#include <OptConProblemBase.h>

Public Types
typedef ct::core::StateVector< STATE_DIM, SCALAR >	state_vector_t

typedef std::shared_ptr< SYSTEM_T >	DynamicsPtr_t

typedef std::shared_ptr< LINEAR_SYSTEM_T >	LinearPtr_t

typedef std::shared_ptr< optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR > >	CostFunctionPtr_t

typedef std::shared_ptr< optcon::LinearConstraintContainer< STATE_DIM, CONTROL_DIM, SCALAR > >	ConstraintPtr_t

typedef SYSTEM_T::time_t	time_t

Public Member Functions
	OptConProblemBase ()=default

	OptConProblemBase (DynamicsPtr_t nonlinDynamics, CostFunctionPtr_t costFunction, LinearPtr_t linearSystem=nullptr)
	Construct a simple unconstrained Optimal Control Problem. More...

	OptConProblemBase (const time_t tf, const state_vector_t &x0, DynamicsPtr_t nonlinDynamics, CostFunctionPtr_t costFunction, LinearPtr_t linearSystem=nullptr)
	Construct a simple unconstrained optimal control problem, with initial state and final time as constructor arguments. More...

	OptConProblemBase (DynamicsPtr_t nonlinDynamics, CostFunctionPtr_t costFunction, ConstraintPtr_t inputBoxConstraints, ConstraintPtr_t stateBoxConstraints, ConstraintPtr_t generalConstraints, LinearPtr_t linearSystem=nullptr)
	Construct a constrained Optimal Control Problem. More...

	OptConProblemBase (const time_t tf, const state_vector_t &x0, DynamicsPtr_t nonlinDynamics, CostFunctionPtr_t costFunction, ConstraintPtr_t inputBoxConstraints, ConstraintPtr_t stateBoxConstraints, ConstraintPtr_t generalConstraints, LinearPtr_t linearSystem=nullptr)
	Construct a constrained Optimal Control Problem. More...

void	verify () const
	check if all the ingredients for an unconstrained optimal control problem are there More...

const DynamicsPtr_t	getNonlinearSystem () const

const LinearPtr_t	getLinearSystem () const

const CostFunctionPtr_t	getCostFunction () const

void	setNonlinearSystem (const DynamicsPtr_t dyn)

void	setLinearSystem (const LinearPtr_t lin)

void	setCostFunction (const CostFunctionPtr_t cost)

void	setInputBoxConstraints (const ConstraintPtr_t constraint)

void	setStateBoxConstraints (const ConstraintPtr_t constraint)

void	setGeneralConstraints (const ConstraintPtr_t constraint)

const ConstraintPtr_t	getInputBoxConstraints () const
	Retrieve the input box constraints. More...

const ConstraintPtr_t	getStateBoxConstraints () const
	Retrieve the state box constraints. More...

const ConstraintPtr_t	getGeneralConstraints () const
	Retrieves the general constraints. More...

const state_vector_t	getInitialState () const

void	setInitialState (const state_vector_t &x0)

time_t	getTimeHorizon () const

void	setTimeHorizon (const time_t tf)

Static Public Attributes
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const size_t	STATE_D = STATE_DIM

static const size_t	CONTROL_D = CONTROL_DIM

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T, typename LINEAR_SYSTEM_T, typename LINEARIZER_T, typename SCALAR = double>
class ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >

Examples:: DMS.cpp, 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

◆ state_vector_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T, typename LINEAR_SYSTEM_T, typename LINEARIZER_T, typename SCALAR = double>

typedef ct::core::StateVector<STATE_DIM, SCALAR> ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::state_vector_t

◆ DynamicsPtr_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T, typename LINEAR_SYSTEM_T, typename LINEARIZER_T, typename SCALAR = double>

typedef std::shared_ptr<SYSTEM_T> ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::DynamicsPtr_t

◆ LinearPtr_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T, typename LINEAR_SYSTEM_T, typename LINEARIZER_T, typename SCALAR = double>

typedef std::shared_ptr<LINEAR_SYSTEM_T> ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::LinearPtr_t

◆ CostFunctionPtr_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T, typename LINEAR_SYSTEM_T, typename LINEARIZER_T, typename SCALAR = double>

typedef std::shared_ptr<optcon::CostFunctionQuadratic<STATE_DIM, CONTROL_DIM, SCALAR> > ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::CostFunctionPtr_t

◆ ConstraintPtr_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T, typename LINEAR_SYSTEM_T, typename LINEARIZER_T, typename SCALAR = double>

typedef std::shared_ptr<optcon::LinearConstraintContainer<STATE_DIM, CONTROL_DIM, SCALAR> > ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::ConstraintPtr_t

◆ time_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T, typename LINEAR_SYSTEM_T, typename LINEARIZER_T, typename SCALAR = double>

typedef SYSTEM_T::time_t ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::time_t

Constructor & Destructor Documentation

◆ OptConProblemBase() [1/5]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T, typename LINEAR_SYSTEM_T, typename LINEARIZER_T, typename SCALAR = double>

ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::OptConProblemBase ( )

default

◆ OptConProblemBase() [2/5]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T , typename LINEAR_SYSTEM_T , typename LINEARIZER_T , typename SCALAR >

ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::OptConProblemBase	(	DynamicsPtr_t	nonlinDynamics,
		CostFunctionPtr_t	costFunction,
		LinearPtr_t	linearSystem = `nullptr`
	)

Construct a simple unconstrained Optimal Control Problem.

Warning: time and initial state to be specified later

Parameters

nonlinDynamics	the nonlinear system dynamics
costFunction	a quadratic cost function
linearSystem	(optional) the linear system holding the dynamics derivatives. If the user does not specify the derivatives, they are generated automatically using numerical differentiation. Warning: this is slow

◆ OptConProblemBase() [3/5]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T , typename LINEAR_SYSTEM_T , typename LINEARIZER_T , typename SCALAR >

ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::OptConProblemBase	(	const time_t	tf,
		const state_vector_t &	x0,
		DynamicsPtr_t	nonlinDynamics,
		CostFunctionPtr_t	costFunction,
		LinearPtr_t	linearSystem = `nullptr`
	)

Construct a simple unconstrained optimal control problem, with initial state and final time as constructor arguments.

Parameters

tf	The optimal control problem final time horizon
x0	The initial system state
nonlinDynamics	The nonlinear system dynamics
costFunction	A quadratic cost function
linearSystem	(optional) Linearized System Dynamics.

◆ OptConProblemBase() [4/5]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T , typename LINEAR_SYSTEM_T , typename LINEARIZER_T , typename SCALAR >

ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::OptConProblemBase	(	DynamicsPtr_t	nonlinDynamics,
		CostFunctionPtr_t	costFunction,
		ConstraintPtr_t	inputBoxConstraints,
		ConstraintPtr_t	stateBoxConstraints,
		ConstraintPtr_t	generalConstraints,
		LinearPtr_t	linearSystem = `nullptr`
	)

Construct a constrained Optimal Control Problem.

Parameters

nonlinDynamics	the nonlinear system dynamics
costFunction	a quadratic cost function
inputBoxConstraints	the input box constraints
stateBoxConstraints	the state box constraints
generalConstraints	the general constraints
linearSystem	(optional) the linear system holding the dynamics derivatives.

Warning: time and initial state to be specified later; If the user does not specify the derivatives, they are generated automatically using numerical differentiation. This is slow

◆ OptConProblemBase() [5/5]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T , typename LINEAR_SYSTEM_T , typename LINEARIZER_T , typename SCALAR >

ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::OptConProblemBase	(	const time_t	tf,
		const state_vector_t &	x0,
		DynamicsPtr_t	nonlinDynamics,
		CostFunctionPtr_t	costFunction,
		ConstraintPtr_t	inputBoxConstraints,
		ConstraintPtr_t	stateBoxConstraints,
		ConstraintPtr_t	generalConstraints,
		LinearPtr_t	linearSystem = `nullptr`
	)

Construct a constrained Optimal Control Problem.

Parameters

tf	The optimal control problem final time horizon
x0	The initial system state
nonlinDynamics	the nonlinear system dynamics
costFunction	a quadratic cost function
inputBoxConstraints	the input box constraints
stateBoxConstraints	the state box constraints
generalConstraints	the general constraints
linearSystem	(optional) the linear system holding the dynamics derivatives.

Warning: time and initial state to be specified later; If the user does not specify the derivatives, they are generated automatically using numerical differentiation. This is slow

Member Function Documentation

◆ verify()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T , typename LINEAR_SYSTEM_T , typename LINEARIZER_T , typename SCALAR >

void ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::verify ( ) const

check if all the ingredients for an unconstrained optimal control problem are there

◆ getNonlinearSystem()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T , typename LINEAR_SYSTEM_T , typename LINEARIZER_T , typename SCALAR >

const OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::DynamicsPtr_t ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::getNonlinearSystem ( ) const

returns a pointer to the controlled system

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

◆ getLinearSystem()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T , typename LINEAR_SYSTEM_T , typename LINEARIZER_T , typename SCALAR >

const OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::LinearPtr_t ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::getLinearSystem ( ) const

returns a pointer to the linear system approximation

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

◆ getCostFunction()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T , typename LINEAR_SYSTEM_T , typename LINEARIZER_T , typename SCALAR >

const OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::CostFunctionPtr_t ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::getCostFunction ( ) const

returns a pinter to the cost function

◆ setNonlinearSystem()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T , typename LINEAR_SYSTEM_T , typename LINEARIZER_T , typename SCALAR >

void ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::setNonlinearSystem ( const DynamicsPtr_t dyn )

returns a pointer to the controlled system

◆ setLinearSystem()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T , typename LINEAR_SYSTEM_T , typename LINEARIZER_T , typename SCALAR >

void ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::setLinearSystem ( const LinearPtr_t lin )

returns a pointer to the linear system approximation

◆ setCostFunction()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T , typename LINEAR_SYSTEM_T , typename LINEARIZER_T , typename SCALAR >

void ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::setCostFunction ( const CostFunctionPtr_t cost )

returns a pinter to the cost function

◆ setInputBoxConstraints()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T , typename LINEAR_SYSTEM_T , typename LINEARIZER_T , typename SCALAR >

void ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::setInputBoxConstraints ( const ConstraintPtr_t constraint )

set input box constraints

Parameters

constraint pointer to box constraint

Referenced by main().

◆ setStateBoxConstraints()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T , typename LINEAR_SYSTEM_T , typename LINEARIZER_T , typename SCALAR >

void ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::setStateBoxConstraints ( const ConstraintPtr_t constraint )

set state box constraints

Parameters

constraint pointer to box constraint

Referenced by main().

◆ setGeneralConstraints()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T , typename LINEAR_SYSTEM_T , typename LINEARIZER_T , typename SCALAR >

void ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::setGeneralConstraints ( const ConstraintPtr_t constraint )

set general constraints

Parameters

constraint pointer to a general constraint

Referenced by ct::optcon::example::MatFilesGenerator::generateMatFilesIPOPT(), ct::optcon::example::MatFilesGenerator::generateMatFilesSNOPT(), ct::optcon::example::OscDms::getIpoptSolution(), ct::optcon::example::OscDms::getSnoptSolution(), ct::optcon::example::OscillatorDms::initialize(), and main().

◆ getInputBoxConstraints()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T , typename LINEAR_SYSTEM_T , typename LINEARIZER_T , typename SCALAR >

const OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::ConstraintPtr_t ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::getInputBoxConstraints ( ) const

Retrieve the input box constraints.

Returns: The input box constraints.

◆ getStateBoxConstraints()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T , typename LINEAR_SYSTEM_T , typename LINEARIZER_T , typename SCALAR >

const OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::ConstraintPtr_t ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::getStateBoxConstraints ( ) const

Retrieve the state box constraints.

Returns: The state box constraints.

◆ getGeneralConstraints()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T , typename LINEAR_SYSTEM_T , typename LINEARIZER_T , typename SCALAR >

const OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::ConstraintPtr_t ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::getGeneralConstraints ( ) const

Retrieves the general constraints.

Returns: The the general constraints

◆ getInitialState()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T , typename LINEAR_SYSTEM_T , typename LINEARIZER_T , typename SCALAR >

const OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::state_vector_t ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::getInitialState ( ) const

get initial state (called by solvers)

◆ setInitialState()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T , typename LINEAR_SYSTEM_T , typename LINEARIZER_T , typename SCALAR >

void ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::setInitialState ( const state_vector_t & x0 )

set initial state for first subsystem

Referenced by ct::optcon::example::MatFilesGenerator::generateMatFilesIPOPT(), ct::optcon::example::MatFilesGenerator::generateMatFilesSNOPT(), ct::optcon::example::OscDms::getIpoptSolution(), ct::optcon::example::OscDms::getSnoptSolution(), ct::optcon::example::OscillatorDms::initialize(), and main().

◆ getTimeHorizon()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T , typename LINEAR_SYSTEM_T , typename LINEARIZER_T , typename SCALAR >

OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::time_t ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::getTimeHorizon ( ) const

get the current time horizon

Returns: Time Horizon

◆ setTimeHorizon()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T , typename LINEAR_SYSTEM_T , typename LINEARIZER_T , typename SCALAR >

void ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::setTimeHorizon ( const time_t tf )

Update the current time horizon in the Opt.Control Problem (required for example for replanning)

Parameters

tf	new time horizon

Referenced by ct::optcon::example::MatFilesGenerator::generateMatFilesIPOPT(), ct::optcon::example::MatFilesGenerator::generateMatFilesSNOPT(), ct::optcon::example::OscDms::getIpoptSolution(), ct::optcon::example::OscDms::getSnoptSolution(), ct::optcon::example::OscillatorDms::initialize(), and main().

Member Data Documentation

◆ STATE_D

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T, typename LINEAR_SYSTEM_T, typename LINEARIZER_T, typename SCALAR = double>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW const size_t ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::STATE_D = STATE_DIM

static

◆ CONTROL_D

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T, typename LINEAR_SYSTEM_T, typename LINEARIZER_T, typename SCALAR = double>

const size_t ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::CONTROL_D = CONTROL_DIM

static

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/problem/OptConProblemBase.h
/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/problem/OptConProblemBase-impl.h

Public Types

Public Member Functions

Static Public Attributes

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T, typename LINEAR_SYSTEM_T, typename LINEARIZER_T, typename SCALAR = double> class ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >

Member Typedef Documentation

◆ state_vector_t

◆ DynamicsPtr_t

◆ LinearPtr_t

◆ CostFunctionPtr_t

◆ ConstraintPtr_t

◆ time_t

Constructor & Destructor Documentation

◆ OptConProblemBase() [1/5]

◆ OptConProblemBase() [2/5]

◆ OptConProblemBase() [3/5]

◆ OptConProblemBase() [4/5]

◆ OptConProblemBase() [5/5]

Member Function Documentation

◆ verify()

◆ getNonlinearSystem()

◆ getLinearSystem()

◆ getCostFunction()

◆ setNonlinearSystem()

◆ setLinearSystem()

◆ setCostFunction()

◆ setInputBoxConstraints()

◆ setStateBoxConstraints()

◆ setGeneralConstraints()

◆ getInputBoxConstraints()

◆ getStateBoxConstraints()

◆ getGeneralConstraints()

◆ getInitialState()

◆ setInitialState()

◆ getTimeHorizon()

◆ setTimeHorizon()

Member Data Documentation

◆ STATE_D

◆ CONTROL_D

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SYSTEM_T, typename LINEAR_SYSTEM_T, typename LINEARIZER_T, typename SCALAR = double>
class ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >