- 3.0.2 optimal control module.
Public Types | Public Member Functions | Public Attributes | List of all members
ct::optcon::DmsSettings Class Reference
DMS

Defines the DMS settings. More...

#include <DmsSettings.h>

Public Types

enum  SplineType { ZERO_ORDER_HOLD = 0, PIECEWISE_LINEAR = 1, num_types_splining }
 
enum  ObjectiveType { KEEP_TIME_AND_GRID = 0, OPTIMIZE_GRID = 1, num_types_objectives }
 
enum  IntegrationType { EULER = 0, RK4 = 1, RK5 = 2, num_types_integration }
 
enum  CostEvaluationType { SIMPLE = 0, FULL = 1, num_types_costevaluation }
 
typedef enum ct::optcon::DmsSettings::SplineType SplineType_t
 
typedef enum ct::optcon::DmsSettings::ObjectiveType ObjectiveType_t
 
typedef enum ct::optcon::DmsSettings::IntegrationType IntegrationType_t
 
typedef enum ct::optcon::DmsSettings::CostEvaluationType CostEvaluationType_t
 

Public Member Functions

 DmsSettings ()
 Default constructor. Sets some default DMS settings. Note that the optimal settings are strongly dependent on the problem and it is highly recommended to use custom settings. More...
 
void print ()
 
bool parametersOk () const
 
void load (const std::string &filename, bool verbose=true, const std::string &ns="dms")
 

Public Attributes

size_t N_
 
double T_
 
size_t nThreads_
 
SplineType_t splineType_
 
CostEvaluationType_t costEvaluationType_
 
ObjectiveType_t objectiveType_
 
double h_min_
 
IntegrationType_t integrationType_
 
double dt_sim_
 
double absErrTol_
 
double relErrTol_
 
NlpSolverSettings solverSettings_
 
ct::core::DerivativesCppadSettings cppadSettings_
 

Detailed Description

Defines the DMS settings.

Examples:
DMS.cpp.

Member Typedef Documentation

◆ SplineType_t

typedef enum ct::optcon::DmsSettings::SplineType ct::optcon::DmsSettings::SplineType_t

◆ ObjectiveType_t

typedef enum ct::optcon::DmsSettings::ObjectiveType ct::optcon::DmsSettings::ObjectiveType_t

◆ IntegrationType_t

typedef enum ct::optcon::DmsSettings::IntegrationType ct::optcon::DmsSettings::IntegrationType_t

◆ CostEvaluationType_t

typedef enum ct::optcon::DmsSettings::CostEvaluationType ct::optcon::DmsSettings::CostEvaluationType_t

Member Enumeration Documentation

◆ SplineType

enum ct::optcon::DmsSettings::SplineType
Enumerator
ZERO_ORDER_HOLD 
PIECEWISE_LINEAR 
num_types_splining 
Examples:
oscDMSTestAllVariants.cpp.

◆ ObjectiveType

enum ct::optcon::DmsSettings::ObjectiveType
Enumerator
KEEP_TIME_AND_GRID 
OPTIMIZE_GRID 
num_types_objectives 
Examples:
oscDMSTestAllVariants.cpp.

◆ IntegrationType

enum ct::optcon::DmsSettings::IntegrationType
Enumerator
EULER 
RK4 
RK5 
num_types_integration 

◆ CostEvaluationType

enum ct::optcon::DmsSettings::CostEvaluationType
Enumerator
SIMPLE 
FULL 
num_types_costevaluation 
Examples:
oscDMSTestAllVariants.cpp.

Constructor & Destructor Documentation

◆ DmsSettings()

ct::optcon::DmsSettings::DmsSettings ( )
inline

Default constructor. Sets some default DMS settings. Note that the optimal settings are strongly dependent on the problem and it is highly recommended to use custom settings.

Member Function Documentation

◆ print()

void ct::optcon::DmsSettings::print ( )
inline
Examples:
DMS.cpp, oscDMSTest.cpp, and oscDMSTestAllVariants.cpp.

References costEvaluationType_, integrationType_, objectiveType_, ct::optcon::NlpSolverSettings::print(), and splineType_.

Referenced by ct::optcon::example::OscillatorDms::initialize(), load(), main(), and ct::optcon::example::OscDms::OscDms().

◆ parametersOk()

bool ct::optcon::DmsSettings::parametersOk ( ) const
inline

References ct::optcon::NlpSolverSettings::parametersOk().

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

◆ load()

void ct::optcon::DmsSettings::load ( const std::string &  filename,
bool  verbose = true,
const std::string &  ns = "dms" 
)
inline

References EULER, FULL, KEEP_TIME_AND_GRID, ct::core::DerivativesCppadSettings::load(), ct::optcon::NlpSolverSettings::load(), OPTIMIZE_GRID, PIECEWISE_LINEAR, print(), RK4, RK5, SIMPLE, ct::optcon::example::verbose, and ZERO_ORDER_HOLD.

Referenced by ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >::configureFromFile().

Member Data Documentation

◆ N_

size_t ct::optcon::DmsSettings::N_
Examples:
DMS.cpp, oscDMSTest.cpp, and oscDMSTestAllVariants.cpp.

Referenced by ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::changeDesiredState(), ct::optcon::example::OscDms::compareSnoptSolutions(), ct::optcon::CostEvaluatorSimple< STATE_DIM, CONTROL_DIM, SCALAR >::CostEvaluatorSimple(), ct::optcon::DmsProblem< STATE_DIM, CONTROL_DIM, SCALAR >::DmsProblem(), ct::optcon::CostEvaluatorSimple< STATE_DIM, CONTROL_DIM, SCALAR >::eval(), ct::optcon::CostEvaluatorFull< STATE_DIM, CONTROL_DIM, SCALAR >::eval(), ct::optcon::CostEvaluatorSimple< STATE_DIM, CONTROL_DIM, SCALAR >::evalGradient(), ct::optcon::CostEvaluatorFull< STATE_DIM, CONTROL_DIM, SCALAR >::evalGradient(), ct::optcon::example::OscillatorDms::getSolution(), main(), ct::optcon::example::OscDms::OscDms(), ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::ShotContainer(), and ct::optcon::example::TEST().

◆ T_

double ct::optcon::DmsSettings::T_
Examples:
DMS.cpp, oscDMSTest.cpp, and oscDMSTestAllVariants.cpp.

Referenced by ct::optcon::DmsProblem< STATE_DIM, CONTROL_DIM, SCALAR >::DmsProblem(), ct::optcon::example::OscDms::getIpoptSolution(), ct::optcon::example::OscDms::getSnoptSolution(), ct::optcon::example::OscillatorDms::initialize(), main(), ct::optcon::example::OscDms::OscDms(), and ct::optcon::example::TEST().

◆ nThreads_

size_t ct::optcon::DmsSettings::nThreads_
Examples:
DMS.cpp, and oscDMSTest.cpp.

Referenced by main(), ct::optcon::example::OscDms::OscDms(), and ct::optcon::example::TEST().

◆ splineType_

SplineType_t ct::optcon::DmsSettings::splineType_
Examples:
DMS.cpp, and oscDMSTest.cpp.

Referenced by ct::optcon::ContinuityConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::ContinuityConstraint(), ct::optcon::DmsProblem< STATE_DIM, CONTROL_DIM, SCALAR >::DmsProblem(), ct::optcon::CostEvaluatorSimple< STATE_DIM, CONTROL_DIM, SCALAR >::evalGradient(), ct::optcon::CostEvaluatorFull< STATE_DIM, CONTROL_DIM, SCALAR >::evalGradient(), ct::optcon::ContinuityConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::evalSparseJacobian(), ct::optcon::ContinuityConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::genSparsityPattern(), ct::optcon::ContinuityConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::getNumNonZerosJacobian(), ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::integrateCostSensitivities(), ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::integrateSensitivities(), main(), ct::optcon::example::OscDms::OscDms(), print(), and ct::optcon::example::TEST().

◆ costEvaluationType_

CostEvaluationType_t ct::optcon::DmsSettings::costEvaluationType_
Examples:
DMS.cpp, and oscDMSTest.cpp.

Referenced by ct::optcon::DmsProblem< STATE_DIM, CONTROL_DIM, SCALAR >::DmsProblem(), main(), ct::optcon::example::OscDms::OscDms(), print(), ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::ShotContainer(), and ct::optcon::example::TEST().

◆ objectiveType_

ObjectiveType_t ct::optcon::DmsSettings::objectiveType_
Examples:
DMS.cpp, and oscDMSTest.cpp.

Referenced by ct::optcon::DmsProblem< STATE_DIM, CONTROL_DIM, SCALAR >::DmsProblem(), main(), ct::optcon::example::OscDms::OscDms(), print(), and ct::optcon::example::TEST().

◆ h_min_

double ct::optcon::DmsSettings::h_min_
Examples:
DMS.cpp, and oscDMSTest.cpp.

Referenced by main(), ct::optcon::example::OscDms::OscDms(), and ct::optcon::example::TEST().

◆ integrationType_

IntegrationType_t ct::optcon::DmsSettings::integrationType_
Examples:
DMS.cpp, and oscDMSTest.cpp.

Referenced by ct::optcon::RKnDerivatives< STATE_DIM, CONTROL_DIM >::compute_dXdQi(), ct::optcon::RKnDerivatives< STATE_DIM, CONTROL_DIM >::compute_dXdQip1(), ct::optcon::RKnDerivatives< STATE_DIM, CONTROL_DIM >::compute_dXdSi(), main(), ct::optcon::example::OscDms::OscDms(), print(), ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::ShotContainer(), and ct::optcon::example::TEST().

◆ dt_sim_

double ct::optcon::DmsSettings::dt_sim_
Examples:
DMS.cpp, and oscDMSTest.cpp.

Referenced by ct::optcon::DmsProblem< STATE_DIM, CONTROL_DIM, SCALAR >::DmsProblem(), ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::integrateCost(), ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::integrateCostSensitivities(), ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::integrateSensitivities(), ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::integrateShot(), main(), ct::optcon::example::OscDms::OscDms(), and ct::optcon::example::TEST().

◆ absErrTol_

double ct::optcon::DmsSettings::absErrTol_
Examples:
DMS.cpp, and oscDMSTest.cpp.

Referenced by main(), ct::optcon::example::OscDms::OscDms(), and ct::optcon::example::TEST().

◆ relErrTol_

double ct::optcon::DmsSettings::relErrTol_
Examples:
DMS.cpp, and oscDMSTest.cpp.

Referenced by main(), ct::optcon::example::OscDms::OscDms(), and ct::optcon::example::TEST().

◆ solverSettings_

NlpSolverSettings ct::optcon::DmsSettings::solverSettings_
Examples:
DMS.cpp, and oscDMSTest.cpp.

Referenced by ct::optcon::example::OscDms::getIpoptSolution(), ct::optcon::example::OscDms::getSnoptSolution(), main(), and ct::optcon::example::TEST().

◆ cppadSettings_

ct::core::DerivativesCppadSettings ct::optcon::DmsSettings::cppadSettings_
The documentation for this class was generated from the following file: