- 3.0.2 optimal control module.
Public Types | Public Member Functions | Public Attributes | List of all members
ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR > Class Template Reference

interface class for optimal control algorithms More...

#include <OptconContinuousSystemInterface.h>

Inheritance diagram for ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >:
ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, ContinuousOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >

Public Types

typedef Base::control_vector_t control_vector_t
 
typedef Base::state_vector_t state_vector_t
 
typedef Base::state_matrix_t state_matrix_t
 
typedef Base::state_control_matrix_t state_control_matrix_t
 
typedef ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR > discretizer_t
 
typedef std::shared_ptr< discretizer_t > system_discretizer_ptr_t
 
typedef ct::core::Sensitivity< STATE_DIM, CONTROL_DIM, SCALAR > Sensitivity_t
 
typedef std::shared_ptr< Sensitivity_t > SensitivityPtr
 
typedef Base::StateVectorArrayPtr StateVectorArrayPtr
 
typedef Base::StateSubstepsPtr StateSubstepsPtr
 
typedef Base::ControlVectorArrayPtr ControlVectorArrayPtr
 
typedef Base::ControlSubstepsPtr ControlSubstepsPtr
 
typedef Base::optConProblem_t optConProblem_t
 
typedef Base::settings_t settings_t
 
- Public Types inherited from ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, ContinuousOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >
typedef ct::core::StateVector< STATE_DIM, SCALAR > state_vector_t
 
typedef ct::core::StateMatrix< STATE_DIM, SCALAR > state_matrix_t
 
typedef ct::core::StateControlMatrix< STATE_DIM, CONTROL_DIM, SCALAR > state_control_matrix_t
 
typedef ct::core::StateVectorArray< STATE_DIM, SCALAR > StateVectorArray
 
typedef std::shared_ptr< StateVectorArray > StateVectorArrayPtr
 
typedef std::vector< StateVectorArrayPtr, Eigen::aligned_allocator< StateVectorArrayPtr > > StateSubsteps
 
typedef std::shared_ptr< StateSubsteps > StateSubstepsPtr
 
typedef ct::core::ControlVectorArray< CONTROL_DIM, SCALAR > ControlVectorArray
 
typedef std::shared_ptr< ControlVectorArray > ControlVectorArrayPtr
 
typedef std::vector< ControlVectorArrayPtr, Eigen::aligned_allocator< ControlVectorArrayPtr > > ControlSubsteps
 
typedef std::shared_ptr< ControlSubsteps > ControlSubstepsPtr
 
typedef ct::core::ConstantController< STATE_DIM, CONTROL_DIM, SCALAR > constant_controller_t
 
typedef std::shared_ptr< constant_controller_t > ConstantControllerPtr
 
typedef ContinuousOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR > optConProblem_t
 
typedef NLOptConSettings settings_t
 

Public Member Functions

 OptconContinuousSystemInterface (const optConProblem_t &problem, const settings_t &settings)
 constructor More...
 
virtual ~OptconContinuousSystemInterface ()
 destructor More...
 
virtual void initialize () override
 perform necessary setup work More...
 
virtual void configure (const settings_t &settings) override
 
virtual void getAandB (const state_vector_t &x, const control_vector_t &u, const state_vector_t &x_next, const int n, size_t subSteps, state_matrix_t &A, state_control_matrix_t &B, const size_t threadId) override
 retrieve discrete-time linear system matrices A and B. More...
 
virtual void propagateControlledDynamics (const state_vector_t &state, const time_t n, const control_vector_t &control, state_vector_t &stateNext, const size_t threadId) override
 propagate discrete-time dynamics More...
 
virtual void changeNonlinearSystem (const typename optConProblem_t::DynamicsPtr_t &dyn) override
 
virtual void changeLinearSystem (const typename optConProblem_t::LinearPtr_t &lin) override
 
virtual void changeNumStages (const int numStages) override
 set the number of stages/time steps More...
 
virtual void getSubstates (StateVectorArrayPtr &subStepsX, const size_t threadId) override
 
virtual void getSubcontrols (ControlVectorArrayPtr &subStepsU, const size_t threadId) override
 
virtual void setSubstepTrajectoryReference (const StateSubstepsPtr &xSubsteps, const ControlSubstepsPtr &uSubsteps, const size_t threadId) override
 
- Public Member Functions inherited from ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, ContinuousOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >
 OptconSystemInterface (const optConProblem_t &problem, const settings_t &settings)
 constructor More...
 
virtual void configure (const settings_t &settings)
 
virtual void getAandB (const state_vector_t &x, const control_vector_t &u, const state_vector_t &x_next, const int n, size_t subSteps, state_matrix_t &A, state_control_matrix_t &B, const size_t threadId)=0
 retrieve discrete-time linear system matrices A and B. More...
 
virtual void propagateControlledDynamics (const state_vector_t &state, const time_t n, const control_vector_t &control, state_vector_t &stateNext, const size_t threadId)=0
 propagate discrete-time dynamics More...
 
const optConProblem_t & getOptConProblem ()
 
std::vector< typename optConProblem_t::DynamicsPtr_t > & getNonlinearSystemsInstances ()
 
std::vector< typename optConProblem_t::LinearPtr_t > & getLinearSystemsInstances ()
 
virtual void changeNonlinearSystem (const typename optConProblem_t::DynamicsPtr_t &dyn)=0
 
virtual void changeLinearSystem (const typename optConProblem_t::LinearPtr_t &lin)=0
 
virtual void getSubstates (StateVectorArrayPtr &subStepsX, const size_t threadId)
 
virtual void getSubcontrols (ControlVectorArrayPtr &subStepsU, const size_t threadId)
 
virtual void setSubstepTrajectoryReference (const StateSubstepsPtr &xSubsteps, const ControlSubstepsPtr &uSubsteps, const size_t threadId)
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef OptconSystemInterface< STATE_DIM, CONTROL_DIM, ContinuousOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR > Base
 
- Public Attributes inherited from ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, ContinuousOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ct::core::ControlVector< CONTROL_DIM, SCALAR > control_vector_t
 

Additional Inherited Members

- Protected Attributes inherited from ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, ContinuousOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >
std::vector< typename optConProblem_t::DynamicsPtr_t > systems_
 
std::vector< typename optConProblem_t::LinearPtr_t > linearSystems_
 
std::vector< ConstantControllerPtr, Eigen::aligned_allocator< ConstantControllerPtr > > controller_
 
optConProblem_t optConProblem_
 the constant controller for forward-integration during one time-step More...
 
settings_t settings_
 instance of the optconProblem More...
 

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>
class ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >

interface class for optimal control algorithms

Defines the unified interface for optimal control solvers used in conjuction with a continuous optimal control problem. It bundles the optcon problem with system integrators and sensitivities.

Template Parameters
STATE_DIMsize of state vector
CONTROL_DIMsize of input vector
P_DIMsize for symplectic integrator
V_DIMsize for symplectic integrator
SCALARthe underlying scalar type

Member Typedef Documentation

◆ control_vector_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>
typedef Base::control_vector_t ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::control_vector_t

◆ state_vector_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>
typedef Base::state_vector_t ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::state_vector_t

◆ state_matrix_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>
typedef Base::state_matrix_t ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::state_matrix_t

◆ state_control_matrix_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>
typedef Base::state_control_matrix_t ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::state_control_matrix_t

◆ discretizer_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>
typedef ct::core::SystemDiscretizer<STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR> ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::discretizer_t

◆ system_discretizer_ptr_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>
typedef std::shared_ptr<discretizer_t> ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::system_discretizer_ptr_t

◆ Sensitivity_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>
typedef ct::core::Sensitivity<STATE_DIM, CONTROL_DIM, SCALAR> ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::Sensitivity_t

◆ SensitivityPtr

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>
typedef std::shared_ptr<Sensitivity_t> ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::SensitivityPtr

◆ StateVectorArrayPtr

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>
typedef Base::StateVectorArrayPtr ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::StateVectorArrayPtr

◆ StateSubstepsPtr

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>
typedef Base::StateSubstepsPtr ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::StateSubstepsPtr

◆ ControlVectorArrayPtr

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>
typedef Base::ControlVectorArrayPtr ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::ControlVectorArrayPtr

◆ ControlSubstepsPtr

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>
typedef Base::ControlSubstepsPtr ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::ControlSubstepsPtr

◆ 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>
typedef Base::optConProblem_t ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::optConProblem_t

◆ 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>
typedef Base::settings_t ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::settings_t

Constructor & Destructor Documentation

◆ OptconContinuousSystemInterface()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR >
ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::OptconContinuousSystemInterface ( const optConProblem_t &  problem,
const settings_t &  settings 
)

constructor

◆ ~OptconContinuousSystemInterface()

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>
virtual ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::~OptconContinuousSystemInterface ( )
inlinevirtual

destructor

References ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::changeLinearSystem(), ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::changeNonlinearSystem(), ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::changeNumStages(), ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::configure(), ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::getAandB(), ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::getSubcontrols(), ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::getSubstates(), ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::initialize(), n, ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::propagateControlledDynamics(), ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::setSubstepTrajectoryReference(), u, and x.

Member Function Documentation

◆ initialize()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR >
void ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::initialize ( )
overridevirtual

perform necessary setup work

Reimplemented from ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, ContinuousOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >.

References ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, ContinuousOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >::controller_, ct::optcon::NLOptConSettings::discretization, ct::optcon::NLOptConSettings::dt, ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::getLinearSystem(), ct::optcon::OptConProblemBase< STATE_DIM, CONTROL_DIM, SYSTEM_T, LINEAR_SYSTEM_T, LINEARIZER_T, SCALAR >::getNonlinearSystem(), ct::optcon::NLOptConSettings::getSimulationTimestep(), i, ct::optcon::NLOptConSettings::integrator, ct::optcon::NLOptConSettings::K_sim, ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, ContinuousOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >::linearSystems_, ct::optcon::NLOptConSettings::nThreads, ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, ContinuousOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >::optConProblem_, ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, ContinuousOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >::settings_, ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, ContinuousOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >::systems_, ct::optcon::NLOptConSettings::timeVaryingDiscretization, and ct::optcon::NLOptConSettings::useSensitivityIntegrator.

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

◆ configure()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR >
void ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::configure ( const settings_t &  settings)
overridevirtual

References i, and ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, ContinuousOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >::settings_.

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

◆ getAandB()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR >
void ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::getAandB ( const state_vector_t &  x,
const control_vector_t &  u,
const state_vector_t &  x_next,
const int  n,
size_t  subSteps,
state_matrix_t &  A,
state_control_matrix_t &  B,
const size_t  threadId 
)
overridevirtual

retrieve discrete-time linear system matrices A and B.

Parameters
xthe state setpoint
uthe control setpoint
x_nextthe next state
nthe time setpoint
subStepsnumber of substeps of trajectory for which to get the sensitivity for
Athe resulting linear system matrix A
Bthe resulting linear system matrix B
threadIdwhich thread specific instantiations to use

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

◆ propagateControlledDynamics()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR >
void ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::propagateControlledDynamics ( const state_vector_t &  state,
const time_t  n,
const control_vector_t &  control,
state_vector_t &  stateNext,
const size_t  threadId 
)
overridevirtual

propagate discrete-time dynamics

Parameters
statestart state to propagate from
ndiscrete time index to propagate the dynamics at
controlthe control input to apply. This is a constant control input applied during the discretization interval
stateNextthe resulting propagated state
threadIdwhich thread specific instantiations to use

References ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, ContinuousOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >::controller_.

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

◆ changeNonlinearSystem()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR >
void ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::changeNonlinearSystem ( const typename optConProblem_t::DynamicsPtr_t &  dyn)
overridevirtual

References ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, ContinuousOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >::controller_, ct::optcon::NLOptConSettings::dt, i, ct::optcon::NLOptConSettings::integrator, ct::optcon::NLOptConSettings::K_sim, ct::optcon::NLOptConSettings::nThreads, ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, ContinuousOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >::settings_, and ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, ContinuousOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >::systems_.

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

◆ changeLinearSystem()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR >
void ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::changeLinearSystem ( const typename optConProblem_t::LinearPtr_t &  lin)
overridevirtual

References i, ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, ContinuousOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >::linearSystems_, ct::optcon::NLOptConSettings::nThreads, and ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, ContinuousOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >::settings_.

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

◆ changeNumStages()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR >
void ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::changeNumStages ( const int  numStages)
overridevirtual

set the number of stages/time steps

Reimplemented from ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, ContinuousOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >.

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

◆ getSubstates()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR >
void ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::getSubstates ( StateVectorArrayPtr &  subStepsX,
const size_t  threadId 
)
overridevirtual

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

◆ getSubcontrols()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR >
void ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::getSubcontrols ( ControlVectorArrayPtr &  subStepsU,
const size_t  threadId 
)
overridevirtual

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

◆ setSubstepTrajectoryReference()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR >
void ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::setSubstepTrajectoryReference ( const StateSubstepsPtr &  xSubsteps,
const ControlSubstepsPtr &  uSubsteps,
const size_t  threadId 
)
overridevirtual

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

Member Data 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>
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef OptconSystemInterface<STATE_DIM, CONTROL_DIM, ContinuousOptConProblem<STATE_DIM, CONTROL_DIM, SCALAR>, SCALAR> ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::Base
The documentation for this class was generated from the following files: