_matrix_t

◆ state_control_matrix_t

◆ state_matrix_array_t

◆ state_control_matrix_array_t

Constructor & Destructor Documentation

◆ ConstraintsContainerDms()

◆ ~ConstraintsContainerDms()

Member Function Documentation

◆ prepareEvaluation()

◆ prepareJacobianEvaluation()

◆ changeInitialConstraint()

Member Data Documentation

◆ DIMENSIONS

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