#include <MultipleShooting.hpp>

Inheritance diagram for ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >:

Public Types
typedef NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >	Base

typedef Base::Policy_t	Policy_t

typedef Base::Settings_t	Settings_t

typedef Base::Backend_t	Backend_t

typedef SCALAR	Scalar_t

Public Types inherited from ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >
typedef NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >	Backend_t

typedef NLOptConSettings	Settings_t

typedef SCALAR	Scalar_t

Public Member Functions
	MultipleShooting (std::shared_ptr< Backend_t > &backend_, const Settings_t &settings)
	constructor More...

virtual	~MultipleShooting ()=default
	destructor More...

virtual void	configure (const Settings_t &settings) override
	configure the solver More...

virtual void	setInitialGuess (const Policy_t &initialGuess) override
	set an initial guess More...

virtual bool	runIteration () override
	runIteration combines prepareIteration and finishIteration More...

virtual void	prepareIteration () override

virtual bool	finishIteration () override
	finish iteration for unconstrained MultipleShooting More...

virtual void	prepareMPCIteration () override
	prepare iteration, dedicated to MPC. More...

virtual bool	finishMPCIteration () override
	finish iteration, dedicated to MPC More...

Public Member Functions inherited from ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >
	NLOCAlgorithm (const std::shared_ptr< Backend_t > &backend)

virtual	~NLOCAlgorithm ()

virtual void	setInitialGuess (const Policy_t &initialGuess)=0

Static Public Attributes
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const size_t	STATE_D = STATE_DIM

static const size_t	CONTROL_D = CONTROL_DIM

Additional Inherited Members
Public Attributes inherited from ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >	Policy_t

Protected Attributes inherited from ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >
std::shared_ptr< Backend_t >	backend_

Member Typedef Documentation

◆ Base

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR = double, bool CONTINUOUS = true>

typedef NLOCAlgorithm<STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS> ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Base

◆ Policy_t

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR = double, bool CONTINUOUS = true>

typedef Base::Policy_t ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t

◆ Settings_t

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR = double, bool CONTINUOUS = true>

typedef Base::Settings_t ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Settings_t

◆ Backend_t

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR = double, bool CONTINUOUS = true>

typedef Base::Backend_t ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Backend_t

◆ Scalar_t

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR = double, bool CONTINUOUS = true>

typedef SCALAR ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Scalar_t

Constructor & Destructor Documentation

◆ MultipleShooting()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR , bool CONTINUOUS>

ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::MultipleShooting	(	std::shared_ptr< Backend_t > &	backend_,
		const Settings_t &	settings
	)

constructor

◆ ~MultipleShooting()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::~MultipleShooting ( )

virtualdefault

destructor

Member Function Documentation

◆ configure()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR , bool CONTINUOUS>

void ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::configure ( const Settings_t & settings )

overridevirtual

configure the solver

Implements ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::backend_.

◆ setInitialGuess()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR , bool CONTINUOUS>

void ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::setInitialGuess ( const Policy_t & initialGuess )

overridevirtual

set an initial guess

References ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::backend_.

◆ runIteration()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR , bool CONTINUOUS>

bool ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::runIteration ( )

overridevirtual

runIteration combines prepareIteration and finishIteration

Returns: foundBetter (false if converged)

Implements ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::finishIteration(), and ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::prepareIteration().

◆ prepareIteration()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR , bool CONTINUOUS>

void ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::prepareIteration ( )

overridevirtual

linearize dynamics for the stages 1 to N-1
quadratize cost for stages 1 to N-1

Implements ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::backend_.

Referenced by ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::runIteration().

◆ finishIteration()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR , bool CONTINUOUS>

bool ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::finishIteration ( )

overridevirtual

finish iteration for unconstrained MultipleShooting

prepareIteration()

linearize dynamcs for the first stage
quadratize cost for the first stage
Returns

Implements ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::backend_.

Referenced by ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::runIteration().

◆ prepareMPCIteration()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR , bool CONTINUOUS>

void ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::prepareMPCIteration ( )

overridevirtual

prepare iteration, dedicated to MPC.

finishIteration()

requirements: no line-search, end with update-step of controls and state, no rollout after update steps. Therefore: rollout->linearize->solve

Implements ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::backend_.

◆ finishMPCIteration()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR , bool CONTINUOUS>

bool ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::finishMPCIteration ( )

overridevirtual

finish iteration, dedicated to MPC

prepareMPCIteration()

todo: replace by a simple sum after computeQuadraticCostsAround....

todo: we might not need this in MPC

update solutions

Implements ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::backend_.

Member Data Documentation

◆ STATE_D

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR = double, bool CONTINUOUS = true>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW const size_t ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::STATE_D = STATE_DIM

static

◆ CONTROL_D

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR = double, bool CONTINUOUS = true>

const size_t ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::CONTROL_D = CONTROL_DIM

static

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/nloc/algorithms/MultipleShooting.hpp
/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/nloc/algorithms/MultipleShooting-impl.hpp

Public Types

Public Member Functions

Static Public Attributes

Additional Inherited Members

Member Typedef Documentation

◆ Base

◆ Policy_t

◆ Settings_t

◆ Backend_t

◆ Scalar_t

Constructor & Destructor Documentation

◆ MultipleShooting()

◆ ~MultipleShooting()

Member Function Documentation

◆ configure()

◆ setInitialGuess()

◆ runIteration()

◆ prepareIteration()

◆ finishIteration()

◆ prepareMPCIteration()

◆ finishMPCIteration()

Member Data Documentation

◆ STATE_D

◆ CONTROL_D