This class is a wrapper around the NLP Optvector. It wraps the Vectors from the NLP solvers into state, control and time trajectories. More...

#include <OptVectorDms.h>

Inheritance diagram for ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >:

Public Types
typedef tpl::OptVector< SCALAR >	Base

typedef DIMENSIONS::state_vector_t	state_vector_t

typedef DIMENSIONS::control_vector_t	control_vector_t

typedef DIMENSIONS::state_vector_array_t	state_vector_array_t

typedef DIMENSIONS::control_vector_array_t	control_vector_array_t

typedef DIMENSIONS::control_matrix_t	control_matrix_t

typedef DIMENSIONS::time_array_t	time_array_t

Public Types inherited from ct::optcon::tpl::OptVector< SCALAR >
using	VectorXs = Eigen::Matrix< SCALAR, Eigen::Dynamic, 1 >

using	VectorXi = Eigen::Matrix< int, Eigen::Dynamic, 1 >

using	MapVecXs = Eigen::Map< VectorXs >

using	MapVecXi = Eigen::Map< VectorXi >

using	MapConstVecXs = Eigen::Map< const VectorXs >

Public Member Functions
	OptVectorDms (size_t n, const DmsSettings &settings)
	Custom constructor. More...

	OptVectorDms (const OptVectorDms &arg)=delete

	~OptVectorDms () override=default
	Destructor. More...

state_vector_t	getOptimizedState (const size_t pairNum) const
	Returns the optimized state for a specific shot. More...

control_vector_t	getOptimizedControl (const size_t pairNum) const
	Returns the optimized control input for a specific shot. More...

const state_vector_array_t &	getOptimizedStates ()
	Returns the optimized state for all shots. More...

const control_vector_array_t &	getOptimizedInputs ()
	Returns the optimized control inputs for all shots. More...

size_t	getStateIndex (const size_t pairNum) const
	Returns the starting index for the state at shot pairNum inside the optimization vector. More...

size_t	getControlIndex (const size_t pairNum) const
	Returns the starting index for the control input at shot pairNum inside the optimization vector. More...

void	setInitGuess (const state_vector_t &x0, const state_vector_t &x_f, const control_vector_t &u0)
	Sets an initial guess for the optimal solution. The optimal solution is set as a linear interpolation between inital state x0 and final state xf. The initial guess for the control input is assumed to be constant and equal to u0. More...

void	setInitGuess (const state_vector_array_t &x_init, const control_vector_array_t &u_init)
	Sets an initial guess for the optimal solution. More...

void	changeInitialState (const state_vector_t &x0)
	Updates the initial state. More...

void	changeDesiredState (const state_vector_t &xF)
	Updates the final state. More...

size_t	numPairs ()
	Returns the number of pairs. More...

void	printoutSolution ()
	Prints out the solution trajectories. More...

Public Member Functions inherited from ct::optcon::tpl::OptVector< SCALAR >
	OptVector ()=delete

	OptVector (const size_t n)
	{ Constructor resizing the vectors of the optimization variables to the correct size } More...

void	resizeConstraintVars (size_t m)
	Resizes the vectors of the constraint variables to the correct size. More...

void	reset ()

virtual	~OptVector ()=default
	Destructor. More...

void	resizeOptimizationVars (const size_t size)
	Resizes the vectors of the optimization variables. More...

void	setZero ()
	Resets the optimization variables. More...

void	setRandomInitialGuess ()

void	setInitialGuess (const VectorXs &xinit)

bool	checkOptimizationVarDimension (const unsigned int n)
	Checks if the optimization variables have to correct size. More...

void	setBounds (const VectorXs &xLb, const VectorXs &xUb)
	Sets the optimization variable bounds. More...

void	getLowerBounds (MapVecXs &x) const
	Gets the lower bounds of the optimization variables. More...

void	getUpperBounds (MapVecXs &x) const
	Gets the upper bounds of the optimization variables. More...

void	getOptimizationMultState (const size_t n, MapVecXs &xMul, MapVecXi &xState) const
	Return the state and the multiplier of the optimization variables, used in the NLP solver SNOPT. More...

void	getConstraintsMultState (const size_t m, MapVecXs &zMul, MapVecXi &zState) const
	Gets the constraint multiplier and state, used in the NLP solver SNOPT. More...

size_t	size () const
	Returns the number of optimization variables. More...

void	getBoundMultipliers (size_t n, MapVecXs &low, MapVecXs &up) const
	Gets the bound multipliers used in the NLP solver IPOPT. More...

void	getLambdaVars (size_t m, MapVecXs &x) const
	Gets the values of the constraint multipliers. More...

void	getOptimizationVars (size_t n, MapVecXs &x) const
	Gets the optimization variables. More...

const VectorXs &	getOptimizationVars () const

void	getInitialGuess (size_t n, MapVecXs &x) const

void	setNewIpoptSolution (const MapConstVecXs &x, const MapConstVecXs &zL, const MapConstVecXs &zU, const MapConstVecXs &lambda)
	Extracts the solution from ipopt and stores them into class variables. More...

void	setNewSnoptSolution (const MapVecXs &x, const MapVecXs &xMul, const MapVecXi &xState, const MapVecXs &fMul, const MapVecXi &fState)
	Extracts the solution from snopt and stores it into class variables. More...

void	setOptimizationVars (const MapConstVecXs &x)
	Sets the updates optimization variables from the NLP solver and updates the counter. More...

void	setOptimizationVars (const VectorXs &x)

size_t	getUpdateCount () const
	Returns the update counter. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef DmsDimensions< STATE_DIM, CONTROL_DIM, SCALAR >	DIMENSIONS

Additional Inherited Members
Protected Attributes inherited from ct::optcon::tpl::OptVector< SCALAR >
VectorXs	x_

VectorXs	xInit_

VectorXs	xLb_

VectorXs	xUb_

VectorXs	zUpper_

VectorXs	zLow_

VectorXs	lambda_

VectorXs	xMul_

VectorXi	xState_

VectorXs	zMul_

VectorXi	zState_

size_t	updateCount_

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
class ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >

This class is a wrapper around the NLP Optvector. It wraps the Vectors from the NLP solvers into state, control and time trajectories.

Template Parameters

STATE_DIM	The state dimension
CONTROL_DIM	The control dimension

Member Typedef Documentation

◆ Base

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef tpl::OptVector<SCALAR> ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::Base

◆ state_vector_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef DIMENSIONS::state_vector_t ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_t

◆ control_vector_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef DIMENSIONS::control_vector_t ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_t

◆ state_vector_array_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef DIMENSIONS::state_vector_array_t ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_array_t

◆ control_vector_array_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef DIMENSIONS::control_vector_array_t ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_array_t

◆ control_matrix_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef DIMENSIONS::control_matrix_t ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::control_matrix_t

◆ time_array_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef DIMENSIONS::time_array_t ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::time_array_t

Constructor & Destructor Documentation

◆ OptVectorDms() [1/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::OptVectorDms	(	size_t	n,
		const DmsSettings &	settings
	)

Custom constructor.

Parameters

[in]	n	The number of optimization variables
[in]	settings	The dms settings

References i.

◆ OptVectorDms() [2/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::OptVectorDms ( const OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR > & arg )

delete

◆ ~OptVectorDms()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::~OptVectorDms ( )

overridedefault

Destructor.

Member Function Documentation

◆ getOptimizedState()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

DmsDimensions< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_t ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::getOptimizedState ( const size_t pairNum ) const

Returns the optimized state for a specific shot.

Parameters

[in] pairNum The shot number

Returns: The optimized state

References ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::getStateIndex(), and ct::optcon::tpl::OptVector< SCALAR >::x_.

Referenced by ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::getOptimizedStates().

◆ getOptimizedControl()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

DmsDimensions< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_t ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::getOptimizedControl ( const size_t pairNum ) const

Returns the optimized control input for a specific shot.

Parameters

[in] pairNum The shot number

Returns: The optimized control input

References ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::getControlIndex(), and ct::optcon::tpl::OptVector< SCALAR >::x_.

Referenced by ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::getOptimizedInputs().

◆ getOptimizedStates()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

const DmsDimensions< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_array_t & ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::getOptimizedStates ( )

Returns the optimized state for all shots.

Returns: The optimized states.

References ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::getOptimizedState(), and i.

Referenced by ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::printoutSolution().

◆ getOptimizedInputs()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

const DmsDimensions< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_array_t & ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::getOptimizedInputs ( )

Returns the optimized control inputs for all shots.

Returns: The optimized control inputs.

References ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::getOptimizedControl(), and i.

Referenced by ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::printoutSolution().

◆ getStateIndex()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

size_t ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::getStateIndex ( const size_t pairNum ) const

Returns the starting index for the state at shot pairNum inside the optimization vector.

Parameters

[in] pairNum The shot number

Returns: The state index.

Referenced by ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::changeInitialState(), ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::getOptimizedState(), and ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::setInitGuess().

◆ getControlIndex()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

size_t ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::getControlIndex ( const size_t pairNum ) const

Returns the starting index for the control input at shot pairNum inside the optimization vector.

Parameters

[in] pairNum The shot number

Returns: The state index.

Referenced by ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::getOptimizedControl(), and ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::setInitGuess().

◆ setInitGuess() [1/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::setInitGuess	(	const state_vector_t &	x0,
		const state_vector_t &	x_f,
		const control_vector_t &	u0
	)

Sets an initial guess for the optimal solution. The optimal solution is set as a linear interpolation between inital state x0 and final state xf. The initial guess for the control input is assumed to be constant and equal to u0.

Parameters

[in]	x0	The initial state
[in]	x_f	The final state
[in]	u0	The control input

References ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::getControlIndex(), ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::getStateIndex(), i, x0, and ct::optcon::tpl::OptVector< SCALAR >::xInit_.

◆ setInitGuess() [2/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::setInitGuess	(	const state_vector_array_t &	x_init,
		const control_vector_array_t &	u_init
	)

Sets an initial guess for the optimal solution.

Parameters

[in]	x_init	Initial guess for the state trajectory
[in]	u_init	Initial guess for the control trajectory

References ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::getControlIndex(), ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::getStateIndex(), i, and ct::optcon::tpl::OptVector< SCALAR >::xInit_.

◆ changeInitialState()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::changeInitialState ( const state_vector_t & x0 )

Updates the initial state.

Parameters

[in] x0 The new initial state

References ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::getStateIndex(), x0, and ct::optcon::tpl::OptVector< SCALAR >::x_.

◆ changeDesiredState()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::changeDesiredState ( const state_vector_t & xF )

Updates the final state.

Parameters

[in] xF The new final state

References ct::optcon::DmsSettings::N_, and ct::optcon::tpl::OptVector< SCALAR >::x_.

◆ numPairs()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

size_t ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::numPairs ( )

inline

Returns the number of pairs.

Returns: Number of pairs

References ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::printoutSolution().

◆ printoutSolution()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::printoutSolution ( )

Prints out the solution trajectories.

References ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::getOptimizedInputs(), ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::getOptimizedStates(), and i.

Referenced by ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::numPairs().

Member Data Documentation

◆ DIMENSIONS

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef DmsDimensions<STATE_DIM, CONTROL_DIM, SCALAR> ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >::DIMENSIONS

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/dms/dms_core/OptVectorDms.h
/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/dms/dms_core/implementation/OptVectorDms-impl.h

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double> class ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >

Member Typedef Documentation

◆ Base

◆ state_vector_t

◆ control_vector_t

◆ state_vector_array_t

◆ control_vector_array_t

◆ control_matrix_t

◆ time_array_t

Constructor & Destructor Documentation

◆ OptVectorDms() [1/2]

◆ OptVectorDms() [2/2]

◆ ~OptVectorDms()

Member Function Documentation

◆ getOptimizedState()

◆ getOptimizedControl()

◆ getOptimizedStates()

◆ getOptimizedInputs()

◆ getStateIndex()

◆ getControlIndex()

◆ setInitGuess() [1/2]

◆ setInitGuess() [2/2]

◆ changeInitialState()

◆ changeDesiredState()

◆ numPairs()

◆ printoutSolution()

Member Data Documentation

◆ DIMENSIONS

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
class ct::optcon::OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >