#include <NLOCBackendST.hpp>

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

Public Types
typedef Base::OptConProblem_t	OptConProblem_t

Public Types inherited from ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >
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
	NLOCBackendST (const OptConProblem_t &optConProblem, const NLOptConSettings &settings)

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

virtual	~NLOCBackendST ()

Public Member Functions inherited from ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >
	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...

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...

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...

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

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >	Base

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

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

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

Protected Member Functions inherited from ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >
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...

Additional Inherited Members
Static Public Attributes inherited from ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const size_t	state_dim = STATE_DIM

static const size_t	control_dim = CONTROL_DIM

Protected Attributes inherited from ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >
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::NLOCBackendST< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >

NLOC Backend for Single-Threaded case

Member Typedef Documentation

◆ 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 Base::OptConProblem_t ct::optcon::NLOCBackendST< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::OptConProblem_t

Constructor & Destructor Documentation

◆ NLOCBackendST() [1/2]

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

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

◆ NLOCBackendST() [2/2]

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

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

◆ ~NLOCBackendST()

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

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

virtual

Member Function Documentation

◆ computeLQApproximation()

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

void ct::optcon::NLOCBackendST< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::computeLQApproximation	(	size_t	firstIndex,
		size_t	lastIndex
	)

overrideprotectedvirtual

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

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

References ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::computeLinearizedConstraints(), 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 >::generalConstraints_, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::initializeCostToGo(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::K_, ct::optcon::NLOptConSettings::nThreads, and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::settings_.

◆ rolloutShots()

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

void ct::optcon::NLOCBackendST< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::rolloutShots	(	size_t	firstIndex,
		size_t	lastIndex
	)

overrideprotectedvirtual

integrates the specified shots and computes the corresponding defects

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

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 >::d_, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getNumStepsPerShot(), ct::optcon::NLOptConSettings::nThreads, ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::rolloutSingleShot(), 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 >::x_, and ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::xShot_.

◆ performLineSearch()

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

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

overrideprotectedvirtual

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

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

Member Data Documentation

◆ Base

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

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef NLOCBackendBase<STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS> ct::optcon::NLOCBackendST< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Base

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

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

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::NLOCBackendST< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >

Member Typedef Documentation

◆ OptConProblem_t

Constructor & Destructor Documentation

◆ NLOCBackendST() [1/2]

◆ NLOCBackendST() [2/2]

◆ ~NLOCBackendST()

Member Function Documentation

◆ computeLQApproximation()

◆ rolloutShots()

◆ performLineSearch()

Member Data Documentation

◆ Base

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