Class for control input box constraint term. More...

#include <ControlInputConstraint.h>

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

Public Types
using	Trait = typename ct::core::tpl::TraitSelector< SCALAR >::Trait

using	Base = BoxConstraintBase< CONTROL_DIM, STATE_DIM, CONTROL_DIM, SCALAR >

using	state_vector_t = core::StateVector< STATE_DIM, SCALAR >

using	control_vector_t = core::ControlVector< CONTROL_DIM, SCALAR >

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

using	VectorXs = Eigen::Matrix< SCALAR, Eigen::Dynamic, 1 >

using	MatrixXs = Eigen::Matrix< SCALAR, Eigen::Dynamic, Eigen::Dynamic >

using	sparsity_matrix_t = Eigen::Matrix< SCALAR, Eigen::Dynamic, CONTROL_DIM >

Public Types inherited from ct::optcon::BoxConstraintBase< CONTROL_DIM, STATE_DIM, CONTROL_DIM, SCALAR >
using	Trait = typename ct::core::tpl::TraitSelector< SCALAR >::Trait

using	Base = ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >

using	state_vector_t = core::StateVector< STATE_DIM, SCALAR >

using	control_vector_t = core::ControlVector< CONTROL_DIM, SCALAR >

using	decision_vector_t = core::StateVector< DERIVED_DIM, SCALAR >

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

using	VectorXs = Eigen::Matrix< SCALAR, Eigen::Dynamic, 1 >

using	MatrixXs = Eigen::Matrix< SCALAR, Eigen::Dynamic, Eigen::Dynamic >

using	sparsity_matrix_t = Eigen::Matrix< SCALAR, Eigen::Dynamic, DERIVED_DIM >

Public Types inherited from ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >
typedef core::StateVector< STATE_DIM, SCALAR >	state_vector_t

typedef core::ControlVector< CONTROL_DIM, SCALAR >	control_vector_t

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

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

Public Member Functions
	ControlInputConstraint (const control_vector_t &uLow, const control_vector_t &uHigh)
	Constructor taking lower and upper state bounds directly. Assumes state box constraint is dense. More...

	ControlInputConstraint (const VectorXs &lb, const VectorXs &ub, const Eigen::VectorXi &control_sparsity)
	Constructor for sparse control input box constraint. Takes bounds and sparsity pattern. More...

	ControlInputConstraint (const ControlInputConstraint &arg)

virtual	~ControlInputConstraint ()

virtual ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR > *	clone () const override
	Creates a new instance of the object with same properties than original. More...

virtual VectorXs	evaluate (const state_vector_t &x, const control_vector_t &u, const SCALAR t) override
	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 SCALAR t) override
	Returns the constraint jacobian wrt state. More...

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

virtual size_t	getNumNonZerosJacobianState () const override
	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 override
	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 SCALAR t) override
	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 SCALAR t) override
	Returns the constraint jacobian wrt control input in sparse structure. The default implementation maps the JacobianState matrix to a vector. More...

virtual void	sparsityPatternState (VectorXi &rows, VectorXi &cols) override

virtual void	sparsityPatternInput (VectorXi &rows, VectorXi &cols) override

Public Member Functions inherited from ct::optcon::BoxConstraintBase< CONTROL_DIM, STATE_DIM, CONTROL_DIM, SCALAR >
	BoxConstraintBase (const decision_vector_t &vLow, const decision_vector_t &vHigh)
	Constructor taking lower and upper state bounds directly. Assumes the box constraint is dense. More...

	BoxConstraintBase (const VectorXs &lb, const VectorXs &ub, const Eigen::VectorXi &sparsity_vec)
	Constructor for sparse box constraint. Takes bounds and sparsity pattern. More...

	BoxConstraintBase (const BoxConstraintBase &arg)

virtual	~BoxConstraintBase ()

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

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

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

virtual	~ConstraintBase ()
	Destructor. 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 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...

Additional Inherited Members
Static Public Member Functions inherited from ct::optcon::BoxConstraintBase< CONTROL_DIM, STATE_DIM, CONTROL_DIM, SCALAR >
static void	sparsityPatternSparseJacobian (const VectorXi &sparsity_vec, const size_t &constrSize, VectorXi &rows, VectorXi &cols)
	generate sparsity pattern for sparse box constraint More...

Public Attributes inherited from ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ct::core::tpl::TraitSelector< SCALAR >::Trait	Trait

Protected Member Functions inherited from ct::optcon::BoxConstraintBase< CONTROL_DIM, STATE_DIM, CONTROL_DIM, SCALAR >
sparsity_matrix_t	diagSparsityVecToSparsityMat (const VectorXi &spVec, const size_t &nConstr)
	transform a sparsity vector (giving the sparsity pattern on the diagonal) in to a sparsity matrix More...

Static Protected Member Functions inherited from ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >
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::BoxConstraintBase< CONTROL_DIM, STATE_DIM, CONTROL_DIM, SCALAR >
VectorXi	sparsity_
	sparsity in vector form More...

sparsity_matrix_t	sparsity_J_
	sparsity matrix More...

size_t	constrSize_
	size of the constraint More...

Protected Attributes inherited from ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >
VectorXs	lb_

VectorXs	ub_
	lower bound on the constraints More...

Detailed Description

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

Class for control input box constraint term.

Template Parameters

STATE_DIM	The state dimension
CONTROL_DIM	The control dimension
SCALAR	The Scalar type

Examples:: NLOC_boxConstrained.cpp.

Member Typedef Documentation

◆ Trait

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

using ct::optcon::ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::Trait = typename ct::core::tpl::TraitSelector<SCALAR>::Trait

◆ Base

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

using ct::optcon::ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::Base = BoxConstraintBase<CONTROL_DIM, STATE_DIM, CONTROL_DIM, SCALAR>

◆ state_vector_t

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

using ct::optcon::ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_t = core::StateVector<STATE_DIM, SCALAR>

◆ control_vector_t

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

using ct::optcon::ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_t = core::ControlVector<CONTROL_DIM, SCALAR>

◆ VectorXi

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

using ct::optcon::ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXi = Eigen::Matrix<int, Eigen::Dynamic, 1>

◆ VectorXs

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

using ct::optcon::ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXs = Eigen::Matrix<SCALAR, Eigen::Dynamic, 1>

◆ MatrixXs

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

using ct::optcon::ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::MatrixXs = Eigen::Matrix<SCALAR, Eigen::Dynamic, Eigen::Dynamic>

◆ sparsity_matrix_t

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

using ct::optcon::ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::sparsity_matrix_t = Eigen::Matrix<SCALAR, Eigen::Dynamic, CONTROL_DIM>

Constructor & Destructor Documentation

◆ ControlInputConstraint() [1/3]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::optcon::ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::ControlInputConstraint	(	const control_vector_t &	uLow,
		const control_vector_t &	uHigh
	)

Constructor taking lower and upper state bounds directly. Assumes state box constraint is dense.

Parameters

[in]	uLow	The upper control input bound
[in]	uHigh	The lower control input bound

◆ ControlInputConstraint() [2/3]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::optcon::ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::ControlInputConstraint	(	const VectorXs &	lb,
		const VectorXs &	ub,
		const Eigen::VectorXi &	control_sparsity
	)

Constructor for sparse control input box constraint. Takes bounds and sparsity pattern.

Parameters

lb	Lower boundary values
ub	Upper boundary values
control_sparsity	Control input constraint sparsity pattern

◆ ControlInputConstraint() [3/3]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

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

◆ ~ControlInputConstraint()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

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

virtual

Member Function Documentation

◆ clone()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR > * ct::optcon::ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::clone ( ) const

overridevirtual

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

Returns: Copy of this object.

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

◆ evaluate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

Eigen::Matrix< SCALAR, Eigen::Dynamic, 1 > ct::optcon::ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::evaluate	(	const state_vector_t &	x,
		const control_vector_t &	u,
		const SCALAR	t
	)

overridevirtual

The evaluation of the constraint violation. Note this method is SCALAR typed.

Parameters

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

Returns: The constraint violation

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

References ct::optcon::BoxConstraintBase< CONTROL_DIM, STATE_DIM, CONTROL_DIM, SCALAR >::sparsity_J_, t, u, and x.

◆ jacobianState()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::MatrixXs ct::optcon::ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianState	(	const state_vector_t &	x,
		const control_vector_t &	u,
		const SCALAR	t
	)

overridevirtual

Returns the constraint jacobian wrt state.

Returns: The constraint jacobian

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

References ct::optcon::BoxConstraintBase< CONTROL_DIM, STATE_DIM, CONTROL_DIM, SCALAR >::constrSize_.

◆ jacobianInput()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::MatrixXs ct::optcon::ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInput	(	const state_vector_t &	x,
		const control_vector_t &	u,
		const SCALAR	t
	)

overridevirtual

Returns the constraint jacobian wrt input.

Returns: The constraint jacobian

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

References ct::optcon::BoxConstraintBase< CONTROL_DIM, STATE_DIM, CONTROL_DIM, SCALAR >::sparsity_J_.

◆ getNumNonZerosJacobianState()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

size_t ct::optcon::ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::getNumNonZerosJacobianState ( ) const

overridevirtual

Returns the number of nonzeros in the jacobian wrt state. The default implementation assumes a dense matrix with only nonzero elements.

Returns: The number of non zeros

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

◆ getNumNonZerosJacobianInput()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

size_t ct::optcon::ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::getNumNonZerosJacobianInput ( ) const

overridevirtual

Returns the number of nonzeros in the jacobian wrt control input. The default implementation assumes a dense matrix with only nonzero elements.

Returns: The number of non zeros

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

References ct::optcon::BoxConstraintBase< CONTROL_DIM, STATE_DIM, CONTROL_DIM, SCALAR >::constrSize_.

◆ jacobianStateSparse()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXs ct::optcon::ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianStateSparse	(	const state_vector_t &	x,
		const control_vector_t &	u,
		const SCALAR	t
	)

overridevirtual

Returns the constraint jacobian wrt state in sparse structure. The default implementation maps the JacobianState matrix to a vector.

Returns: The sparse constraint jacobian

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

◆ jacobianInputSparse()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXs ct::optcon::ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInputSparse	(	const state_vector_t &	x,
		const control_vector_t &	u,
		const SCALAR	t
	)

overridevirtual

Returns the constraint jacobian wrt control input in sparse structure. The default implementation maps the JacobianState matrix to a vector.

Returns: The sparse constraint jacobian

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

References ct::optcon::BoxConstraintBase< CONTROL_DIM, STATE_DIM, CONTROL_DIM, SCALAR >::constrSize_.

◆ sparsityPatternState()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::sparsityPatternState	(	VectorXi &	rows,
		VectorXi &	cols
	)

overridevirtual

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

◆ sparsityPatternInput()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::sparsityPatternInput	(	VectorXi &	rows,
		VectorXi &	cols
	)

overridevirtual

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

References ct::optcon::BoxConstraintBase< CONTROL_DIM, STATE_DIM, CONTROL_DIM, SCALAR >::constrSize_, ct::optcon::BoxConstraintBase< CONTROL_DIM, STATE_DIM, CONTROL_DIM, SCALAR >::sparsity_, and ct::optcon::BoxConstraintBase< CONTROL_DIM, STATE_DIM, CONTROL_DIM, SCALAR >::sparsityPatternSparseJacobian().

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

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ Trait

◆ Base

◆ state_vector_t

◆ control_vector_t

◆ VectorXi

◆ VectorXs

◆ MatrixXs

◆ sparsity_matrix_t

Constructor & Destructor Documentation

◆ ControlInputConstraint() [1/3]

◆ ControlInputConstraint() [2/3]

◆ ControlInputConstraint() [3/3]

◆ ~ControlInputConstraint()

Member Function Documentation

◆ clone()

◆ evaluate()

◆ jacobianState()

◆ jacobianInput()

◆ getNumNonZerosJacobianState()

◆ getNumNonZerosJacobianInput()

◆ jacobianStateSparse()

◆ jacobianInputSparse()

◆ sparsityPatternState()

◆ sparsityPatternInput()

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