ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS > Class Template Reference

#include <NLOCAlgorithm.hpp>

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

Public Types
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
	NLOCAlgorithm (const std::shared_ptr< Backend_t > &backend)
virtual	~NLOCAlgorithm ()
virtual void	configure (const Settings_t &settings)=0
virtual void	prepareIteration ()=0
virtual bool	finishIteration ()=0
virtual bool	runIteration ()=0
virtual void	setInitialGuess (const Policy_t &initialGuess)=0
virtual void	prepareMPCIteration ()=0
virtual bool	finishMPCIteration ()=0

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >	Policy_t

Protected Attributes
std::shared_ptr< Backend_t >	backend_

Member Typedef Documentation

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 NLOCBackendBase<STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS> ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Backend_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 NLOptConSettings ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Settings_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::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Scalar_t

Constructor & Destructor Documentation

NLOCAlgorithm()

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

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

inline

~NLOCAlgorithm()

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::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::~NLOCAlgorithm ( )

inlinevirtual

References ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::configure(), ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::finishIteration(), ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::finishMPCIteration(), ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::prepareIteration(), ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::prepareMPCIteration(), ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::runIteration(), and ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::setInitialGuess().

Member Function Documentation

configure()

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

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

pure virtual

Implemented in ct::optcon::SingleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, and ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >.

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

prepareIteration()

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

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

pure virtual

Implemented in ct::optcon::SingleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, and ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >.

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

finishIteration()

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

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

pure virtual

Implemented in ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, and ct::optcon::SingleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >.

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

runIteration()

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

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

pure virtual

Implemented in ct::optcon::SingleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, and ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >.

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

setInitialGuess()

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

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

pure virtual

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

prepareMPCIteration()

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

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

pure virtual

Implemented in ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, and ct::optcon::SingleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >.

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

finishMPCIteration()

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

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

pure virtual

Implemented in ct::optcon::SingleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, and ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >.

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

Member Data Documentation

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>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ct::core::StateFeedbackController<STATE_DIM, CONTROL_DIM, SCALAR> ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t

backend_

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

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

protected

Referenced by ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::configure(), ct::optcon::SingleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::configure(), ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::finishIteration(), ct::optcon::SingleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::finishIteration(), ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::finishMPCIteration(), ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::prepareIteration(), ct::optcon::SingleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::prepareIteration(), ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::prepareMPCIteration(), ct::optcon::MultipleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::setInitialGuess(), and ct::optcon::SingleShooting< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::setInitialGuess().

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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/nloc/NLOCAlgorithm.hpp