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

#include <NLOptConSolver.hpp>

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

Public Types
typedef OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, typename NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >	Base
typedef NLOptConSettings	Settings_t
typedef SCALAR	Scalar_t
typedef Base::OptConProblem_t	OptConProblem_t
typedef NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >	NLOCAlgorithm_t
typedef NLOCAlgorithm_t::Policy_t	Policy_t
typedef NLOCAlgorithm_t::Backend_t	Backend_t
Public Types inherited from ct::optcon::OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >
typedef NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t	Policy_t
typedef NLOptConSettings	Settings_t
typedef NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >	Derived
typedef SCALAR	Scalar_t

Public Member Functions
	NLOptConSolver (const OptConProblem_t &optConProblem, const Settings_t &settings)
	constructor More...
	NLOptConSolver (const OptConProblem_t &optConProblem, const std::string &settingsFile, bool verbose=true, const std::string &ns="alg")
	constructor More...
virtual	~NLOptConSolver ()=default
	destructor More...
void	initialize (const OptConProblem_t &optConProblem, const Settings_t &settings)
void	configure (const Settings_t &settings) override
virtual void	prepareIteration ()
virtual bool	finishIteration ()
virtual void	prepareMPCIteration ()
virtual bool	finishMPCIteration ()
virtual bool	runIteration () override
void	setInitialGuess (const Policy_t &initialGuess) override
virtual bool	solve () override
virtual const Policy_t &	getSolution () override
virtual const core::StateTrajectory< STATE_DIM, SCALAR >	getStateTrajectory () const override
virtual const core::ControlTrajectory< CONTROL_DIM, SCALAR >	getControlTrajectory () const override
virtual const core::tpl::TimeArray< SCALAR > &	getTimeArray () const override
virtual SCALAR	getTimeHorizon () const override
	Get the time horizon the solver currently operates on. More...
virtual void	changeTimeHorizon (const SCALAR &tf) override
	Change the time horizon the solver operates on. More...
virtual void	changeInitialState (const core::StateVector< STATE_DIM, SCALAR > &x0) override
	Change the initial state for the optimal control problem. More...
virtual void	changeCostFunction (const typename OptConProblem_t::CostFunctionPtr_t &cf) override
	Change the cost function. More...
virtual void	changeNonlinearSystem (const typename OptConProblem_t::DynamicsPtr_t &dyn) override
	Change the nonlinear system. More...
virtual void	changeLinearSystem (const typename OptConProblem_t::LinearPtr_t &lin) override
	Change the linear system. More...
virtual SCALAR	getCost () const override
const Settings_t &	getSettings ()
	get a reference to the current settings More...
const std::shared_ptr< Backend_t > &	getBackend ()
	get a reference to the backend ( More...
std::vector< typename OptConProblem_t::DynamicsPtr_t > &	getNonlinearSystemsInstances () override
	get reference to the nonlinear system More...
const std::vector< typename OptConProblem_t::DynamicsPtr_t > &	getNonlinearSystemsInstances () const override
	get constant reference to the nonlinear system More...
std::vector< typename OptConProblem_t::LinearPtr_t > &	getLinearSystemsInstances () override
	get reference to the linearized system More...
const std::vector< typename OptConProblem_t::LinearPtr_t > &	getLinearSystemsInstances () const override
	get constant reference to the linearized system More...
std::vector< typename OptConProblem_t::CostFunctionPtr_t > &	getCostFunctionInstances () override
	get reference to the cost function More...
const std::vector< typename OptConProblem_t::CostFunctionPtr_t > &	getCostFunctionInstances () const override
	get constant reference to the cost function More...
std::vector< typename OptConProblem_t::ConstraintPtr_t > &	getInputBoxConstraintsInstances () override
	get reference to the box constraints More...
const std::vector< typename OptConProblem_t::ConstraintPtr_t > &	getInputBoxConstraintsInstances () const override
	get constant reference to the boxconstraints More...
std::vector< typename OptConProblem_t::ConstraintPtr_t > &	getStateBoxConstraintsInstances () override
	get reference to the box constraints More...
const std::vector< typename OptConProblem_t::ConstraintPtr_t > &	getStateBoxConstraintsInstances () const override
	get constant reference to the boxconstraints More...
std::vector< typename OptConProblem_t::ConstraintPtr_t > &	getGeneralConstraintsInstances () override
	get reference to the general constraints More...
const std::vector< typename OptConProblem_t::ConstraintPtr_t > &	getGeneralConstraintsInstances () const override
	get constant reference to the general constraints More...
void	logSummaryToMatlab (const std::string &fileName)
	logging a short summary to matlab More...
Public Member Functions inherited from ct::optcon::OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >
	OptConSolver ()
virtual	~OptConSolver ()
virtual void	setProblem (const OptConProblem_t &optConProblem)
	Assigns the optimal control problem to the solver. More...
void	configureFromFile (const std::string &filename, bool verbose=true, const std::string &ns=NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS > ::SolverName)
virtual void	setInitialGuess (const Policy_t &initialGuess)=0
virtual void	changeInputBoxConstraints (const typename OptConProblem_t::ConstraintPtr_t con)
	Change the box constraints. More...
virtual void	changeStateBoxConstraints (const typename OptConProblem_t::ConstraintPtr_t con)
virtual void	changeGeneralConstraints (const typename OptConProblem_t::ConstraintPtr_t con)
	Change the general constraints. More...
virtual void	generateCode (const ct::core::DerivativesCppadSettings &settings)
	Generates source AD source code which can be used in the solver. This method needs to be called ahead of actually solving the problem (e.g. from a different executable) More...

Static Public Attributes
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const size_t	STATE_D = STATE_DIM
static const size_t	CONTROL_D = CONTROL_DIM
static const size_t	POS_DIM = P_DIM
static const size_t	VEL_DIM = V_DIM
Static Public Attributes inherited from ct::optcon::OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >
static const size_t	STATE_D
static const size_t	CONTROL_D

Protected Attributes
std::shared_ptr< Backend_t >	nlocBackend_
	the backend holding all the math operations More...
std::shared_ptr< NLOCAlgorithm_t >	nlocAlgorithm_
	the algorithm for sequencing the math operations in correct manner More...

Additional Inherited Members
Public Attributes inherited from ct::optcon::OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef std::conditional< CONTINUOUS, ContinuousOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, DiscreteOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR > >::type	OptConProblem_t

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double, bool CONTINUOUS = true>
class ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >

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

Base

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double, bool CONTINUOUS = true>

typedef OptConSolver<NLOptConSolver<STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS>, typename NLOCAlgorithm<STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS>::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS> ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Base

Settings_t

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double, bool CONTINUOUS = true>

typedef NLOptConSettings ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Settings_t

Scalar_t

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double, bool CONTINUOUS = true>

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

OptConProblem_t

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double, bool CONTINUOUS = true>

typedef Base::OptConProblem_t ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::OptConProblem_t

NLOCAlgorithm_t

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double, bool CONTINUOUS = true>

typedef NLOCAlgorithm<STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS> ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::NLOCAlgorithm_t

Policy_t

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double, bool CONTINUOUS = true>

typedef NLOCAlgorithm_t::Policy_t ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t

Backend_t

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double, bool CONTINUOUS = true>

typedef NLOCAlgorithm_t::Backend_t ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Backend_t

Constructor & Destructor Documentation

NLOptConSolver() [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::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::NLOptConSolver	(	const OptConProblem_t &	optConProblem,
		const Settings_t &	settings
	)

constructor

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

constructor

References ct::optcon::NLOptConSettings::isSingleShooting(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocAlgorithm_, and ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_.

~NLOptConSolver()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double, bool CONTINUOUS = true>

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

virtualdefault

destructor

Member Function Documentation

initialize()

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

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

configures the solver

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_, and ct::optcon::NLOptConSettings::nThreads.

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

overridevirtual

configures the solver

Implements ct::optcon::OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >.

Examples:

LinearSystemTest.h, NonlinearSystemTest.h, and SymplecticTest.h.

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_, and ct::optcon::NLOptConSettings::nThreads.

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

prepareIteration()

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

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

virtual

execute preparation steps for an iteration, e.g. computation of defects

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocAlgorithm_.

finishIteration()

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

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

virtual

execute finishing step for an iteration, e.g. solving Riccati backward pass.

Returns

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocAlgorithm_.

prepareMPCIteration()

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

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

virtual

execute preparation steps for an iteration, e.g. computation of defects

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocAlgorithm_.

finishMPCIteration()

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

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

virtual

execute finishing step for an iteration, e.g. solving Riccati backward pass.

Returns

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocAlgorithm_.

runIteration()

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

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

overridevirtual

run a single iteration of the solver

Returns

true if a better solution was found

Reimplemented from ct::optcon::OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >.

Examples:

LinearSystemTest.h, and SymplecticTest.h.

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocAlgorithm_.

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

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

override

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

Examples:

LinearSystemTest.h, NonlinearSystemTest.h, and SymplecticTest.h.

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_.

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

solve()

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

bool ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::solve ( )

overridevirtual

solve the optimal control problem

Implements ct::optcon::OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >.

Examples:

NonlinearSystemTest.h.

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getSettings(), and ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::runIteration().

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

getSolution()

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

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

overridevirtual

Get the optimized control policy to the optimal control problem

Returns

Implements ct::optcon::OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_.

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

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::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getStateTrajectory ( ) const

overridevirtual

Get the optimized trajectory to the optimal control problem

Returns

Implements ct::optcon::OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >.

Examples:

NonlinearSystemTest.h, and SymplecticTest.h.

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_.

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

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::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getControlTrajectory ( ) const

overridevirtual

Get the optimal feedforward control input corresponding to the optimal trajectory

Returns

Implements ct::optcon::OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >.

Examples:

NonlinearSystemTest.h, and SymplecticTest.h.

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_.

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

getTimeArray()

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

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

overridevirtual

Get the time indices corresponding to the solution

Returns

Implements ct::optcon::OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_.

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::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getTimeHorizon ( ) const

overridevirtual

Get the time horizon the solver currently operates on.

Implements ct::optcon::OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_.

changeTimeHorizon()

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

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

overridevirtual

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.

Implements ct::optcon::OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_.

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::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeInitialState ( const core::StateVector< STATE_DIM, SCALAR > &  x0 )

overridevirtual

Change the initial state for the optimal control problem.

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

Implements ct::optcon::OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_.

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::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeCostFunction ( const typename OptConProblem_t::CostFunctionPtr_t &  cf )

overridevirtual

Change the cost function.

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

Implements ct::optcon::OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_.

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::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeNonlinearSystem ( const typename OptConProblem_t::DynamicsPtr_t &  dyn )

overridevirtual

Change the nonlinear system.

This function does not need to be called if setOptConProblem() has been called with an OptConProblem that had the correct nonlinear system

Implements ct::optcon::OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_.

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::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeLinearSystem ( const typename OptConProblem_t::LinearPtr_t &  lin )

overridevirtual

Change the linear system.

This function does not need to be called if setOptConProblem() has been called with an OptConProblem that had the correct linear system

Implements ct::optcon::OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_.

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::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getCost ( ) const

overridevirtual

Reimplemented from ct::optcon::OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_.

getSettings()

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

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

(

)

get a reference to the current settings

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_.

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

getBackend()

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

const std::shared_ptr< typename NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Backend_t > & ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getBackend

(

)

get a reference to the backend (

Todo:

this is not optimal, allows the user too much access)

Examples:

LinearSystemTest.h.

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_.

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

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 NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::OptConProblem_t::DynamicsPtr_t > & ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getNonlinearSystemsInstances ( )

overridevirtual

get reference to the nonlinear system

Implements ct::optcon::OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_.

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 NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::OptConProblem_t::DynamicsPtr_t > & ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getNonlinearSystemsInstances ( ) const

overridevirtual

get constant reference to the nonlinear system

Implements ct::optcon::OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_.

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 NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::OptConProblem_t::LinearPtr_t > & ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getLinearSystemsInstances ( )

overridevirtual

get reference to the linearized system

Implements ct::optcon::OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_.

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 NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::OptConProblem_t::LinearPtr_t > & ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getLinearSystemsInstances ( ) const

overridevirtual

get constant reference to the linearized system

Implements ct::optcon::OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_.

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 NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::OptConProblem_t::CostFunctionPtr_t > & ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getCostFunctionInstances ( )

overridevirtual

get reference to the cost function

Implements ct::optcon::OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_.

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 NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::OptConProblem_t::CostFunctionPtr_t > & ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getCostFunctionInstances ( ) const

overridevirtual

get constant reference to the cost function

Implements ct::optcon::OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_.

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 NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::OptConProblem_t::ConstraintPtr_t > & ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getInputBoxConstraintsInstances ( )

overridevirtual

get reference to the box constraints

Reimplemented from ct::optcon::OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_.

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 NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::OptConProblem_t::ConstraintPtr_t > & ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getInputBoxConstraintsInstances ( ) const

overridevirtual

get constant reference to the boxconstraints

Reimplemented from ct::optcon::OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_.

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 NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::OptConProblem_t::ConstraintPtr_t > & ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getStateBoxConstraintsInstances ( )

overridevirtual

get reference to the box constraints

Reimplemented from ct::optcon::OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_.

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 NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::OptConProblem_t::ConstraintPtr_t > & ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getStateBoxConstraintsInstances ( ) const

overridevirtual

get constant reference to the boxconstraints

Reimplemented from ct::optcon::OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_.

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 NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::OptConProblem_t::ConstraintPtr_t > & ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getGeneralConstraintsInstances ( )

overridevirtual

get reference to the general constraints

Reimplemented from ct::optcon::OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_.

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 NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::OptConProblem_t::ConstraintPtr_t > & ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getGeneralConstraintsInstances ( ) const

overridevirtual

get constant reference to the general constraints

Reimplemented from ct::optcon::OptConSolver< NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >, NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t, NLOptConSettings, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_.

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::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::logSummaryToMatlab

(

const std::string &

fileName

)

logging a short summary to matlab

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_.

Member Data Documentation

STATE_D

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double, bool CONTINUOUS = true>

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

static

CONTROL_D

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double, bool CONTINUOUS = true>

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

static

POS_DIM

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double, bool CONTINUOUS = true>

const size_t ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::POS_DIM = P_DIM

static

VEL_DIM

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double, bool CONTINUOUS = true>

const size_t ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::VEL_DIM = V_DIM

static

nlocBackend_

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double, bool CONTINUOUS = true>

std::shared_ptr<Backend_t> ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocBackend_

protected

the backend holding all the math operations

Referenced by ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeCostFunction(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeInitialState(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeLinearSystem(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeNonlinearSystem(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::changeTimeHorizon(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::configure(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getBackend(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getControlTrajectory(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getCost(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getCostFunctionInstances(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getGeneralConstraintsInstances(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getInputBoxConstraintsInstances(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getLinearSystemsInstances(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getNonlinearSystemsInstances(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getSettings(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getSolution(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getStateBoxConstraintsInstances(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getStateTrajectory(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getTimeArray(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getTimeHorizon(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::initialize(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::logSummaryToMatlab(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::NLOptConSolver(), and ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::setInitialGuess().

nlocAlgorithm_

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double, bool CONTINUOUS = true>

std::shared_ptr<NLOCAlgorithm_t> ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::nlocAlgorithm_

protected

the algorithm for sequencing the math operations in correct manner

Referenced by ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::finishIteration(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::finishMPCIteration(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::NLOptConSolver(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::prepareIteration(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::prepareMPCIteration(), and ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::runIteration().

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

• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/solver/NLOptConSolver.hpp
• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/solver/NLOptConSolver-impl.hpp