C++ implementation of GNMS. More...

#include <NLOCBackendBase.hpp>

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

Public Types
typedef NLOptConSettings	Settings_t

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

typedef std::conditional< CONTINUOUS, ContinuousOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, DiscreteOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR > >::type	OptConProblem_t

typedef LQOCProblem< STATE_DIM, CONTROL_DIM, SCALAR >	LQOCProblem_t

typedef LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR >	LQOCSolver_t

typedef ct::core::StateVectorArray< STATE_DIM, SCALAR >	StateVectorArray

typedef std::shared_ptr< StateVectorArray >	StateVectorArrayPtr

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

typedef std::shared_ptr< ControlVectorArray >	ControlVectorArrayPtr

typedef std::vector< StateVectorArrayPtr, Eigen::aligned_allocator< StateVectorArrayPtr > >	StateSubsteps

typedef std::shared_ptr< StateSubsteps >	StateSubstepsPtr

typedef std::vector< ControlVectorArrayPtr, Eigen::aligned_allocator< ControlVectorArrayPtr > >	ControlSubsteps

typedef std::shared_ptr< ControlSubsteps >	ControlSubstepsPtr

typedef OptconSystemInterface< STATE_DIM, CONTROL_DIM, OptConProblem_t, SCALAR >	systemInterface_t

typedef std::shared_ptr< systemInterface_t >	systemInterfacePtr_t

using	ControlMatrix = ct::core::ControlMatrix< CONTROL_DIM, SCALAR >

using	ControlMatrixArray = ct::core::ControlMatrixArray< CONTROL_DIM, SCALAR >

using	StateMatrixArray = ct::core::StateMatrixArray< STATE_DIM, SCALAR >

using	StateControlMatrixArray = ct::core::StateControlMatrixArray< STATE_DIM, CONTROL_DIM, SCALAR >

using	FeedbackArray = ct::core::FeedbackArray< STATE_DIM, CONTROL_DIM, SCALAR >

using	TimeArray = ct::core::tpl::TimeArray< SCALAR >

using	state_matrix_t = Eigen::Matrix< SCALAR, STATE_DIM, STATE_DIM >

using	control_matrix_t = Eigen::Matrix< SCALAR, CONTROL_DIM, CONTROL_DIM >

using	control_state_matrix_t = Eigen::Matrix< SCALAR, CONTROL_DIM, STATE_DIM >

using	state_control_matrix_t = Eigen::Matrix< SCALAR, STATE_DIM, CONTROL_DIM >

using	state_vector_t = core::StateVector< STATE_DIM, SCALAR >

using	control_vector_t = core::ControlVector< CONTROL_DIM, SCALAR >

using	feedback_matrix_t = core::FeedbackMatrix< STATE_DIM, CONTROL_DIM, SCALAR >

using	scalar_t = SCALAR

using	scalar_array_t = std::vector< SCALAR, Eigen::aligned_allocator< SCALAR > >

Public Member Functions
	NLOCBackendBase (const OptConProblem_t &optConProblem, const Settings_t &settings)

	NLOCBackendBase (const OptConProblem_t &optConProblem, const std::string &settingsFile, bool verbose=true, const std::string &ns="alg")

	NLOCBackendBase (const systemInterfacePtr_t &systemInterface, const Settings_t &settings)

	NLOCBackendBase (const systemInterfacePtr_t &systemInterface, const std::string &settingsFile, bool verbose=true, const std::string &ns="alg")

virtual	~NLOCBackendBase ()

template<typename T = OptConProblem_t>
std::enable_if< std::is_same< T, ContinuousOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR > >::value, systemInterfacePtr_t >::type	createSystemInterface (const OptConProblem_t &optConProblem, const Settings_t &settings)

template<typename T = OptConProblem_t>
std::enable_if< std::is_same< T, DiscreteOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR > >::value, systemInterfacePtr_t >::type	createSystemInterface (const OptConProblem_t &optConProblem, const Settings_t &settings)

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

const Settings_t &	getSettings () const
	get the current SLQsolver settings More...

void	setInitialGuess (const Policy_t &initialGuess)

void	changeTimeHorizon (const SCALAR &tf)
	Change the time horizon the solver operates on. More...

void	changeTimeHorizon (int numStages)

SCALAR	getTimeHorizon ()

int	getNumSteps ()

int	getNumStepsPerShot () const

void	changeInitialState (const core::StateVector< STATE_DIM, SCALAR > &x0)
	Change the initial state for the optimal control problem. More...

void	changeCostFunction (const typename OptConProblem_t::CostFunctionPtr_t &cf)
	Change the cost function. More...

void	changeNonlinearSystem (const typename OptConProblem_t::DynamicsPtr_t &dyn)
	Change the nonlinear system. More...

void	changeLinearSystem (const typename OptConProblem_t::LinearPtr_t &lin)
	Change the linear system. More...

void	changeInputBoxConstraints (const typename OptConProblem_t::ConstraintPtr_t &con)
	Change the input box constraints. More...

void	changeStateBoxConstraints (const typename OptConProblem_t::ConstraintPtr_t &con)
	Change the state box constraints. More...

void	changeGeneralConstraints (const typename OptConProblem_t::ConstraintPtr_t &con)
	Change the general constraints. More...

std::vector< typename OptConProblem_t::DynamicsPtr_t > &	getNonlinearSystemsInstances ()
	Direct accessor to the system instances. More...

const std::vector< typename OptConProblem_t::DynamicsPtr_t > &	getNonlinearSystemsInstances () const

std::vector< typename OptConProblem_t::LinearPtr_t > &	getLinearSystemsInstances ()
	Direct accessor to the linear system instances. More...

const std::vector< typename OptConProblem_t::LinearPtr_t > &	getLinearSystemsInstances () const

std::vector< typename OptConProblem_t::CostFunctionPtr_t > &	getCostFunctionInstances ()
	Direct accessor to the cost function instances. More...

const std::vector< typename OptConProblem_t::CostFunctionPtr_t > &	getCostFunctionInstances () const

std::vector< typename OptConProblem_t::ConstraintPtr_t > &	getInputBoxConstraintsInstances ()
	Direct accessor to the box constraint instances. More...

std::vector< typename OptConProblem_t::ConstraintPtr_t > &	getStateBoxConstraintsInstances ()

const std::vector< typename OptConProblem_t::ConstraintPtr_t > &	getInputBoxConstraintsInstances () const

const std::vector< typename OptConProblem_t::ConstraintPtr_t > &	getStateBoxConstraintsInstances () const

std::vector< typename OptConProblem_t::ConstraintPtr_t > &	getGeneralConstraintsInstances ()
	Direct accessor to the general constraints. More...

const std::vector< typename OptConProblem_t::ConstraintPtr_t > &	getGeneralConstraintsInstances () const

bool	testConsistency ()

void	logToMatlab (const size_t &iteration)
	Export all functions to matlab workspace. More...

void	logInitToMatlab ()
	log the initial guess to Matlab More...

SCALAR	getCost () const
	return the cost of the solution of the current iteration More...

SCALAR	getTotalDefect () const
	return the sum of the L2-norm of the defects along the solution candidate More...

void	reset ()

const core::StateTrajectory< STATE_DIM, SCALAR >	getStateTrajectory () const

const core::ControlTrajectory< CONTROL_DIM, SCALAR >	getControlTrajectory () const

const Policy_t &	getSolution ()

const TimeArray &	getTimeArray ()

bool	isConfigured ()

bool	isInitialized ()

void	retrieveLastAffineModel (StateMatrixArray &A, StateControlMatrixArray &B, StateVectorArray &b)
	Retrieve Last Linearized Model. More...

virtual void	prepareSolveLQProblem (size_t startIndex)

virtual void	finishSolveLQProblem (size_t endIndex)

virtual void	solveFullLQProblem ()

void	extractSolution ()
	extract relevant quantities for the following rollout/solution update step from the LQ solver More...

void	updateCosts ()
	compute costs of solution candidate More...

bool	nominalRollout ()
	nominal rollout using default thread and member variables for the results. // todo maybe rename (initial rollout?) More...

void	checkProblem ()
	check problem for consistency More...

size_t &	iteration ()
	return the current iteration number More...

void	printSummary ()
	Print iteration summary. More...

bool	lineSearch ()
	perform line-search and update controller More...

virtual void	computeLQApproximation (size_t firstIndex, size_t lastIndex)=0
	build LQ approximation around trajectory (linearize dynamics and general constraints, quadratize cost, etc) More...

void	setInputBoxConstraintsForLQOCProblem ()
	sets the box constraints for the entire time horizon including terminal stage More...

void	setStateBoxConstraintsForLQOCProblem ()

void	resetDefects ()
	reset all defects to zero More...

void	computeDefectsNorm ()
	update the nominal defects More...

virtual void	rolloutShots (size_t firstIndex, size_t lastIndex)=0
	integrates the specified shots and computes the corresponding defects More...

bool	rolloutShotsSingleThreaded (size_t threadId, size_t firstIndex, size_t lastIndex, ControlVectorArray &u_ff_local, StateVectorArray &x_local, const StateVectorArray &x_ref_lqr, StateVectorArray &xShot, StateVectorArray &d, StateSubsteps &substepsX, ControlSubsteps &substepsU, std::atomic_bool *terminationFlag=nullptr) const
	do a single threaded rollout and defect computation of the shots - useful for line-search More...

virtual SCALAR	performLineSearch ()=0
	performLineSearch: execute the line search, possibly with different threading schemes More...

void	doFullStepUpdate ()
	simple full-step update for state and feedforward control (used for MPC-mode!) More...

void	logSummaryToMatlab (const std::string &fileName)

const SummaryAllIterations< SCALAR > &	getSummary () const

Static Public Attributes
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const size_t	state_dim = STATE_DIM

static const size_t	control_dim = CONTROL_DIM

Protected Member Functions
bool	rolloutSingleShot (const size_t threadId, const size_t k, ControlVectorArray &u_ff_local, StateVectorArray &x_local, const StateVectorArray &x_ref_lqr, StateVectorArray &xShot, StateSubsteps &substepsX, ControlSubsteps &substepsU, std::atomic_bool *terminationFlag=nullptr) const
	integrate the individual shots More...

void	computeSingleDefect (size_t k, const StateVectorArray &x_local, const StateVectorArray &xShot, StateVectorArray &d) const
	computes the defect between shot and trajectory More...

void	executeLQApproximation (size_t threadId, size_t k)
	Computes the linearized Dynamics and quadratic cost approximation at a specific point of the trajectory. More...

void	computeLinearizedConstraints (size_t threadId, size_t k)
	Computes the linearized general constraints at a specific point of the trajectory. More...

void	initializeCostToGo ()
	Initializes cost to go. More...

void	computeCostToGo (size_t k)
	Computes cost to go. More...

void	designController (size_t k)
	Design controller. More...

void	computeCostsOfTrajectory (size_t threadId, const core::StateVectorArray< STATE_DIM, SCALAR > &x_local, const core::ControlVectorArray< CONTROL_DIM, SCALAR > &u_local, scalar_t &intermediateCost, scalar_t &finalCost) const
	Compute cost for a given set of state and input trajectory. More...

void	computeBoxConstraintErrorOfTrajectory (size_t threadId, const ct::core::StateVectorArray< STATE_DIM, SCALAR > &x_local, const ct::core::ControlVectorArray< CONTROL_DIM, SCALAR > &u_local, scalar_t &e_tot) const
	Compute box constraint violations for a given set of state and input trajectory. More...

void	computeGeneralConstraintErrorOfTrajectory (size_t threadId, const ct::core::StateVectorArray< STATE_DIM, SCALAR > &x_local, const ct::core::ControlVectorArray< CONTROL_DIM, SCALAR > &u_local, scalar_t &e_tot) const
	Compute general constraint violations for a given set of state and input trajectory. More...

void	executeLineSearch (const size_t threadId, const scalar_t alpha, ct::core::StateVectorArray< STATE_DIM, SCALAR > &x_recorded, ct::core::StateVectorArray< STATE_DIM, SCALAR > &x_shot_recorded, ct::core::StateVectorArray< STATE_DIM, SCALAR > &defects_recorded, ct::core::ControlVectorArray< CONTROL_DIM, SCALAR > &u_recorded, scalar_t &intermediateCost, scalar_t &finalCost, scalar_t &defectNorm, scalar_t &e_box_norm, scalar_t &e_gen_norm, StateSubsteps &substepsX, ControlSubsteps &substepsU, std::atomic_bool *terminationFlag=nullptr) const
	Check if controller with particular alpha is better. More...

bool	acceptStep (const SCALAR alpha, const SCALAR intermediateCost, const SCALAR finalCost, const SCALAR defectNorm, const SCALAR e_box_norm, const SCALAR e_gen_norm, const SCALAR lowestMeritPrevious, SCALAR &new_merit)
	in case of line-search compute new merit and check if to accept step. Returns true if accept step More...

void	updateFFController (size_t k)
	Update feedforward controller. More...

template<typename ARRAY_TYPE , size_t ORDER = 1>
SCALAR	computeDiscreteArrayNorm (const ARRAY_TYPE &d) const
	compute norm of a discrete array (todo move to core) More...

template<typename ARRAY_TYPE , size_t ORDER = 1>
SCALAR	computeDiscreteArrayNorm (const ARRAY_TYPE &a, const ARRAY_TYPE &b) const
	compute norm of difference between two discrete arrays (todo move to core) More...

template<size_t ORDER = 1>
SCALAR	computeDefectsNorm (const StateVectorArray &d) const
	compute the norm of the defects trajectory More...

Protected Attributes
bool	initialized_

bool	configured_

size_t	iteration_

bool	firstRollout_

Settings_t	settings_

int	K_

ct::core::tpl::TimeArray< SCALAR >	t_
	the number of stages in the overall OptConProblem More...

StateVectorArray	x_
	the time trajectory More...

StateVectorArray	xShot_
	state array variables More...

StateVectorArray	d_
	rolled-out state (at the end of a time step forward) More...

StateVectorArray	x_prev_
	defects in between end of rollouts and subsequent state decision vars More...

StateVectorArray	x_ref_lqr_
	state array from previous iteration More...

ControlVectorArray	u_ff_
	reference for lqr More...

ControlVectorArray	u_ff_prev_
	feed forward controls More...

FeedbackArray	L_
	feed forward controls from previous iteration More...

ControlVectorArray	delta_u_ff_
	time-varying lqr feedback More...

StateVectorArray	delta_x_
	pointer to control increment More...

StateVectorArray	delta_x_ref_lqr_
	pointer to state increment More...

StateSubstepsPtr	substepsX_
	state array from previous iteration More...

ControlSubstepsPtr	substepsU_
	state substeps recorded by integrator during rollouts More...

SCALAR	d_norm_
	control substeps recorded by integrator during rollouts More...

SCALAR	e_box_norm_
	sum of the norms of all defects (internal constraint) More...

SCALAR	e_gen_norm_
	sum of the norms of all box constraint violations More...

SCALAR	lx_norm_
	sum of the norms of all general constraint violations More...

SCALAR	lu_norm_
	sum of the norms of state update More...

scalar_t	intermediateCostBest_
	sum of the norms of control update More...

scalar_t	finalCostBest_

scalar_t	lowestCost_

scalar_t	intermediateCostPrevious_
	costs of the previous iteration, required to determine convergence More...

scalar_t	finalCostPrevious_

scalar_t	alphaBest_

std::shared_ptr< LQOCProblem< STATE_DIM, CONTROL_DIM, SCALAR > >	lqocProblem_
	shared pointer to the linear-quadratic optimal control problem that is constructed by NLOC More...

std::shared_ptr< LQOCSolver< STATE_DIM, CONTROL_DIM, SCALAR > >	lqocSolver_
	shared pointer to the linear-quadratic optimal control solver, that solves above LQOCP More...

systemInterfacePtr_t	systemInterface_
	pointer to instance of the system interface More...

std::vector< typename OptConProblem_t::CostFunctionPtr_t >	costFunctions_

std::vector< typename OptConProblem_t::ConstraintPtr_t >	inputBoxConstraints_

std::vector< typename OptConProblem_t::ConstraintPtr_t >	stateBoxConstraints_

std::vector< typename OptConProblem_t::ConstraintPtr_t >	generalConstraints_

size_t	lqpCounter_
	a counter used to identify lqp problems in derived classes, i.e. for thread management in MP More...

NLOCBackendBase::Policy_t	policy_
	The policy. currently only for returning the result, should eventually replace L_ and u_ff_ (todo) More...

SummaryAllIterations< SCALAR >	summaryAllIterations_

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR = double, bool CONTINUOUS = true>
class ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >

C++ implementation of GNMS.

The implementation and naming is based on the reference below. In general, the code follows this convention: X <- Matrix (upper-case in paper) xv <- vector (lower-case bold in paper) x <- scalar (lower-case in paper)

Member Typedef Documentation

◆ 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::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Settings_t

◆ 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 ct::core::StateFeedbackController<STATE_DIM, CONTROL_DIM, SCALAR> ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t

◆ OptConProblem_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 std::conditional<CONTINUOUS, ContinuousOptConProblem<STATE_DIM, CONTROL_DIM, SCALAR>, DiscreteOptConProblem<STATE_DIM, CONTROL_DIM, SCALAR> >::type ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::OptConProblem_t

◆ LQOCProblem_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 LQOCProblem<STATE_DIM, CONTROL_DIM, SCALAR> ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::LQOCProblem_t

◆ LQOCSolver_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 LQOCSolver<STATE_DIM, CONTROL_DIM, SCALAR> ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::LQOCSolver_t

◆ StateVectorArray

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

typedef ct::core::StateVectorArray<STATE_DIM, SCALAR> ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::StateVectorArray

◆ StateVectorArrayPtr

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

typedef std::shared_ptr<StateVectorArray> ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::StateVectorArrayPtr

◆ ControlVectorArray

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

typedef ct::core::ControlVectorArray<CONTROL_DIM, SCALAR> ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::ControlVectorArray

◆ ControlVectorArrayPtr

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

typedef std::shared_ptr<ControlVectorArray> ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::ControlVectorArrayPtr

◆ StateSubsteps

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

typedef std::vector<StateVectorArrayPtr, Eigen::aligned_allocator<StateVectorArrayPtr> > ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::StateSubsteps

◆ StateSubstepsPtr

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

typedef std::shared_ptr<StateSubsteps> ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::StateSubstepsPtr

◆ ControlSubsteps

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

typedef std::vector<ControlVectorArrayPtr, Eigen::aligned_allocator<ControlVectorArrayPtr> > ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::ControlSubsteps

◆ ControlSubstepsPtr

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

typedef std::shared_ptr<ControlSubsteps> ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::ControlSubstepsPtr

◆ systemInterface_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 OptconSystemInterface<STATE_DIM, CONTROL_DIM, OptConProblem_t, SCALAR> ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::systemInterface_t

◆ systemInterfacePtr_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 std::shared_ptr<systemInterface_t> ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::systemInterfacePtr_t

◆ ControlMatrix

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

using ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::ControlMatrix = ct::core::ControlMatrix<CONTROL_DIM, SCALAR>

◆ ControlMatrixArray

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

using ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::ControlMatrixArray = ct::core::ControlMatrixArray<CONTROL_DIM, SCALAR>

◆ StateMatrixArray

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

using ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::StateMatrixArray = ct::core::StateMatrixArray<STATE_DIM, SCALAR>

◆ StateControlMatrixArray

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

using ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::StateControlMatrixArray = ct::core::StateControlMatrixArray<STATE_DIM, CONTROL_DIM, SCALAR>

◆ FeedbackArray

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

using ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::FeedbackArray = ct::core::FeedbackArray<STATE_DIM, CONTROL_DIM, SCALAR>

◆ TimeArray

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

using ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::TimeArray = ct::core::tpl::TimeArray<SCALAR>

◆ state_matrix_t

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

using ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::state_matrix_t = Eigen::Matrix<SCALAR, STATE_DIM, STATE_DIM>

◆ control_matrix_t

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

using ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::control_matrix_t = Eigen::Matrix<SCALAR, CONTROL_DIM, CONTROL_DIM>

◆ control_state_matrix_t

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

using ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::control_state_matrix_t = Eigen::Matrix<SCALAR, CONTROL_DIM, STATE_DIM>

◆ state_control_matrix_t

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

using ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::state_control_matrix_t = Eigen::Matrix<SCALAR, STATE_DIM, CONTROL_DIM>

◆ state_vector_t

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

using ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::state_vector_t = core::StateVector<STATE_DIM, SCALAR>

◆ control_vector_t

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

using ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::control_vector_t = core::ControlVector<CONTROL_DIM, SCALAR>

◆ feedback_matrix_t

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

using ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::feedback_matrix_t = core::FeedbackMatrix<STATE_DIM, CONTROL_DIM, SCALAR>

◆ 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>

using ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::scalar_t = SCALAR

◆ scalar_array_t

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

using ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::scalar_array_t = std::vector<SCALAR, Eigen::aligned_allocator<SCALAR> >

Constructor & Destructor Documentation

◆ NLOCBackendBase() [1/4]

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

ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::NLOCBackendBase	(	const OptConProblem_t &	optConProblem,
		const Settings_t &	settings
	)

◆ NLOCBackendBase() [2/4]

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

ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::NLOCBackendBase	(	const OptConProblem_t &	optConProblem,
		const std::string &	settingsFile,
		bool	verbose = `true`,
		const std::string &	ns = `"alg"`
	)

◆ NLOCBackendBase() [3/4]

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

ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::NLOCBackendBase	(	const systemInterfacePtr_t &	systemInterface,
		const Settings_t &	settings
	)

◆ NLOCBackendBase() [4/4]

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

ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::NLOCBackendBase	(	const systemInterfacePtr_t &	systemInterface,
		const std::string &	settingsFile,
		bool	verbose = `true`,
		const std::string &	ns = `"alg"`
	)

◆ ~NLOCBackendBase()

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

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

virtual

Member Function Documentation

◆ createSystemInterface() [1/2]

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

template<typename T >

std::enable_if< std::is_same< T, DiscreteOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR > >::value, typename NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::systemInterfacePtr_t >::type ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::createSystemInterface	(	const OptConProblem_t &	optConProblem,
		const Settings_t &	settings
	)

◆ createSystemInterface() [2/2]

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

template<typename T = OptConProblem_t>

std::enable_if<std::is_same<T, DiscreteOptConProblem<STATE_DIM, CONTROL_DIM, SCALAR> >::value, systemInterfacePtr_t>::type ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::createSystemInterface	(	const OptConProblem_t &	optConProblem,
		const Settings_t &	settings
	)

◆ 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::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::configure ( const Settings_t & settings )

virtual

configure the solver

Configure the solver

Parameters

settings solver settings

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::configured_, ct::optcon::NLOptConSettings::lqocp_solver, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lqocSolver_, ct::optcon::NLOptConSettings::nThreads, ct::optcon::NLOptConSettings::nThreadsEigen, ct::optcon::NLOptConSettings::parametersOk(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::reset(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::settings_, and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::systemInterface_.

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

◆ getSettings()

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

const NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Settings_t & ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getSettings ( ) const

get the current SLQsolver settings

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::settings_.

◆ 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::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::setInitialGuess ( const Policy_t & initialGuess )

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

◆ changeTimeHorizon() [1/2]

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeTimeHorizon ( const SCALAR & tf )

Change the time horizon the solver operates on.

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

References ct::optcon::NLOptConSettings::computeK(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::settings_.

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

◆ changeTimeHorizon() [2/2]

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeTimeHorizon ( int numStages )

◆ getTimeHorizon()

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

SCALAR ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getTimeHorizon ( )

References ct::optcon::NLOptConSettings::dt, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::K_, and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::settings_.

◆ getNumSteps()

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

int ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getNumSteps ( )

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::K_.

◆ getNumStepsPerShot()

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

int ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getNumStepsPerShot ( ) const

References ct::optcon::NLOptConSettings::isSingleShooting(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::K_, ct::optcon::NLOptConSettings::K_shot, and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::settings_.

Referenced by ct::optcon::NLOCBackendST< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::rolloutShots(), ct::optcon::NLOCBackendMP< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::rolloutShots(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::rolloutShotsSingleThreaded(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::rolloutSingleShot().

◆ changeInitialState()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeInitialState ( const core::StateVector< STATE_DIM, SCALAR > & x0 )

Change the initial state for the optimal control problem.

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::reset(), x0, and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::x_.

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

◆ changeCostFunction()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeCostFunction ( const typename OptConProblem_t::CostFunctionPtr_t & cf )

Change the cost function.

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

◆ changeNonlinearSystem()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeNonlinearSystem ( const typename OptConProblem_t::DynamicsPtr_t & dyn )

Change the nonlinear system.

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::systemInterface_.

◆ changeLinearSystem()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeLinearSystem ( const typename OptConProblem_t::LinearPtr_t & lin )

Change the linear system.

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::systemInterface_.

◆ changeInputBoxConstraints()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeInputBoxConstraints ( const typename OptConProblem_t::ConstraintPtr_t & con )

Change the input box constraints.

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

◆ changeStateBoxConstraints()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeStateBoxConstraints ( const typename OptConProblem_t::ConstraintPtr_t & con )

Change the state box constraints.

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

◆ changeGeneralConstraints()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeGeneralConstraints ( const typename OptConProblem_t::ConstraintPtr_t & con )

Change the general constraints.

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

◆ getNonlinearSystemsInstances() [1/2]

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

std::vector< typename NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::OptConProblem_t::DynamicsPtr_t > & ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getNonlinearSystemsInstances ( )

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

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::systemInterface_.

◆ getNonlinearSystemsInstances() [2/2]

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

const std::vector< typename NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::OptConProblem_t::DynamicsPtr_t > & ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getNonlinearSystemsInstances ( ) const

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::systemInterface_.

◆ getLinearSystemsInstances() [1/2]

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

std::vector< typename NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::OptConProblem_t::LinearPtr_t > & ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getLinearSystemsInstances ( )

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

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::systemInterface_.

◆ getLinearSystemsInstances() [2/2]

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

const std::vector< typename NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::OptConProblem_t::LinearPtr_t > & ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getLinearSystemsInstances ( ) const

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::systemInterface_.

◆ getCostFunctionInstances() [1/2]

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

std::vector< typename NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::OptConProblem_t::CostFunctionPtr_t > & ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getCostFunctionInstances ( )

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

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::costFunctions_.

◆ getCostFunctionInstances() [2/2]

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

const std::vector< typename NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::OptConProblem_t::CostFunctionPtr_t > & ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getCostFunctionInstances ( ) const

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::costFunctions_.

◆ getInputBoxConstraintsInstances() [1/2]

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

std::vector< typename NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::OptConProblem_t::ConstraintPtr_t > & ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getInputBoxConstraintsInstances ( )

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 box constraint instances

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::inputBoxConstraints_.

◆ getStateBoxConstraintsInstances() [1/2]

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

std::vector< typename NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::OptConProblem_t::ConstraintPtr_t > & ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getStateBoxConstraintsInstances ( )

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::stateBoxConstraints_.

◆ getInputBoxConstraintsInstances() [2/2]

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

const std::vector< typename NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::OptConProblem_t::ConstraintPtr_t > & ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getInputBoxConstraintsInstances ( ) const

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::inputBoxConstraints_.

◆ getStateBoxConstraintsInstances() [2/2]

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

const std::vector< typename NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::OptConProblem_t::ConstraintPtr_t > & ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getStateBoxConstraintsInstances ( ) const

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::stateBoxConstraints_.

◆ getGeneralConstraintsInstances() [1/2]

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

std::vector< typename NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::OptConProblem_t::ConstraintPtr_t > & ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getGeneralConstraintsInstances ( )

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.

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::generalConstraints_.

◆ getGeneralConstraintsInstances() [2/2]

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

const std::vector< typename NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::OptConProblem_t::ConstraintPtr_t > & ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getGeneralConstraintsInstances ( ) const

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::generalConstraints_.

◆ testConsistency()

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

bool ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::testConsistency ( )

Tests consistency of the instance of the dynamics, linear systems and costs. This is not a test for thread safety.

Returns: returns true if instances are consistent with each other

◆ logToMatlab()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::logToMatlab ( const size_t & iteration )

Export all functions to matlab workspace.

This function can be used for Debugging. It exports all variables to Matlab after each iteration. It also saves the Matlab workspace to a .mat file.

◆ logInitToMatlab()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::logInitToMatlab ( )

log the initial guess to Matlab

◆ getCost()

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

SCALAR ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getCost ( ) const

return the cost of the solution of the current iteration

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::finalCostBest_, and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::intermediateCostBest_.

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::logInitToMatlab(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::logToMatlab().

◆ getTotalDefect()

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

SCALAR ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getTotalDefect ( ) const

return the sum of the L2-norm of the defects along the solution candidate

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::d_norm_.

◆ reset()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::reset ( )

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeInitialState(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::configure(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::setInitialGuess().

◆ getStateTrajectory()

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

const core::StateTrajectory< STATE_DIM, SCALAR > ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getStateTrajectory ( ) const

Todo:: this method currently copies the time array (suboptimal)

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::t_, and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::x_.

◆ getControlTrajectory()

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

const core::ControlTrajectory< CONTROL_DIM, SCALAR > ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getControlTrajectory ( ) const

Todo:: this method currently copies the time array (suboptimal)

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::t_, and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::u_ff_.

◆ getSolution()

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

const NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t & ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getSolution ( )

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::L_, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::policy_, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::t_, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::u_ff_, ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::update(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::x_.

◆ getTimeArray()

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

const NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::TimeArray & ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getTimeArray ( )

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::t_.

◆ isConfigured()

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

bool ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::isConfigured ( )

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::configured_.

◆ isInitialized()

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

bool ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::isInitialized ( )

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::initialized_.

◆ retrieveLastAffineModel()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::retrieveLastAffineModel	(	StateMatrixArray &	A,
		StateControlMatrixArray &	B,
		StateVectorArray &	b
	)

Retrieve Last Linearized Model.

Retrieve the linearized model computed during the last iteration

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lqocProblem_.

◆ prepareSolveLQProblem()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::prepareSolveLQProblem ( size_t startIndex )

virtual

the prepare Solve LQP Problem method is intended for a special use-case: unconstrained GNMS with pre-solving of the

References i, ct::optcon::NLOptConSettings::lqocp_solver, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lqocProblem_, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lqocSolver_, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lqpCounter_, and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::settings_.

◆ finishSolveLQProblem()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::finishSolveLQProblem ( size_t endIndex )

virtual

References i, ct::optcon::NLOptConSettings::lqocp_solver, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lqocProblem_, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lqocSolver_, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lqpCounter_, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::settings_, and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::solveFullLQProblem().

◆ solveFullLQProblem()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::solveFullLQProblem ( )

virtual

solve Full LQProblem, e.g. to be used with HPIPM or if we have a constrained problem

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lqocProblem_, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lqocSolver_, and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lqpCounter_.

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

◆ extractSolution()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::extractSolution ( )

extract relevant quantities for the following rollout/solution update step from the LQ solver

Note: not all algorithms require all data updates, hence the separation.

◆ updateCosts()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::updateCosts ( )

compute costs of solution candidate

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

◆ nominalRollout()

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

bool ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nominalRollout ( )

nominal rollout using default thread and member variables for the results. // todo maybe rename (initial rollout?)

◆ checkProblem()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::checkProblem ( )

check problem for consistency

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::K_, and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::u_ff_.

◆ iteration()

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

size_t & ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::iteration ( )

return the current iteration number

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::iteration_.

◆ printSummary()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::printSummary ( )

Print iteration summary.

This function is automatically called if the printSummary settings is on. It prints out important information like cost etc. after each iteration.

Todo:: the printing of the smallest eigenvalue is hacky

◆ lineSearch()

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

bool ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lineSearch ( )

perform line-search and update controller

found better cost

◆ computeLQApproximation()

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::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::computeLQApproximation	(	size_t	firstIndex,
		size_t	lastIndex
	)

pure virtual

build LQ approximation around trajectory (linearize dynamics and general constraints, quadratize cost, etc)

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

◆ setInputBoxConstraintsForLQOCProblem()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::setInputBoxConstraintsForLQOCProblem ( )

sets the box constraints for the entire time horizon including terminal stage

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::inputBoxConstraints_, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lqocProblem_, ct::optcon::NLOptConSettings::nThreads, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::settings_, and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::u_ff_.

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

◆ setStateBoxConstraintsForLQOCProblem()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::setStateBoxConstraintsForLQOCProblem ( )

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lqocProblem_, ct::optcon::NLOptConSettings::nThreads, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::settings_, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::stateBoxConstraints_, and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::x_.

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

◆ resetDefects()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::resetDefects ( )

reset all defects to zero

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::d_, and ct::core::DiscreteArray< T, Alloc >::setConstant().

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeTimeHorizon(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lineSearch(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::reset().

◆ computeDefectsNorm() [1/2]

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::computeDefectsNorm ( )

update the nominal defects

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::d_, and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::d_norm_.

◆ rolloutShots()

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::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::rolloutShots	(	size_t	firstIndex,
		size_t	lastIndex
	)

pure virtual

integrates the specified shots and computes the corresponding defects

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

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

◆ rolloutShotsSingleThreaded()

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

bool ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::rolloutShotsSingleThreaded	(	size_t	threadId,
		size_t	firstIndex,
		size_t	lastIndex,
		ControlVectorArray &	u_ff_local,
		StateVectorArray &	x_local,
		const StateVectorArray &	x_ref_lqr,
		StateVectorArray &	xShot,
		StateVectorArray &	d,
		StateSubsteps &	substepsX,
		ControlSubsteps &	substepsU,
		std::atomic_bool *	terminationFlag = `nullptr`
	)		const

do a single threaded rollout and defect computation of the shots - useful for line-search

make sure all intermediate entries in the defect trajectory are zero

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::computeSingleDefect(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getNumStepsPerShot(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::rolloutSingleShot(), and ct::core::DiscreteArray< T, Alloc >::setConstant().

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

◆ performLineSearch()

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

virtual SCALAR ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::performLineSearch ( )

pure virtual

performLineSearch: execute the line search, possibly with different threading schemes

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

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

◆ doFullStepUpdate()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::doFullStepUpdate ( )

simple full-step update for state and feedforward control (used for MPC-mode!)

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::alphaBest_, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::delta_u_ff_, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::delta_x_, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::delta_x_ref_lqr_, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::u_ff_, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::x_, and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::x_ref_lqr_.

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

◆ logSummaryToMatlab()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::logSummaryToMatlab ( const std::string & fileName )

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::summaryAllIterations_.

◆ getSummary()

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

const SummaryAllIterations< SCALAR > & ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getSummary ( ) const

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::summaryAllIterations_.

◆ rolloutSingleShot()

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

bool ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::rolloutSingleShot	(	const size_t	threadId,
		const size_t	k,
		ControlVectorArray &	u_local,
		StateVectorArray &	x_local,
		const StateVectorArray &	x_ref_lqr,
		StateVectorArray &	xShot,
		StateSubsteps &	substepsX,
		ControlSubsteps &	substepsU,
		std::atomic_bool *	terminationFlag = `nullptr`
	)		const

protected

integrate the individual shots

determine index where to stop at the latest

initialize integration variable

Todo:: : here we override the state trajectory directly (as passed by reference). This is bad.

"overwrite" x_local

fill in terminal state if required

Parameters

u_local	the starting index of the shot
substepsX	the value at the end of each integration interval

References ct::optcon::NLOptConSettings::closedLoopShooting(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getNumStepsPerShot(), i, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::K_, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::L_, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::settings_, and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::systemInterface_.

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nominalRollout(), ct::optcon::NLOCBackendST< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::rolloutShots(), ct::optcon::NLOCBackendMP< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::rolloutShots(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::rolloutShotsSingleThreaded().

◆ computeSingleDefect()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::computeSingleDefect	(	size_t	k,
		const StateVectorArray &	x_local,
		const StateVectorArray &	xShot,
		StateVectorArray &	d
	)		const

protected

computes the defect between shot and trajectory

Parameters

k	index of the shot under consideration
x_local	the state trajectory
xShot	the shot trajectory
d	the defect trajectory

compute the index where the next shot starts (respect total number of stages)

else ... all other entries of d remain zero.

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::K_, ct::optcon::NLOptConSettings::K_shot, and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::settings_.

Referenced by ct::optcon::NLOCBackendST< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::rolloutShots(), ct::optcon::NLOCBackendMP< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::rolloutShots(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::rolloutShotsSingleThreaded().

◆ executeLQApproximation()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::executeLQApproximation	(	size_t	threadId,
		size_t	k
	)

protected

Computes the linearized Dynamics and quadratic cost approximation at a specific point of the trajectory.

This function calculates the affine dynamics approximation, i.e. matrices A, B and b in $\delta x_{n+1} = A_n \delta x_n + B_n \delta u_n + b_n$ at a specific point of the trajectory. This function also calculates the quadratic costs as provided by the costFunction pointer. and maps it into the coordinates of the LQ problem.

Parameters

threadId	the id of the worker thread
k	step k

Warning: it is important that the calculations are done with local variables x_ and u_ff_, they will only later be stored in the LQOCProblem

Referenced by ct::optcon::NLOCBackendST< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::computeLQApproximation(), and ct::optcon::NLOCBackendMP< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::computeLQApproximation().

◆ computeLinearizedConstraints()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::computeLinearizedConstraints	(	size_t	threadId,
		size_t	k
	)

protected

Computes the linearized general constraints at a specific point of the trajectory.

This function calculates the linearization, i.e. matrices d, C and D in $d_{lb} \leq C \delta x + D \delta u \leq d_{ub}$ at a specific point of the trajectory

Parameters

threadId	the id of the worker thread
k	step k

Note: the box constraints do not need to be linearized

Referenced by ct::optcon::NLOCBackendST< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::computeLQApproximation(), and ct::optcon::NLOCBackendMP< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::computeLQApproximation().

◆ initializeCostToGo()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::initializeCostToGo ( )

protected

Initializes cost to go.

This function initializes the cost-to-go function at time K.

Referenced by ct::optcon::NLOCBackendST< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::computeLQApproximation(), and ct::optcon::NLOCBackendMP< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::computeLQApproximation().

◆ computeCostToGo()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::computeCostToGo ( size_t k )

protected

Computes cost to go.

This function computes the cost-to-go function for all times t<t_K

Parameters

k step k

◆ designController()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::designController ( size_t k )

protected

Design controller.

This function designes the LQR and feedforward controller at time k.

Parameters

k step k

◆ computeCostsOfTrajectory()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::computeCostsOfTrajectory	(	size_t	threadId,
		const core::StateVectorArray< STATE_DIM, SCALAR > &	x_local,
		const core::ControlVectorArray< CONTROL_DIM, SCALAR > &	u_local,
		scalar_t &	intermediateCost,
		scalar_t &	finalCost
	)		const

protected

Compute cost for a given set of state and input trajectory.

Compute cost for a given set of state and input trajectory

Parameters

threadId	the ID of the thread
x_local	the state trajectory
u_local	the control trajectory
intermediateCost	the accumulated intermediate cost
finalCost	the accumulated final cost

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::costFunctions_, ct::optcon::NLOptConSettings::dt, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::K_, and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::settings_.

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeCostFunction(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::executeLineSearch(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::setInitialGuess(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::updateCosts().

◆ computeBoxConstraintErrorOfTrajectory()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::computeBoxConstraintErrorOfTrajectory	(	size_t	threadId,
		const ct::core::StateVectorArray< STATE_DIM, SCALAR > &	x_local,
		const ct::core::ControlVectorArray< CONTROL_DIM, SCALAR > &	u_local,
		scalar_t &	e_tot
	)		const

protected

Compute box constraint violations for a given set of state and input trajectory.

Parameters

threadId	the ID of the thread
x_local	the state trajectory
u_local	the control trajectory
e_tot	the total accumulated box constraint violation

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::computeGeneralConstraintErrorOfTrajectory(), ct::optcon::NLOptConSettings::dt, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::inputBoxConstraints_, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::K_, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::settings_, and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::stateBoxConstraints_.

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeInputBoxConstraints(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeStateBoxConstraints(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::executeLineSearch(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::logInitToMatlab(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::logToMatlab(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::printSummary().

◆ computeGeneralConstraintErrorOfTrajectory()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::computeGeneralConstraintErrorOfTrajectory	(	size_t	threadId,
		const ct::core::StateVectorArray< STATE_DIM, SCALAR > &	x_local,
		const ct::core::ControlVectorArray< CONTROL_DIM, SCALAR > &	u_local,
		scalar_t &	e_tot
	)		const

protected

Compute general constraint violations for a given set of state and input trajectory.

Parameters

threadId	the ID of the thread
x_local	the state trajectory
u_local	the control trajectory
e_tot	the total accumulated general constraint violation

References ct::optcon::NLOptConSettings::dt, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::generalConstraints_, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::K_, and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::settings_.

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeGeneralConstraints(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::computeBoxConstraintErrorOfTrajectory(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::executeLineSearch(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::logInitToMatlab(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::logToMatlab(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::printSummary().

◆ executeLineSearch()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::executeLineSearch	(	const size_t	threadId,
		const scalar_t	alpha,
		ct::core::StateVectorArray< STATE_DIM, SCALAR > &	x_recorded,
		ct::core::StateVectorArray< STATE_DIM, SCALAR > &	x_shot_recorded,
		ct::core::StateVectorArray< STATE_DIM, SCALAR > &	defects_recorded,
		ct::core::ControlVectorArray< CONTROL_DIM, SCALAR > &	u_recorded,
		scalar_t &	intermediateCost,
		scalar_t &	finalCost,
		scalar_t &	defectNorm,
		scalar_t &	e_box_norm,
		scalar_t &	e_gen_norm,
		StateSubsteps &	substepsX,
		ControlSubsteps &	substepsU,
		std::atomic_bool *	terminationFlag = `nullptr`
	)		const

protected

Check if controller with particular alpha is better.

compute costs

compute defects norm

Referenced by ct::optcon::NLOCBackendST< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::performLineSearch(), and ct::optcon::NLOCBackendMP< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::performLineSearch().

◆ acceptStep()

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

bool ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::acceptStep	(	const SCALAR	alpha,
		const SCALAR	intermediateCost,
		const SCALAR	finalCost,
		const SCALAR	defectNorm,
		const SCALAR	e_box_norm,
		const SCALAR	e_gen_norm,
		const SCALAR	lowestMeritPrevious,
		SCALAR &	new_merit
	)

protected

in case of line-search compute new merit and check if to accept step. Returns true if accept step

References ct::optcon::LineSearchSettings::armijo_parameter, i, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::K_, ct::optcon::NLOptConSettings::lineSearchSettings, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lqocProblem_, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lqocSolver_, lv, ct::optcon::NLOptConSettings::meritFunctionRho, ct::optcon::NLOptConSettings::meritFunctionRhoConstraints, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::settings_, and ct::optcon::LineSearchSettings::type.

Referenced by ct::optcon::NLOCBackendST< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::performLineSearch(), and ct::optcon::NLOCBackendMP< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::performLineSearch().

◆ updateFFController()

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

void ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::updateFFController ( size_t k )

protected

Update feedforward controller.

This function updates the feedforward Controller based on the previous calculation.

Parameters

k step k

◆ computeDiscreteArrayNorm() [1/2]

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

template<typename ARRAY_TYPE , size_t ORDER>

SCALAR ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::computeDiscreteArrayNorm ( const ARRAY_TYPE & d ) const

protected

compute norm of a discrete array (todo move to core)

◆ computeDiscreteArrayNorm() [2/2]

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

template<typename ARRAY_TYPE , size_t ORDER>

SCALAR ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::computeDiscreteArrayNorm	(	const ARRAY_TYPE &	a,
		const ARRAY_TYPE &	b
	)		const

protected

compute norm of difference between two discrete arrays (todo move to core)

◆ computeDefectsNorm() [2/2]

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

template<size_t ORDER>

SCALAR ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::computeDefectsNorm ( const StateVectorArray & d ) const

protected

compute the norm of the defects trajectory

Note that different kind of norms might be favorable for different cases. According to Nocedal and Wright, the l1-norm is "exact" (p.435), the l2-norm is smooth.

Member Data Documentation

◆ state_dim

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::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::state_dim = STATE_DIM

static

◆ control_dim

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::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::control_dim = CONTROL_DIM

static

◆ initialized_

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

bool ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::initialized_

protected

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::isInitialized(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::setInitialGuess().

◆ configured_

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

bool ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::configured_

protected

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::configure(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::isConfigured().

◆ iteration_

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

size_t ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::iteration_

protected

current iteration

◆ firstRollout_

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

bool ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::firstRollout_

protected

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nominalRollout(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::reset().

◆ settings_

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

Settings_t ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::settings_

protected

◆ K_

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

int ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::K_

protected

◆ t_

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

ct::core::tpl::TimeArray<SCALAR> ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::t_

protected

the number of stages in the overall OptConProblem

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeTimeHorizon(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getControlTrajectory(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getSolution(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getStateTrajectory(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getTimeArray(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::logToMatlab(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::setInitialGuess().

◆ x_

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

StateVectorArray ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::x_

protected

the time trajectory

◆ xShot_

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

StateVectorArray ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::xShot_

protected

state array variables

◆ d_

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

StateVectorArray ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::d_

protected

rolled-out state (at the end of a time step forward)

◆ x_prev_

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

StateVectorArray ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::x_prev_

protected

defects in between end of rollouts and subsequent state decision vars

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeTimeHorizon(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::executeLineSearch(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lineSearch(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nominalRollout(), ct::optcon::NLOCBackendST< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::performLineSearch(), ct::optcon::NLOCBackendMP< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::performLineSearch(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::setInitialGuess().

◆ x_ref_lqr_

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

StateVectorArray ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::x_ref_lqr_

protected

state array from previous iteration

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeTimeHorizon(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::doFullStepUpdate(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::extractSolution(), ct::optcon::NLOCBackendMP< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::rolloutShots(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::setInitialGuess().

◆ u_ff_

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

ControlVectorArray ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::u_ff_

protected

reference for lqr

◆ u_ff_prev_

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

ControlVectorArray ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::u_ff_prev_

protected

feed forward controls

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeTimeHorizon(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::executeLineSearch(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lineSearch(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nominalRollout(), ct::optcon::NLOCBackendST< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::performLineSearch(), and ct::optcon::NLOCBackendMP< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::performLineSearch().

◆ L_

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

FeedbackArray ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::L_

protected

feed forward controls from previous iteration

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeTimeHorizon(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::extractSolution(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getSolution(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::rolloutSingleShot(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::setInitialGuess().

◆ delta_u_ff_

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

ControlVectorArray ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::delta_u_ff_

protected

time-varying lqr feedback

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeTimeHorizon(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::doFullStepUpdate(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::executeLineSearch(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::extractSolution().

◆ delta_x_

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

StateVectorArray ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::delta_x_

protected

pointer to control increment

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeTimeHorizon(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::doFullStepUpdate(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::executeLineSearch(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::extractSolution().

◆ delta_x_ref_lqr_

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

StateVectorArray ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::delta_x_ref_lqr_

protected

pointer to state increment

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeTimeHorizon(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::doFullStepUpdate(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::executeLineSearch(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::extractSolution().

◆ substepsX_

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

StateSubstepsPtr ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::substepsX_

protected

state array from previous iteration

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeTimeHorizon(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::executeLQApproximation(), ct::optcon::NLOCBackendST< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::performLineSearch(), ct::optcon::NLOCBackendMP< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::performLineSearch(), and ct::optcon::NLOCBackendMP< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::rolloutShots().

◆ substepsU_

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

ControlSubstepsPtr ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::substepsU_

protected

state substeps recorded by integrator during rollouts

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeTimeHorizon(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::executeLQApproximation(), ct::optcon::NLOCBackendST< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::performLineSearch(), ct::optcon::NLOCBackendMP< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::performLineSearch(), and ct::optcon::NLOCBackendMP< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::rolloutShots().

◆ d_norm_

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

SCALAR ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::d_norm_

protected

control substeps recorded by integrator during rollouts

◆ e_box_norm_

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

SCALAR ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::e_box_norm_

protected

sum of the norms of all defects (internal constraint)

◆ e_gen_norm_

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

SCALAR ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::e_gen_norm_

protected

sum of the norms of all box constraint violations

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeGeneralConstraints(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lineSearch(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::logInitToMatlab(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::logToMatlab(), ct::optcon::NLOCBackendST< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::performLineSearch(), ct::optcon::NLOCBackendMP< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::performLineSearch(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::printSummary().

◆ lx_norm_

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

SCALAR ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lx_norm_

protected

sum of the norms of all general constraint violations

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lineSearch(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::logToMatlab(), ct::optcon::NLOCBackendST< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::performLineSearch(), ct::optcon::NLOCBackendMP< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::performLineSearch(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::printSummary(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::reset().

◆ lu_norm_

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

SCALAR ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lu_norm_

protected

sum of the norms of state update

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lineSearch(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::logToMatlab(), ct::optcon::NLOCBackendST< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::performLineSearch(), ct::optcon::NLOCBackendMP< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::performLineSearch(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::printSummary(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::reset().

◆ intermediateCostBest_

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

scalar_t ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::intermediateCostBest_

protected

sum of the norms of control update

◆ finalCostBest_

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

scalar_t ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::finalCostBest_

protected

◆ lowestCost_

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

scalar_t ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lowestCost_

protected

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lineSearch(), ct::optcon::NLOCBackendST< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::performLineSearch(), and ct::optcon::NLOCBackendMP< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::performLineSearch().

◆ intermediateCostPrevious_

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

scalar_t ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::intermediateCostPrevious_

protected

costs of the previous iteration, required to determine convergence

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::reset(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::setInitialGuess(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::updateCosts().

◆ finalCostPrevious_

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

scalar_t ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::finalCostPrevious_

protected

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::reset(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::setInitialGuess(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::updateCosts().

◆ alphaBest_

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

scalar_t ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::alphaBest_

protected

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::doFullStepUpdate(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lineSearch(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::logToMatlab(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::printSummary().

◆ lqocProblem_

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<LQOCProblem<STATE_DIM, CONTROL_DIM, SCALAR> > ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lqocProblem_

protected

shared pointer to the linear-quadratic optimal control problem that is constructed by NLOC

◆ lqocSolver_

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<LQOCSolver<STATE_DIM, CONTROL_DIM, SCALAR> > ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lqocSolver_

protected

shared pointer to the linear-quadratic optimal control solver, that solves above LQOCP

◆ systemInterface_

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

systemInterfacePtr_t ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::systemInterface_

protected

pointer to instance of the system interface

◆ costFunctions_

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

std::vector<typename OptConProblem_t::CostFunctionPtr_t> ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::costFunctions_

protected

of the following objects, we have nThreads+1 instantiations in form of a vector. Every instantiation is dedicated to a certain thread in the multi-thread implementation

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeCostFunction(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::computeCostsOfTrajectory(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::executeLQApproximation(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getCostFunctionInstances(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::initializeCostToGo().

◆ inputBoxConstraints_

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

std::vector<typename OptConProblem_t::ConstraintPtr_t> ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::inputBoxConstraints_

protected

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeInputBoxConstraints(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::computeBoxConstraintErrorOfTrajectory(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::executeLineSearch(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getInputBoxConstraintsInstances(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::setInputBoxConstraintsForLQOCProblem().

◆ stateBoxConstraints_

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

std::vector<typename OptConProblem_t::ConstraintPtr_t> ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::stateBoxConstraints_

protected

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeStateBoxConstraints(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::computeBoxConstraintErrorOfTrajectory(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::executeLineSearch(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getStateBoxConstraintsInstances(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::setStateBoxConstraintsForLQOCProblem().

◆ generalConstraints_

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

std::vector<typename OptConProblem_t::ConstraintPtr_t> ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::generalConstraints_

protected

◆ lqpCounter_

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

size_t ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lqpCounter_

protected

a counter used to identify lqp problems in derived classes, i.e. for thread management in MP

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::finishSolveLQProblem(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::prepareSolveLQProblem(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::solveFullLQProblem(), and ct::optcon::NLOCBackendMP< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::~NLOCBackendMP().

◆ policy_

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

NLOCBackendBase::Policy_t ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::policy_

protected

The policy. currently only for returning the result, should eventually replace L_ and u_ff_ (todo)

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

◆ summaryAllIterations_

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

SummaryAllIterations<SCALAR> ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::summaryAllIterations_

protected

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getSummary(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::logSummaryToMatlab(), and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::printSummary().

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

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR = double, bool CONTINUOUS = true> class ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >

Member Typedef Documentation

◆ Settings_t

◆ Policy_t

◆ OptConProblem_t

◆ LQOCProblem_t

◆ LQOCSolver_t

◆ StateVectorArray

◆ StateVectorArrayPtr

◆ ControlVectorArray

◆ ControlVectorArrayPtr

◆ StateSubsteps

◆ StateSubstepsPtr

◆ ControlSubsteps

◆ ControlSubstepsPtr

◆ systemInterface_t

◆ systemInterfacePtr_t

◆ ControlMatrix

◆ ControlMatrixArray

◆ StateMatrixArray

◆ StateControlMatrixArray

◆ FeedbackArray

◆ TimeArray

◆ state_matrix_t

◆ control_matrix_t

◆ control_state_matrix_t

◆ state_control_matrix_t

◆ state_vector_t

◆ control_vector_t

◆ feedback_matrix_t

◆ scalar_t

◆ scalar_array_t

Constructor & Destructor Documentation

◆ NLOCBackendBase() [1/4]

◆ NLOCBackendBase() [2/4]

◆ NLOCBackendBase() [3/4]

◆ NLOCBackendBase() [4/4]

◆ ~NLOCBackendBase()

Member Function Documentation

◆ createSystemInterface() [1/2]

◆ createSystemInterface() [2/2]

◆ configure()

◆ getSettings()

◆ setInitialGuess()

◆ changeTimeHorizon() [1/2]

◆ changeTimeHorizon() [2/2]

◆ getTimeHorizon()

◆ getNumSteps()

◆ getNumStepsPerShot()

◆ changeInitialState()

◆ changeCostFunction()

◆ changeNonlinearSystem()

◆ changeLinearSystem()

◆ changeInputBoxConstraints()

◆ changeStateBoxConstraints()

◆ changeGeneralConstraints()

◆ getNonlinearSystemsInstances() [1/2]

◆ getNonlinearSystemsInstances() [2/2]

◆ getLinearSystemsInstances() [1/2]

◆ getLinearSystemsInstances() [2/2]

◆ getCostFunctionInstances() [1/2]

◆ getCostFunctionInstances() [2/2]

◆ getInputBoxConstraintsInstances() [1/2]

◆ getStateBoxConstraintsInstances() [1/2]

◆ getInputBoxConstraintsInstances() [2/2]

◆ getStateBoxConstraintsInstances() [2/2]

◆ getGeneralConstraintsInstances() [1/2]

◆ getGeneralConstraintsInstances() [2/2]

◆ testConsistency()

◆ logToMatlab()

◆ logInitToMatlab()

◆ getCost()

◆ getTotalDefect()

◆ reset()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR = double, bool CONTINUOUS = true>
class ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >