#include <OptConSolver.h>

Public Types
typedef POLICY	Policy_t

typedef SETTINGS	Settings_t

typedef DERIVED	Derived

typedef SCALAR	Scalar_t

Public Member Functions
	OptConSolver ()

virtual	~OptConSolver ()

virtual void	setProblem (const OptConProblem_t &optConProblem)
	Assigns the optimal control problem to the solver. More...

virtual void	configure (const Settings_t &settings)=0

void	configureFromFile (const std::string &filename, bool verbose=true, const std::string &ns=DERIVED::SolverName)

virtual bool	solve ()=0

virtual bool	runIteration ()

virtual const Policy_t &	getSolution ()=0

virtual const core::StateTrajectory< STATE_DIM, SCALAR >	getStateTrajectory () const =0

virtual const core::ControlTrajectory< CONTROL_DIM, SCALAR >	getControlTrajectory () const =0

virtual const core::tpl::TimeArray< SCALAR > &	getTimeArray () const =0

virtual void	setInitialGuess (const Policy_t &initialGuess)=0

virtual SCALAR	getTimeHorizon () const =0
	Get the time horizon the solver currently operates on. More...

virtual void	changeTimeHorizon (const SCALAR &tf)=0
	Change the time horizon the solver operates on. More...

virtual void	changeInitialState (const core::StateVector< STATE_DIM, SCALAR > &x0)=0
	Change the initial state for the optimal control problem. More...

virtual void	changeCostFunction (const typename OptConProblem_t::CostFunctionPtr_t &cf)=0
	Change the cost function. More...

virtual void	changeNonlinearSystem (const typename OptConProblem_t::DynamicsPtr_t &dyn)=0
	Change the nonlinear system. More...

virtual void	changeLinearSystem (const typename OptConProblem_t::LinearPtr_t &lin)=0
	Change the linear system. More...

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 SCALAR	getCost () const

virtual std::vector< typename OptConProblem_t::DynamicsPtr_t > &	getNonlinearSystemsInstances ()=0
	Direct accessor to the system instances. More...

virtual const std::vector< typename OptConProblem_t::DynamicsPtr_t > &	getNonlinearSystemsInstances () const =0

virtual std::vector< typename OptConProblem_t::LinearPtr_t > &	getLinearSystemsInstances ()=0
	Direct accessor to the linear system instances. More...

virtual const std::vector< typename OptConProblem_t::LinearPtr_t > &	getLinearSystemsInstances () const =0

virtual std::vector< typename OptConProblem_t::CostFunctionPtr_t > &	getCostFunctionInstances ()=0
	Direct accessor to the cost function instances. More...

virtual const std::vector< typename OptConProblem_t::CostFunctionPtr_t > &	getCostFunctionInstances () const =0

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

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

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

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

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

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

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...

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

Static Public Attributes
static const size_t	STATE_D = STATE_DIM

static const size_t	CONTROL_D = CONTROL_DIM

Member Typedef Documentation

◆ Policy_t

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

typedef POLICY ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::Policy_t

◆ Settings_t

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

typedef SETTINGS ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::Settings_t

◆ Derived

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

typedef DERIVED ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::Derived

◆ Scalar_t

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

typedef SCALAR ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::Scalar_t

Constructor & Destructor Documentation

◆ OptConSolver()

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::OptConSolver ( )

inline

◆ ~OptConSolver()

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::~OptConSolver ( )

inlinevirtual

Member Function Documentation

◆ setProblem()

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual void ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::setProblem ( const OptConProblem_t & optConProblem )

inlinevirtual

Assigns the optimal control problem to the solver.

Most solvers will require some computational effort to adjust to a new problem. Therefore, when only adjusting a problem, it is more efficient to adjust individual properties instead of assigning an entirely new problem. To adjust properties, you can use

changeTimeHorizon()
changeInitialState()
changeCostFunction()
changeSystemDynamics()
changeSystemLinearization()

Returns: returns true if the optimal control structure is valid for the given solver

◆ configure()

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual void ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::configure ( const Settings_t & settings )

pure virtual

configures the solver

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

Referenced by ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >::configureFromFile(), and ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >::setProblem().

◆ configureFromFile()

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

void ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::configureFromFile	(	const std::string &	filename,
		bool	verbose = `true`,
		const std::string &	ns = `DERIVED::SolverName`
	)

inline

configures the solver from configFile

◆ solve()

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual bool ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::solve ( )

pure virtual

solve the optimal control problem

Returns: true if solve succeeded, false otherwise.

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

Referenced by ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >::configureFromFile().

◆ runIteration()

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual bool ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::runIteration ( )

inlinevirtual

run a single iteration of the solver (might not be supported by all solvers)

Returns: true if a better solution was found

Reimplemented in ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >.

◆ getSolution()

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual const Policy_t& ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::getSolution ( )

pure virtual

Get the optimized control policy to the optimal control problem

Returns

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

Referenced by ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >::runIteration().

◆ getStateTrajectory()

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual const core::StateTrajectory<STATE_DIM, SCALAR> ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::getStateTrajectory ( ) const

pure virtual

Get the optimized trajectory to the optimal control problem

Returns

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

Referenced by ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >::runIteration().

◆ getControlTrajectory()

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual const core::ControlTrajectory<CONTROL_DIM, SCALAR> ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::getControlTrajectory ( ) const

pure virtual

Get the optimal feedforward control input corresponding to the optimal trajectory

Returns

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

Referenced by ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >::runIteration().

◆ getTimeArray()

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual const core::tpl::TimeArray<SCALAR>& ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::getTimeArray ( ) const

pure virtual

Get the time indices corresponding to the solution

Returns

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

Referenced by ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >::runIteration().

◆ setInitialGuess()

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual void ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::setInitialGuess ( const Policy_t & initialGuess )

pure virtual

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

Implemented in ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >.

Referenced by ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >::runIteration().

◆ getTimeHorizon()

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual SCALAR ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::getTimeHorizon ( ) const

pure virtual

Get the time horizon the solver currently operates on.

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

Referenced by ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >::runIteration().

◆ changeTimeHorizon()

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual void ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::changeTimeHorizon ( const SCALAR & tf )

pure virtual

Change the time horizon the solver operates on.

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

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

Referenced by ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >::runIteration(), and ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >::setProblem().

◆ changeInitialState()

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual void ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::changeInitialState ( const core::StateVector< STATE_DIM, SCALAR > & x0 )

pure virtual

Change the initial state for the optimal control problem.

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

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

Referenced by ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >::runIteration(), and ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >::setProblem().

◆ changeCostFunction()

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual void ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::changeCostFunction ( const typename OptConProblem_t::CostFunctionPtr_t & cf )

pure virtual

Change the cost function.

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

Implemented in ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >.

Referenced by ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >::runIteration(), and ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >::setProblem().

◆ changeNonlinearSystem()

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual void ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::changeNonlinearSystem ( const typename OptConProblem_t::DynamicsPtr_t & dyn )

pure virtual

Change the nonlinear system.

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

Implemented in ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >.

Referenced by ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >::runIteration(), and ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >::setProblem().

◆ changeLinearSystem()

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual void ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::changeLinearSystem ( const typename OptConProblem_t::LinearPtr_t & lin )

pure virtual

Change the linear system.

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

Implemented in ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >.

Referenced by ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >::runIteration(), and ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >::setProblem().

◆ changeInputBoxConstraints()

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual void ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::changeInputBoxConstraints ( const typename OptConProblem_t::ConstraintPtr_t con )

inlinevirtual

Change the box constraints.

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

Parameters

[in] con The new box constraints

Referenced by ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >::setProblem().

◆ changeStateBoxConstraints()

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual void ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::changeStateBoxConstraints ( const typename OptConProblem_t::ConstraintPtr_t con )

inlinevirtual

Referenced by ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >::setProblem().

◆ changeGeneralConstraints()

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual void ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::changeGeneralConstraints ( const typename OptConProblem_t::ConstraintPtr_t con )

inlinevirtual

Change the general constraints.

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

Parameters

[in] con The new general constraints

Referenced by ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >::setProblem().

◆ getCost()

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual SCALAR ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::getCost ( ) const

inlinevirtual

Reimplemented in ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >.

◆ getNonlinearSystemsInstances() [1/2]

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual std::vector<typename OptConProblem_t::DynamicsPtr_t>& ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::getNonlinearSystemsInstances ( )

pure virtual

Direct accessor to the system instances.

Warning: {Use this only when performance absolutely matters and if you know what you are doing. Otherwise use e.g. changeNonlinearSystem() to change the system dynamics in a safe and easy way. You should especially not change the size of the vector or modify each entry differently.}

Returns

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

Referenced by ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >::getCost().

◆ getNonlinearSystemsInstances() [2/2]

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual const std::vector<typename OptConProblem_t::DynamicsPtr_t>& ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::getNonlinearSystemsInstances ( ) const

pure virtual

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

◆ getLinearSystemsInstances() [1/2]

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual std::vector<typename OptConProblem_t::LinearPtr_t>& ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::getLinearSystemsInstances ( )

pure virtual

Direct accessor to the linear system instances.

Warning: {Use this only when performance absolutely matters and if you know what you are doing. Otherwise use e.g. changeLinearSystem() to change the system dynamics in a safe and easy way. You should especially not change the size of the vector or modify each entry differently.}

Returns

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

Referenced by ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >::getCost().

◆ getLinearSystemsInstances() [2/2]

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual const std::vector<typename OptConProblem_t::LinearPtr_t>& ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::getLinearSystemsInstances ( ) const

pure virtual

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

◆ getCostFunctionInstances() [1/2]

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual std::vector<typename OptConProblem_t::CostFunctionPtr_t>& ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::getCostFunctionInstances ( )

pure virtual

Direct accessor to the cost function instances.

Warning: {Use this only when performance absolutely matters and if you know what you are doing. Otherwise use e.g. changeCostFunction() to change the system dynamics in a safe and easy way. You should especially not change the size of the vector or modify each entry differently.}

Returns

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

Referenced by ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >::getCost().

◆ getCostFunctionInstances() [2/2]

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual const std::vector<typename OptConProblem_t::CostFunctionPtr_t>& ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::getCostFunctionInstances ( ) const

pure virtual

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

◆ getInputBoxConstraintsInstances() [1/2]

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual std::vector<typename OptConProblem_t::ConstraintPtr_t>& ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::getInputBoxConstraintsInstances ( )

inlinevirtual

Direct accessor to the box constraint instances.

Warning: {Use this only when performance absolutely matters and if you know what you are doing. Otherwise use e.g. changeCostFunction() to change the system dynamics in a safe and easy way. You should especially not change the size of the vector or modify each entry differently.}

Returns: The state box constraint instances

Reimplemented in ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, and ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >.

◆ getInputBoxConstraintsInstances() [2/2]

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual const std::vector<typename OptConProblem_t::ConstraintPtr_t>& ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::getInputBoxConstraintsInstances ( ) const

inlinevirtual

Reimplemented in ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, and ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >.

◆ getStateBoxConstraintsInstances() [1/2]

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual std::vector<typename OptConProblem_t::ConstraintPtr_t>& ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::getStateBoxConstraintsInstances ( )

inlinevirtual

Reimplemented in ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, and ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >.

◆ getStateBoxConstraintsInstances() [2/2]

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual const std::vector<typename OptConProblem_t::ConstraintPtr_t>& ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::getStateBoxConstraintsInstances ( ) const

inlinevirtual

Reimplemented in ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, and ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >.

◆ getGeneralConstraintsInstances() [1/2]

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual std::vector<typename OptConProblem_t::ConstraintPtr_t>& ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::getGeneralConstraintsInstances ( )

inlinevirtual

Direct accessor to the general constraints.

Warning: {Use this only when performance absolutely matters and if you know what you are doing. Otherwise use e.g. changeCostFunction() to change the system dynamics in a safe and easy way. You should especially not change the size of the vector or modify each entry differently.}

Returns: The general constraints instances.

Reimplemented in ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, and ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >.

◆ getGeneralConstraintsInstances() [2/2]

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual const std::vector<typename OptConProblem_t::ConstraintPtr_t>& ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::getGeneralConstraintsInstances ( ) const

inlinevirtual

Reimplemented in ct::optcon::DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, and ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >.

◆ generateCode()

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

virtual void ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::generateCode ( const ct::core::DerivativesCppadSettings & settings )

inlinevirtual

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)

Parameters

[in] settings The settings indicating what to generate

Member Data Documentation

◆ OptConProblem_t

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef std::conditional<CONTINUOUS, ContinuousOptConProblem<STATE_DIM, CONTROL_DIM, SCALAR>, DiscreteOptConProblem<STATE_DIM, CONTROL_DIM, SCALAR> >::type ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::OptConProblem_t

◆ STATE_D

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

const size_t ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::STATE_D = STATE_DIM

static

◆ CONTROL_D

template<typename DERIVED, typename POLICY, typename SETTINGS, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double, bool CONTINUOUS = true>

const size_t ct::optcon::OptConSolver< DERIVED, POLICY, SETTINGS, STATE_DIM, CONTROL_DIM, SCALAR, CONTINUOUS >::CONTROL_D = CONTROL_DIM

static

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/OptConSolver.h

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Member Typedef Documentation

◆ Policy_t

◆ Settings_t

◆ Derived

◆ Scalar_t

Constructor & Destructor Documentation

◆ OptConSolver()

◆ ~OptConSolver()

Member Function Documentation

◆ setProblem()

◆ configure()

◆ configureFromFile()

◆ solve()

◆ runIteration()

◆ getSolution()

◆ getStateTrajectory()

◆ getControlTrajectory()

◆ getTimeArray()

◆ setInitialGuess()

◆ getTimeHorizon()

◆ changeTimeHorizon()

◆ changeInitialState()

◆ changeCostFunction()

◆ changeNonlinearSystem()

◆ changeLinearSystem()

◆ changeInputBoxConstraints()

◆ changeStateBoxConstraints()

◆ changeGeneralConstraints()

◆ getCost()

◆ getNonlinearSystemsInstances() [1/2]

◆ getNonlinearSystemsInstances() [2/2]

◆ getLinearSystemsInstances() [1/2]

◆ getLinearSystemsInstances() [2/2]

◆ getCostFunctionInstances() [1/2]

◆ getCostFunctionInstances() [2/2]

◆ getInputBoxConstraintsInstances() [1/2]

◆ getInputBoxConstraintsInstances() [2/2]

◆ getStateBoxConstraintsInstances() [1/2]

◆ getStateBoxConstraintsInstances() [2/2]

◆ getGeneralConstraintsInstances() [1/2]

◆ getGeneralConstraintsInstances() [2/2]

◆ generateCode()

Member Data Documentation

◆ OptConProblem_t

◆ STATE_D

◆ CONTROL_D