ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR > Class Template Reference

Class to solve a specfic DMS problem. More...

#include <DmsSolver.h>

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

Public Types
typedef DmsDimensions< STATE_DIM, CONTROL_DIM, SCALAR >	DIMENSIONS
typedef DIMENSIONS::state_vector_t	state_vector_t
typedef DIMENSIONS::control_vector_array_t	control_vector_array_t
typedef DIMENSIONS::control_vector_t	control_vector_t
typedef DIMENSIONS::state_vector_array_t	state_vector_array_t
typedef DIMENSIONS::time_array_t	time_array_t
typedef DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >	Policy_t
typedef ContinuousOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >	OptConProblem_t
Public Types inherited from ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >
typedef DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >	Policy_t
typedef DmsSettings	Settings_t
typedef DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >	Derived
typedef SCALAR	Scalar_t

Public Member Functions
	DmsSolver (const ContinuousOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR > problem, DmsSettings settingsDms)
	Custom constructor, converts the optcon problem to a DMS problem. More...
	~DmsSolver () override=default
	Destructor. More...
void	configure (const DmsSettings &settings) override
bool	solve () override
const Policy_t &	getSolution () override
const core::StateTrajectory< STATE_DIM, SCALAR >	getStateTrajectory () const override
const core::ControlTrajectory< CONTROL_DIM, SCALAR >	getControlTrajectory () const override
const core::tpl::TimeArray< SCALAR > &	getTimeArray () const override
void	setInitialGuess (const Policy_t &initialGuess) override
SCALAR	getTimeHorizon () const override
	Get the time horizon the solver currently operates on. More...
void	changeTimeHorizon (const SCALAR &tf) override
	Change the time horizon the solver operates on. More...
void	changeInitialState (const core::StateVector< STATE_DIM, SCALAR > &x0) override
	Change the initial state for the optimal control problem. More...
void	changeCostFunction (const typename Base::OptConProblem_t::CostFunctionPtr_t &cf) override
void	changeNonlinearSystem (const typename Base::OptConProblem_t::DynamicsPtr_t &dyn) override
void	changeLinearSystem (const typename Base::OptConProblem_t::LinearPtr_t &lin) override
void	changeInputBoxConstraints (const typename Base::OptConProblem_t::ConstraintPtr_t con) override
void	changeStateBoxConstraints (const typename Base::OptConProblem_t::ConstraintPtr_t con) override
void	changeGeneralConstraints (const typename Base::OptConProblem_t::ConstraintPtr_t con) override
void	printSolution ()
	Prints out the solution trajectories of the DMS problem. More...
std::vector< typename OptConProblem_t::DynamicsPtr_t > &	getNonlinearSystemsInstances () override
	Direct accessor to the system instances. More...
const std::vector< typename OptConProblem_t::DynamicsPtr_t > &	getNonlinearSystemsInstances () const override
std::vector< typename OptConProblem_t::LinearPtr_t > &	getLinearSystemsInstances () override
	Direct accessor to the linear system instances. More...
const std::vector< typename OptConProblem_t::LinearPtr_t > &	getLinearSystemsInstances () const override
std::vector< typename OptConProblem_t::CostFunctionPtr_t > &	getCostFunctionInstances () override
	Direct accessor to the cost function instances. More...
const std::vector< typename OptConProblem_t::CostFunctionPtr_t > &	getCostFunctionInstances () const override
std::vector< typename OptConProblem_t::ConstraintPtr_t > &	getInputBoxConstraintsInstances () override
	Direct accessor to the box constraint instances. More...
const std::vector< typename OptConProblem_t::ConstraintPtr_t > &	getInputBoxConstraintsInstances () const override
std::vector< typename OptConProblem_t::ConstraintPtr_t > &	getStateBoxConstraintsInstances () override
const std::vector< typename OptConProblem_t::ConstraintPtr_t > &	getStateBoxConstraintsInstances () const override
std::vector< typename OptConProblem_t::ConstraintPtr_t > &	getGeneralConstraintsInstances () override
	Direct accessor to the general constraints. More...
const std::vector< typename OptConProblem_t::ConstraintPtr_t > &	getGeneralConstraintsInstances () const override
Public Member Functions inherited from ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >
	OptConSolver ()
virtual	~OptConSolver ()
virtual void	setProblem (const OptConProblem_t &optConProblem)
	Assigns the optimal control problem to the solver. More...
void	configureFromFile (const std::string &filename, bool verbose=true, const std::string &ns=DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR > ::SolverName)
virtual bool	runIteration ()
virtual void	changeCostFunction (const typename OptConProblem_t::CostFunctionPtr_t &cf)=0
	Change the cost function. More...
virtual void	changeNonlinearSystem (const typename OptConProblem_t::DynamicsPtr_t &dyn)=0
	Change the nonlinear system. More...
virtual void	changeLinearSystem (const typename OptConProblem_t::LinearPtr_t &lin)=0
	Change the linear system. More...
virtual void	changeInputBoxConstraints (const typename OptConProblem_t::ConstraintPtr_t con)
	Change the box constraints. More...
virtual void	changeStateBoxConstraints (const typename OptConProblem_t::ConstraintPtr_t con)
virtual void	changeGeneralConstraints (const typename OptConProblem_t::ConstraintPtr_t con)
	Change the general constraints. More...
virtual SCALAR	getCost () const
virtual void	generateCode (const ct::core::DerivativesCppadSettings &settings)
	Generates source AD source code which can be used in the solver. This method needs to be called ahead of actually solving the problem (e.g. from a different executable) More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM >	Base
Public Attributes inherited from ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef std::conditional< true, ContinuousOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, DiscreteOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR > >::type	OptConProblem_t

Additional Inherited Members
Static Public Attributes inherited from ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >
static const size_t	STATE_D
static const size_t	CONTROL_D

Detailed Description

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

Class to solve a specfic DMS problem.

An example employing different DMS solvers is given in unit test oscDMSTest.cpp

Template Parameters

STATE_DIM	The state dimension
CONTROL_DIM	The control dimension

Examples:

DMS.cpp.

Member Typedef Documentation

DIMENSIONS

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

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

state_vector_t

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

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

control_vector_array_t

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

typedef DIMENSIONS::control_vector_array_t ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_array_t

control_vector_t

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

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

state_vector_array_t

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

typedef DIMENSIONS::state_vector_array_t ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_array_t

time_array_t

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

typedef DIMENSIONS::time_array_t ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::time_array_t

Policy_t

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

typedef DmsPolicy<STATE_DIM, CONTROL_DIM, SCALAR> ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::Policy_t

OptConProblem_t

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

typedef ContinuousOptConProblem<STATE_DIM, CONTROL_DIM, SCALAR> ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::OptConProblem_t

Constructor & Destructor Documentation

DmsSolver()

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

ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::DmsSolver ( const ContinuousOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >  problem, DmsSettings  settingsDms  )

inline

Custom constructor, converts the optcon problem to a DMS problem.

Parameters

[in]	problem	The optimal control problem
[in]	settingsDms	The dms settings

References ct::optcon::IPOPT, and ct::optcon::SNOPT.

~DmsSolver()

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

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

overridedefault

Destructor.

Member Function Documentation

configure()

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

void ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::configure ( const DmsSettings &  settings )

inlineoverridevirtual

configures the solver

Implements ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >.

solve()

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

bool ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::solve ( )

inlineoverridevirtual

solve the optimal control problem

Returns

true if solve succeeded, false otherwise.

Implements ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >.

getSolution()

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

const Policy_t& ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::getSolution ( )

inlineoverridevirtual

Get the optimized control policy to the optimal control problem

Returns

Implements ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >::xSolution_.

getStateTrajectory()

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

const core::StateTrajectory<STATE_DIM, SCALAR> ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::getStateTrajectory ( ) const

inlineoverridevirtual

Get the optimized trajectory to the optimal control problem

Returns

Implements ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >.

getControlTrajectory()

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

const core::ControlTrajectory<CONTROL_DIM, SCALAR> ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::getControlTrajectory ( ) const

inlineoverridevirtual

Get the optimal feedforward control input corresponding to the optimal trajectory

Returns

Implements ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >.

getTimeArray()

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

const core::tpl::TimeArray<SCALAR>& ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::getTimeArray ( ) const

inlineoverridevirtual

Get the time indices corresponding to the solution

Returns

Implements ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >.

setInitialGuess()

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

void ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::setInitialGuess ( const Policy_t &  initialGuess )

inlineoverridevirtual

Set the initial guess used by the solver (not all solvers might support initial guesses)

Implements ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >::uSolution_, and ct::optcon::DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >::xSolution_.

getTimeHorizon()

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

SCALAR ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::getTimeHorizon ( ) const

inlineoverridevirtual

Get the time horizon the solver currently operates on.

Implements ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >.

changeTimeHorizon()

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

void ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::changeTimeHorizon ( const SCALAR &  tf )

inlineoverridevirtual

Change the time horizon the solver operates on.

This function does not need to be called if setProblem() has been called with an OptConProblem that had the correct time horizon set.

Implements ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >.

changeInitialState()

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

void ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::changeInitialState ( const core::StateVector< STATE_DIM, SCALAR > &  x0 )

inlineoverridevirtual

Change the initial state for the optimal control problem.

This function does not need to be called if setProblem() has been called with an OptConProblem that had the correct initial state set

Implements ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >.

References x0.

changeCostFunction()

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

void ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::changeCostFunction ( const typename Base::OptConProblem_t::CostFunctionPtr_t &  cf )

inlineoverride

References i.

changeNonlinearSystem()

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

void ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::changeNonlinearSystem ( const typename Base::OptConProblem_t::DynamicsPtr_t &  dyn )

inlineoverride

References i.

changeLinearSystem()

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

void ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::changeLinearSystem ( const typename Base::OptConProblem_t::LinearPtr_t &  lin )

inlineoverride

References i.

changeInputBoxConstraints()

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

void ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::changeInputBoxConstraints ( const typename Base::OptConProblem_t::ConstraintPtr_t  con )

inlineoverride

changeStateBoxConstraints()

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

void ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::changeStateBoxConstraints ( const typename Base::OptConProblem_t::ConstraintPtr_t  con )

inlineoverride

changeGeneralConstraints()

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

void ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::changeGeneralConstraints ( const typename Base::OptConProblem_t::ConstraintPtr_t  con )

inlineoverride

printSolution()

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

void ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::printSolution ( )

inline

Prints out the solution trajectories of the DMS problem.

getNonlinearSystemsInstances() [1/2]

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

std::vector<typename OptConProblem_t::DynamicsPtr_t>& ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::getNonlinearSystemsInstances ( )

inlineoverridevirtual

Direct accessor to the system instances.

Warning

{Use this only when performance absolutely matters and if you know what you are doing. Otherwise use e.g. changeNonlinearSystem() to change the system dynamics in a safe and easy way. You should especially not change the size of the vector or modify each entry differently.}

Returns

Implements ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >.

getNonlinearSystemsInstances() [2/2]

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

const std::vector<typename OptConProblem_t::DynamicsPtr_t>& ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::getNonlinearSystemsInstances ( ) const

inlineoverridevirtual

Implements ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >.

getLinearSystemsInstances() [1/2]

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

std::vector<typename OptConProblem_t::LinearPtr_t>& ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::getLinearSystemsInstances ( )

inlineoverridevirtual

Direct accessor to the linear system instances.

Warning

{Use this only when performance absolutely matters and if you know what you are doing. Otherwise use e.g. changeLinearSystem() to change the system dynamics in a safe and easy way. You should especially not change the size of the vector or modify each entry differently.}

Returns

Implements ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >.

getLinearSystemsInstances() [2/2]

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

const std::vector<typename OptConProblem_t::LinearPtr_t>& ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::getLinearSystemsInstances ( ) const

inlineoverridevirtual

Implements ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >.

getCostFunctionInstances() [1/2]

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

std::vector<typename OptConProblem_t::CostFunctionPtr_t>& ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::getCostFunctionInstances ( )

inlineoverridevirtual

Direct accessor to the cost function instances.

Warning

{Use this only when performance absolutely matters and if you know what you are doing. Otherwise use e.g. changeCostFunction() to change the system dynamics in a safe and easy way. You should especially not change the size of the vector or modify each entry differently.}

Returns

Implements ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >.

getCostFunctionInstances() [2/2]

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

const std::vector<typename OptConProblem_t::CostFunctionPtr_t>& ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::getCostFunctionInstances ( ) const

inlineoverridevirtual

Implements ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >.

getInputBoxConstraintsInstances() [1/2]

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

std::vector<typename OptConProblem_t::ConstraintPtr_t>& ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::getInputBoxConstraintsInstances ( )

inlineoverridevirtual

Direct accessor to the box constraint instances.

Warning

{Use this only when performance absolutely matters and if you know what you are doing. Otherwise use e.g. changeCostFunction() to change the system dynamics in a safe and easy way. You should especially not change the size of the vector or modify each entry differently.}

Returns

The state box constraint instances

Reimplemented from ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >.

getInputBoxConstraintsInstances() [2/2]

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

const std::vector<typename OptConProblem_t::ConstraintPtr_t>& ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::getInputBoxConstraintsInstances ( ) const

inlineoverridevirtual

Reimplemented from ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >.

getStateBoxConstraintsInstances() [1/2]

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

std::vector<typename OptConProblem_t::ConstraintPtr_t>& ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::getStateBoxConstraintsInstances ( )

inlineoverridevirtual

Reimplemented from ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >.

getStateBoxConstraintsInstances() [2/2]

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

const std::vector<typename OptConProblem_t::ConstraintPtr_t>& ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::getStateBoxConstraintsInstances ( ) const

inlineoverridevirtual

Reimplemented from ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >.

getGeneralConstraintsInstances() [1/2]

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

std::vector<typename OptConProblem_t::ConstraintPtr_t>& ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::getGeneralConstraintsInstances ( )

inlineoverridevirtual

Direct accessor to the general constraints.

Warning

{Use this only when performance absolutely matters and if you know what you are doing. Otherwise use e.g. changeCostFunction() to change the system dynamics in a safe and easy way. You should especially not change the size of the vector or modify each entry differently.}

Returns

The general constraints instances.

Reimplemented from ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >.

getGeneralConstraintsInstances() [2/2]

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

const std::vector<typename OptConProblem_t::ConstraintPtr_t>& ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::getGeneralConstraintsInstances ( ) const

inlineoverridevirtual

Reimplemented from ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >.

Member Data Documentation

Base

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

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef OptConSolver<DmsSolver<STATE_DIM, CONTROL_DIM, SCALAR>, DmsPolicy<STATE_DIM, CONTROL_DIM, SCALAR>, DmsSettings, STATE_DIM, CONTROL_DIM> ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >::Base

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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/dms_core/DmsSolver.h