#include <LQOCSolver.hpp>

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

Public Member Functions
	LQOCSolver (const std::shared_ptr< LQOCProblem_t > &lqocProblem=nullptr)

virtual	~LQOCSolver ()=default

void	setProblem (std::shared_ptr< LQOCProblem_t > lqocProblem)

virtual void	configure (const NLOptConSettings &settings)=0

virtual bool	configureInputBoxConstraints (std::shared_ptr< LQOCProblem< STATE_DIM, CONTROL_DIM >> lqocProblem)
	setup and configure the box constraints More...

virtual bool	configureStateBoxConstraints (std::shared_ptr< LQOCProblem< STATE_DIM, CONTROL_DIM >> lqocProblem)

virtual bool	configureGeneralConstraints (std::shared_ptr< LQOCProblem< STATE_DIM, CONTROL_DIM >> lqocProblem)
	setup and configure the general (in)equality constraints More...

virtual void	initializeAndAllocate ()=0
	a method reserved for memory allocation (e.g. required for HPIPM) More...

virtual void	solve ()=0
	solve the LQOC problem More...

virtual void	solveSingleStage (int N)

virtual void	computeStatesAndControls ()=0
	extract the solution (can be overriden if additional extraction steps required in specific solver) More...

const ct::core::StateVectorArray< STATE_DIM, SCALAR > &	getSolutionState ()
	return solution for state More...

const ct::core::ControlVectorArray< CONTROL_DIM, SCALAR > &	getSolutionControl ()
	return solution for control More...

virtual void	computeFeedbackMatrices ()=0
	return TVLQR feedback matrices More...

const ct::core::FeedbackArray< STATE_DIM, CONTROL_DIM, SCALAR > &	getSolutionFeedback ()

virtual void	compute_lv ()=0
	compute iLQR-style lv More...

virtual const ct::core::ControlVectorArray< CONTROL_DIM, SCALAR > &	get_lv ()
	return iLQR-style feedforward lv More...

virtual SCALAR	getSmallestEigenvalue ()
	return the smallest eigenvalue More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef LQOCProblem< STATE_DIM, CONTROL_DIM, SCALAR >	LQOCProblem_t

Protected Member Functions
virtual void	setProblemImpl (std::shared_ptr< LQOCProblem_t > lqocProblem)=0

Protected Attributes
std::shared_ptr< LQOCProblem_t >	lqocProblem_

core::StateVectorArray< STATE_DIM, SCALAR >	x_sol_

core::ControlVectorArray< CONTROL_DIM, SCALAR >	u_sol_

ct::core::FeedbackArray< STATE_DIM, CONTROL_DIM, SCALAR >	L_

ct::core::ControlVectorArray< CONTROL_DIM, SCALAR >	lv_

Detailed Description

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

Base class for solvers to solve an LQOCProblem (both constrained / unconstrained, etc.)

Todo:: uncouple from NLOptConSettings

Constructor & Destructor Documentation

◆ LQOCSolver()

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

ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::LQOCSolver ( const std::shared_ptr< LQOCProblem_t > & lqocProblem = nullptr )

inline

Constructor. Initialize by handing over an LQOCProblem, or otherwise by calling setProblem()

Parameters

lqocProblem shared_ptr to the LQOCProblem to be solved.

References ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::~LQOCSolver().

◆ ~LQOCSolver()

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

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

virtualdefault

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

Member Function Documentation

◆ setProblem()

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

void ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::setProblem ( std::shared_ptr< LQOCProblem_t > lqocProblem )

inline

set a new problem update the shared_ptr to the LQOCProblem instance and call initialize instance deriving from this class.

Parameters

lqocProblem

References ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::configure(), ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::lqocProblem_, and ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::setProblemImpl().

Referenced by TEST().

◆ configure()

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

virtual void ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::configure ( const NLOptConSettings & settings )

pure virtual

Implemented in ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >.

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

◆ configureInputBoxConstraints()

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

virtual bool ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::configureInputBoxConstraints ( std::shared_ptr< LQOCProblem< STATE_DIM, CONTROL_DIM >> lqocProblem )

inlinevirtual

setup and configure the box constraints

◆ configureStateBoxConstraints()

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

virtual bool ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::configureStateBoxConstraints ( std::shared_ptr< LQOCProblem< STATE_DIM, CONTROL_DIM >> lqocProblem )

inlinevirtual

◆ configureGeneralConstraints()

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

virtual bool ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::configureGeneralConstraints ( std::shared_ptr< LQOCProblem< STATE_DIM, CONTROL_DIM >> lqocProblem )

inlinevirtual

setup and configure the general (in)equality constraints

References ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::initializeAndAllocate(), and ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::solve().

◆ initializeAndAllocate()

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

virtual void ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::initializeAndAllocate ( )

pure virtual

a method reserved for memory allocation (e.g. required for HPIPM)

Implemented in ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >.

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

◆ solve()

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

virtual void ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::solve ( )

pure virtual

solve the LQOC problem

Implemented in ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >.

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

◆ solveSingleStage()

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

virtual void ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::solveSingleStage ( int N )

inlinevirtual

Reimplemented in ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::computeStatesAndControls().

◆ computeStatesAndControls()

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

virtual void ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::computeStatesAndControls ( )

pure virtual

extract the solution (can be overriden if additional extraction steps required in specific solver)

Implemented in ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >.

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

◆ getSolutionState()

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

const ct::core::StateVectorArray<STATE_DIM, SCALAR>& ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::getSolutionState ( )

inline

return solution for state

References ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::x_sol_.

Referenced by TEST().

◆ getSolutionControl()

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

const ct::core::ControlVectorArray<CONTROL_DIM, SCALAR>& ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::getSolutionControl ( )

inline

return solution for control

References ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::computeFeedbackMatrices(), and ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::u_sol_.

Referenced by TEST().

◆ computeFeedbackMatrices()

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

virtual void ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::computeFeedbackMatrices ( )

pure virtual

return TVLQR feedback matrices

Implemented in ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >.

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

◆ getSolutionFeedback()

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

const ct::core::FeedbackArray<STATE_DIM, CONTROL_DIM, SCALAR>& ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::getSolutionFeedback ( )

inline

References ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::compute_lv(), and ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::L_.

Referenced by TEST().

◆ compute_lv()

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

virtual void ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::compute_lv ( )

pure virtual

compute iLQR-style lv

Implemented in ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >.

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

◆ get_lv()

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

virtual const ct::core::ControlVectorArray<CONTROL_DIM, SCALAR>& ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::get_lv ( )

inlinevirtual

return iLQR-style feedforward lv

References ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::lv_.

Referenced by TEST().

◆ getSmallestEigenvalue()

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

virtual SCALAR ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::getSmallestEigenvalue ( )

inlinevirtual

return the smallest eigenvalue

Reimplemented in ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::setProblemImpl().

◆ setProblemImpl()

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

virtual void ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::setProblemImpl ( std::shared_ptr< LQOCProblem_t > lqocProblem )

protectedpure virtual

Referenced by ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::getSmallestEigenvalue(), and ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::setProblem().

Member Data Documentation

◆ LQOCProblem_t

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

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef LQOCProblem<STATE_DIM, CONTROL_DIM, SCALAR> ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::LQOCProblem_t

◆ lqocProblem_

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

std::shared_ptr<LQOCProblem_t> ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::lqocProblem_

protected

Referenced by ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >::computeCostToGo(), ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >::computeStatesAndControls(), ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >::designController(), ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >::initializeCostToGo(), ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::setProblem(), ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >::solve(), and ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >::solveSingleStage().

◆ x_sol_

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

core::StateVectorArray<STATE_DIM, SCALAR> ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::x_sol_

protected

Referenced by ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >::changeNumberOfStages(), ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >::computeStatesAndControls(), and ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::getSolutionState().

◆ u_sol_

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

core::ControlVectorArray<CONTROL_DIM, SCALAR> ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::u_sol_

protected

Referenced by ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >::changeNumberOfStages(), ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >::computeStatesAndControls(), and ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::getSolutionControl().

◆ L_

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

ct::core::FeedbackArray<STATE_DIM, CONTROL_DIM, SCALAR> ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::L_

protected

Referenced by ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >::changeNumberOfStages(), ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >::computeCostToGo(), ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >::computeStatesAndControls(), ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >::designController(), ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::getSolutionFeedback(), and ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >::logToMatlab().

◆ lv_

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

ct::core::ControlVectorArray<CONTROL_DIM, SCALAR> ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::lv_

protected

Referenced by ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >::changeNumberOfStages(), ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >::computeCostToGo(), ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >::computeStatesAndControls(), ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >::designController(), and ct::optcon::LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >::get_lv().

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/solver/lqp/LQOCSolver.hpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

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

Constructor & Destructor Documentation

◆ LQOCSolver()

◆ ~LQOCSolver()

Member Function Documentation

◆ setProblem()

◆ configure()

◆ configureInputBoxConstraints()

◆ configureStateBoxConstraints()

◆ configureGeneralConstraints()

◆ initializeAndAllocate()

◆ solve()

◆ solveSingleStage()

◆ computeStatesAndControls()

◆ getSolutionState()

◆ getSolutionControl()

◆ computeFeedbackMatrices()

◆ getSolutionFeedback()

◆ compute_lv()

◆ get_lv()

◆ getSmallestEigenvalue()

◆ setProblemImpl()

Member Data Documentation

◆ LQOCProblem_t

◆ lqocProblem_

◆ x_sol_

◆ u_sol_

◆ L_

◆ lv_

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