Settings for the NLOptCon algorithm. More...

#include <NLOptConSettings.hpp>

Public Types
enum	NLOCP_ALGORITHM { GNMS = 0, ILQR, MS_ILQR, SS_OL, SS_CL, GNMS_M_OL, GNMS_M_CL, NUM_TYPES }
	algorithm types for solving the NLOC problem More...

enum	LQOCP_SOLVER { GNRICCATI_SOLVER = 0, HPIPM_SOLVER = 1 }
	the linear optimal control problem solver in the background More...

using	APPROXIMATION = typename core::SensitivityApproximationSettings::APPROXIMATION

Public Member Functions
	NLOptConSettings ()
	NLOptCon Settings default constructor. More...

int	computeK (double timeHorizon) const
	log to matlab (true/false) More...

double	getSimulationTimestep () const
	compute the simulation timestep More...

bool	closedLoopShooting () const
	return if this is a closed-loop shooting algorithm (or not) More...

bool	isSingleShooting () const
	return if this is a single-shooting algorithm (or not) More...

void	print () const
	print the current NLOptCon settings to console More...

bool	parametersOk () const
	perform a quick check if the given NLOptCon settings fulfil minimum requirements More...

void	load (const std::string &filename, bool verbose=true, const std::string &ns="alg")
	load NLOptCon Settings from file More...

Static Public Member Functions
static NLOptConSettings	fromConfigFile (const std::string &filename, bool verbose=true, const std::string &ns="alg")
	load settings from config file and return as settings struct More...

Public Attributes
ct::core::IntegrationType	integrator

APPROXIMATION	discretization
	which integrator to use during the NLOptCon forward rollout More...

bool	timeVaryingDiscretization

NLOCP_ALGORITHM	nlocp_algorithm

LQOCP_SOLVER	lqocp_solver
	which nonlinear optimal control algorithm is to be used More...

std::string	loggingPrefix
	the solver for the linear-quadratic optimal control problem More...

double	epsilon
	the prefix to be stored before the matfile name for logging More...

double	dt
	Eigenvalue correction factor for Hessian regularization. More...

int	K_sim
	sampling time for the control input (seconds) More...

int	K_shot
	number of sub-integration-steps More...

double	min_cost_improvement
	duration of a shot as an integer multiple of dt More...

double	maxDefectSum
	minimum cost improvement between two interations to assume convergence More...

double	meritFunctionRho
	maximum sum of squared defects (assume covergence if lower than this number) More...

double	meritFunctionRhoConstraints
	trade off between internal (defect)constraint violation and cost More...

int	max_iterations
	trade off between external (general and path) constraint violation and cost More...

bool	fixedHessianCorrection
	the maximum admissible number of NLOptCon main iterations More...

bool	recordSmallestEigenvalue
	perform Hessian regularization by incrementing the eigenvalues by epsilon. More...

int	nThreads
	save the smallest eigenvalue of the Hessian More...

size_t	nThreadsEigen
	number of threads, for MP version More...

LineSearchSettings	lineSearchSettings
	number of threads for eigen parallelization (applies both to MP and ST) Note. in order to activate Eigen parallelization, compile with '-fopenmp' More...

LQOCSolverSettings	lqoc_solver_settings
	the line search settings More...

bool	debugPrint

bool	printSummary

bool	useSensitivityIntegrator

bool	logToMatlab

Detailed Description

Settings for the NLOptCon algorithm.

Examples:: LinearSystemTest.h, NLOC.cpp, NLOC_boxConstrained.cpp, NLOC_generalConstrained.cpp, NLOC_MPC.cpp, NonlinearSystemTest.h, switched_continuous_optcon.cpp, and SymplecticTest.h.

Member Typedef Documentation

◆ APPROXIMATION

using ct::optcon::NLOptConSettings::APPROXIMATION = typename core::SensitivityApproximationSettings::APPROXIMATION

Member Enumeration Documentation

◆ NLOCP_ALGORITHM

enum ct::optcon::NLOptConSettings::NLOCP_ALGORITHM

algorithm types for solving the NLOC problem

Enumerator
GNMS
ILQR	Gauss-Newton Multiple Shooting (shooting interval = control interval)
MS_ILQR	Classical iLQR (1 shooting interval equal to problem horizon)
SS_OL	multiple-shooting iLQR
SS_CL	Classical (open-loop) Single Shooting.
GNMS_M_OL	Closed-loop single shooting.
GNMS_M_CL	GNMS(M) with open-loop shooting.
NUM_TYPES	GNMS(M) with closed-loop shooting.

◆ LQOCP_SOLVER

enum ct::optcon::NLOptConSettings::LQOCP_SOLVER

the linear optimal control problem solver in the background

Enumerator
GNRICCATI_SOLVER
HPIPM_SOLVER

Constructor & Destructor Documentation

◆ NLOptConSettings()

ct::optcon::NLOptConSettings::NLOptConSettings ( )

inline

NLOptCon Settings default constructor.

sets all settings to default values.

References RK4.

Member Function Documentation

◆ computeK()

int ct::optcon::NLOptConSettings::computeK ( double timeHorizon ) const

inline

log to matlab (true/false)

compute the number of discrete time steps for an arbitrary input time interval

Parameters

timeHorizon the time horizon of interest, e.g. overall optimal control time horizon or shot-length

Returns: the resulting number of steps, minimum 1 steps long

Todo:: naming it K is confusing, should better be N.

Examples:: LinearSystemTest.h, NLOC.cpp, NLOC_boxConstrained.cpp, NLOC_generalConstrained.cpp, NLOC_MPC.cpp, NonlinearSystemTest.h, and switched_continuous_optcon.cpp.

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeTimeHorizon(), generateSolver(), main(), and ct::optcon::example::TEST().

◆ getSimulationTimestep()

double ct::optcon::NLOptConSettings::getSimulationTimestep ( ) const

inline

compute the simulation timestep

Referenced by ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::initialize(), and ct::optcon::example::TEST().

◆ closedLoopShooting()

bool ct::optcon::NLOptConSettings::closedLoopShooting ( ) const

inline

return if this is a closed-loop shooting algorithm (or not)

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

◆ isSingleShooting()

bool ct::optcon::NLOptConSettings::isSingleShooting ( ) const

inline

return if this is a single-shooting algorithm (or not)

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

◆ print()

void ct::optcon::NLOptConSettings::print ( ) const

inline

print the current NLOptCon settings to console

References ct::optcon::LineSearchSettings::print(), and ct::optcon::LQOCSolverSettings::print().

◆ parametersOk()

bool ct::optcon::NLOptConSettings::parametersOk ( ) const

inline

perform a quick check if the given NLOptCon settings fulfil minimum requirements

Warning: This check cannot guarantee that the control problem is well parameterized

References ct::optcon::LineSearchSettings::parametersOk().

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

◆ load()

void ct::optcon::NLOptConSettings::load	(	const std::string &	filename,
		bool	verbose = `true`,
		const std::string &	ns = `"alg"`
	)

inline

load NLOptCon Settings from file

Parameters

filename	path to the settings file
verbose	print out settings after reading them
ns	(optional) namspace of parameter file

Examples:: NLOC.cpp, NLOC_generalConstrained.cpp, and NonlinearSystemTest.h.

References ct::optcon::LineSearchSettings::load(), ct::optcon::LQOCSolverSettings::load(), ct::optcon::LineSearchSettings::print(), and ct::optcon::example::verbose.

Referenced by fromConfigFile(), main(), and ct::optcon::example::TEST().

◆ fromConfigFile()

static NLOptConSettings ct::optcon::NLOptConSettings::fromConfigFile	(	const std::string &	filename,
		bool	verbose = `true`,
		const std::string &	ns = `"alg"`
	)

inlinestatic

load settings from config file and return as settings struct

Parameters

filename	the path to the settings file
verbose	print settings
ns	(optional) settings namespace

Returns: the newly generated settings struct

References load().

Member Data Documentation

◆ integrator

ct::core::IntegrationType ct::optcon::NLOptConSettings::integrator

Examples:: LinearSystemTest.h, NLOC_boxConstrained.cpp, NLOC_MPC.cpp, switched_continuous_optcon.cpp, and SymplecticTest.h.

Referenced by ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::changeNonlinearSystem(), generateSolver(), ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::initialize(), main(), ct::optcon::example::symplecticTest(), and ct::optcon::example::TEST().

◆ discretization

APPROXIMATION ct::optcon::NLOptConSettings::discretization

which integrator to use during the NLOptCon forward rollout

Examples:: LinearSystemTest.h, NLOC_boxConstrained.cpp, NLOC_MPC.cpp, and switched_continuous_optcon.cpp.

Referenced by generateSolver(), ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::initialize(), main(), and ct::optcon::example::TEST().

◆ timeVaryingDiscretization

bool ct::optcon::NLOptConSettings::timeVaryingDiscretization

Referenced by ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::initialize(), and ct::optcon::example::TEST().

◆ nlocp_algorithm

NLOCP_ALGORITHM ct::optcon::NLOptConSettings::nlocp_algorithm

Examples:: LinearSystemTest.h, NLOC_boxConstrained.cpp, NLOC_MPC.cpp, switched_continuous_optcon.cpp, and SymplecticTest.h.

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::extractSolution(), generateSolver(), main(), ct::optcon::example::symplecticTest(), and ct::optcon::example::TEST().

◆ lqocp_solver

LQOCP_SOLVER ct::optcon::NLOptConSettings::lqocp_solver

which nonlinear optimal control algorithm is to be used

Examples:: LinearSystemTest.h, NLOC_boxConstrained.cpp, NLOC_generalConstrained.cpp, NLOC_MPC.cpp, switched_continuous_optcon.cpp, and SymplecticTest.h.

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::configure(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::finishSolveLQProblem(), generateSolver(), main(), 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 >::printSummary(), ct::optcon::example::symplecticTest(), and ct::optcon::example::TEST().

◆ loggingPrefix

std::string ct::optcon::NLOptConSettings::loggingPrefix

the solver for the linear-quadratic optimal control problem

Examples:: SymplecticTest.h.

Referenced by 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::example::symplecticTest().

◆ epsilon

double ct::optcon::NLOptConSettings::epsilon

the prefix to be stored before the matfile name for logging

Examples:: LinearSystemTest.h, and SymplecticTest.h.

Referenced by ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >::configure(), ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >::designController(), ct::optcon::example::symplecticTest(), ct::optcon::example::TEST(), and timeSingleSolve().

◆ dt

double ct::optcon::NLOptConSettings::dt

Eigenvalue correction factor for Hessian regularization.

Examples:: LinearSystemTest.h, NLOC.cpp, NLOC_boxConstrained.cpp, NLOC_generalConstrained.cpp, NLOC_MPC.cpp, NonlinearSystemTest.h, switched_continuous_optcon.cpp, and SymplecticTest.h.

◆ K_sim

int ct::optcon::NLOptConSettings::K_sim

sampling time for the control input (seconds)

Examples:: LinearSystemTest.h, and SymplecticTest.h.

Referenced by ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::changeNonlinearSystem(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::executeLQApproximation(), ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::initialize(), 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::example::symplecticTest(), and ct::optcon::example::TEST().

◆ K_shot

int ct::optcon::NLOptConSettings::K_shot

number of sub-integration-steps

Examples:: LinearSystemTest.h, and SymplecticTest.h.

Referenced by 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::example::symplecticTest(), and ct::optcon::example::TEST().

◆ min_cost_improvement

double ct::optcon::NLOptConSettings::min_cost_improvement

duration of a shot as an integer multiple of dt

Examples:: switched_continuous_optcon.cpp, and SymplecticTest.h.

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lineSearch(), main(), ct::optcon::example::symplecticTest(), and ct::optcon::example::TEST().

◆ maxDefectSum

double ct::optcon::NLOptConSettings::maxDefectSum

minimum cost improvement between two interations to assume convergence

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

◆ meritFunctionRho

double ct::optcon::NLOptConSettings::meritFunctionRho

maximum sum of squared defects (assume covergence if lower than this number)

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

◆ meritFunctionRhoConstraints

double ct::optcon::NLOptConSettings::meritFunctionRhoConstraints

trade off between internal (defect)constraint violation and cost

Examples:: switched_continuous_optcon.cpp.

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

◆ max_iterations

int ct::optcon::NLOptConSettings::max_iterations

trade off between external (general and path) constraint violation and cost

Examples:: NLOC_boxConstrained.cpp, NLOC_MPC.cpp, switched_continuous_optcon.cpp, and SymplecticTest.h.

Referenced by generateSolver(), main(), ct::optcon::example::symplecticTest(), and ct::optcon::example::TEST().

◆ fixedHessianCorrection

bool ct::optcon::NLOptConSettings::fixedHessianCorrection

the maximum admissible number of NLOptCon main iterations

Warning: make sure to select this number high enough allow for convergence

Examples:: LinearSystemTest.h, and SymplecticTest.h.

Referenced by ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >::designController(), ct::optcon::example::symplecticTest(), ct::optcon::example::TEST(), and timeSingleSolve().

◆ recordSmallestEigenvalue

bool ct::optcon::NLOptConSettings::recordSmallestEigenvalue

perform Hessian regularization by incrementing the eigenvalues by epsilon.

Examples:: LinearSystemTest.h, and SymplecticTest.h.

Referenced by ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >::designController(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::printSummary(), ct::optcon::example::symplecticTest(), ct::optcon::example::TEST(), and timeSingleSolve().

◆ nThreads

int ct::optcon::NLOptConSettings::nThreads

save the smallest eigenvalue of the Hessian

Examples:: LinearSystemTest.h, NLOC_boxConstrained.cpp, switched_continuous_optcon.cpp, and SymplecticTest.h.

◆ nThreadsEigen

size_t ct::optcon::NLOptConSettings::nThreadsEigen

number of threads, for MP version

Referenced by ct::optcon::NLOCBackendMP< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::computeLQApproximation(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::configure(), ct::optcon::GNRiccatiSolver< STATE_DIM, CONTROL_DIM, SCALAR >::GNRiccatiSolver(), ct::optcon::NLOCBackendMP< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::performLineSearch(), ct::optcon::NLOCBackendMP< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::rolloutShots(), ct::optcon::example::TEST(), and timeSingleSolve().

◆ lineSearchSettings

LineSearchSettings ct::optcon::NLOptConSettings::lineSearchSettings

number of threads for eigen parallelization (applies both to MP and ST) Note. in order to activate Eigen parallelization, compile with '-fopenmp'

Examples:: LinearSystemTest.h, switched_continuous_optcon.cpp, and SymplecticTest.h.

◆ lqoc_solver_settings

LQOCSolverSettings ct::optcon::NLOptConSettings::lqoc_solver_settings

the line search settings

Examples:: NLOC_boxConstrained.cpp, and switched_continuous_optcon.cpp.

Referenced by boxConstraintsTest(), generalConstraintsTest(), generateSolver(), main(), and TEST().

◆ debugPrint

bool ct::optcon::NLOptConSettings::debugPrint

Referenced by 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(), and ct::optcon::example::TEST().

◆ printSummary

bool ct::optcon::NLOptConSettings::printSummary

Examples:: LinearSystemTest.h, NLOC_boxConstrained.cpp, NLOC_MPC.cpp, switched_continuous_optcon.cpp, and SymplecticTest.h.

Referenced by generateSolver(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::lineSearch(), main(), ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::printSummary(), ct::optcon::example::symplecticTest(), and ct::optcon::example::TEST().

◆ useSensitivityIntegrator

bool ct::optcon::NLOptConSettings::useSensitivityIntegrator

Examples:: LinearSystemTest.h, and SymplecticTest.h.

Referenced by ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::initialize(), ct::optcon::example::symplecticTest(), and ct::optcon::example::TEST().

◆ logToMatlab

bool ct::optcon::NLOptConSettings::logToMatlab

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().

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

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

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ APPROXIMATION

Member Enumeration Documentation

◆ NLOCP_ALGORITHM

◆ LQOCP_SOLVER

Constructor & Destructor Documentation

◆ NLOptConSettings()

Member Function Documentation

◆ computeK()

◆ getSimulationTimestep()

◆ closedLoopShooting()

◆ isSingleShooting()

◆ print()

◆ parametersOk()

◆ load()

◆ fromConfigFile()

Member Data Documentation

◆ integrator

◆ discretization

◆ timeVaryingDiscretization

◆ nlocp_algorithm

◆ lqocp_solver

◆ loggingPrefix

◆ epsilon

◆ dt

◆ K_sim

◆ K_shot

◆ min_cost_improvement

◆ maxDefectSum

◆ meritFunctionRho

◆ meritFunctionRhoConstraints

◆ max_iterations

◆ fixedHessianCorrection

◆ recordSmallestEigenvalue

◆ nThreads

◆ nThreadsEigen

◆ lineSearchSettings

◆ lqoc_solver_settings

◆ debugPrint

◆ printSummary

◆ useSensitivityIntegrator

◆ logToMatlab