interface class for optimal control algorithms More...

#include <OptconDiscreteSystemInterface.h>

Inheritance diagram for ct::optcon::OptconDiscreteSystemInterface< STATE_DIM, CONTROL_DIM, 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 Base::StateVectorArrayPtr	StateVectorArrayPtr

typedef Base::StateSubsteps	StateSubsteps

typedef Base::ControlVectorArrayPtr	ControlVectorArrayPtr

typedef Base::ControlSubsteps	ControlSubsteps

typedef Base::optConProblem_t	optConProblem_t

typedef Base::settings_t	settings_t

Public Types inherited from ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, DiscreteOptConProblem< 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 DiscreteOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >	optConProblem_t

typedef NLOptConSettings	settings_t

Public Member Functions
	OptconDiscreteSystemInterface (const optConProblem_t &problem, const settings_t &settings)
	constructor More...

virtual	~OptconDiscreteSystemInterface ()=default
	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

Public Member Functions inherited from ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, DiscreteOptConProblem< 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...

virtual void	changeNumStages (const int numStages)
	set the number of stages/time steps 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, DiscreteOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >	Base

Public Attributes inherited from ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, DiscreteOptConProblem< 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, DiscreteOptConProblem< 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, typename SCALAR = double>
class ct::optcon::OptconDiscreteSystemInterface< STATE_DIM, CONTROL_DIM, SCALAR >

interface class for optimal control algorithms

Defines the unified interface for optimal control solvers used in conjuction with a discrete optimal control problem.

Template Parameters

STATE_DIM	size of state vector
CONTROL_DIM	size of input vector
SCALAR	the underlying scalar type

Member Typedef Documentation

◆ control_vector_t

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

typedef Base::control_vector_t ct::optcon::OptconDiscreteSystemInterface< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_t

◆ state_vector_t

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

typedef Base::state_vector_t ct::optcon::OptconDiscreteSystemInterface< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_t

◆ state_matrix_t

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

typedef Base::state_matrix_t ct::optcon::OptconDiscreteSystemInterface< STATE_DIM, CONTROL_DIM, SCALAR >::state_matrix_t

◆ state_control_matrix_t

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

typedef Base::state_control_matrix_t ct::optcon::OptconDiscreteSystemInterface< STATE_DIM, CONTROL_DIM, SCALAR >::state_control_matrix_t

◆ StateVectorArrayPtr

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

typedef Base::StateVectorArrayPtr ct::optcon::OptconDiscreteSystemInterface< STATE_DIM, CONTROL_DIM, SCALAR >::StateVectorArrayPtr

◆ StateSubsteps

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

typedef Base::StateSubsteps ct::optcon::OptconDiscreteSystemInterface< STATE_DIM, CONTROL_DIM, SCALAR >::StateSubsteps

◆ ControlVectorArrayPtr

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

typedef Base::ControlVectorArrayPtr ct::optcon::OptconDiscreteSystemInterface< STATE_DIM, CONTROL_DIM, SCALAR >::ControlVectorArrayPtr

◆ ControlSubsteps

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

typedef Base::ControlSubsteps ct::optcon::OptconDiscreteSystemInterface< STATE_DIM, CONTROL_DIM, SCALAR >::ControlSubsteps

◆ optConProblem_t

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

typedef Base::optConProblem_t ct::optcon::OptconDiscreteSystemInterface< STATE_DIM, CONTROL_DIM, SCALAR >::optConProblem_t

◆ settings_t

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

typedef Base::settings_t ct::optcon::OptconDiscreteSystemInterface< STATE_DIM, CONTROL_DIM, SCALAR >::settings_t

Constructor & Destructor Documentation

◆ OptconDiscreteSystemInterface()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::optcon::OptconDiscreteSystemInterface< STATE_DIM, CONTROL_DIM, SCALAR >::OptconDiscreteSystemInterface	(	const optConProblem_t &	problem,
		const settings_t &	settings
	)

constructor

◆ ~OptconDiscreteSystemInterface()

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

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

virtualdefault

destructor

Member Function Documentation

◆ initialize()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::OptconDiscreteSystemInterface< STATE_DIM, CONTROL_DIM, SCALAR >::initialize ( )

overridevirtual

perform necessary setup work

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

◆ configure()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::OptconDiscreteSystemInterface< STATE_DIM, CONTROL_DIM, SCALAR >::configure ( const settings_t & settings )

overridevirtual

References ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, DiscreteOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >::settings_.

◆ getAandB()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::OptconDiscreteSystemInterface< STATE_DIM, CONTROL_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

x	the state setpoint
u	the control setpoint
x_next	the next state
n	the time setpoint
subSteps	number of substeps of trajectory for which to get the sensitivity for
A	the resulting linear system matrix A
B	the resulting linear system matrix B
threadId	which thread specific instantiations to use

References ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, DiscreteOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >::linearSystems_.

◆ propagateControlledDynamics()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::OptconDiscreteSystemInterface< STATE_DIM, CONTROL_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

state	start state to propagate from
n	discrete time index to propagate the dynamics at
control	the control input to apply. This is a constant control input applied during the discretization interval
stateNext	the resulting propagated state
threadId	which thread specific instantiations to use

References ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, DiscreteOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >::controller_, and ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, DiscreteOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >::systems_.

◆ changeNonlinearSystem()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::OptconDiscreteSystemInterface< STATE_DIM, CONTROL_DIM, SCALAR >::changeNonlinearSystem ( const typename optConProblem_t::DynamicsPtr_t & dyn )

overridevirtual

References ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, DiscreteOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >::controller_, i, ct::optcon::NLOptConSettings::nThreads, ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, DiscreteOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >::settings_, and ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, DiscreteOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >::systems_.

◆ changeLinearSystem()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::OptconDiscreteSystemInterface< STATE_DIM, CONTROL_DIM, SCALAR >::changeLinearSystem ( const typename optConProblem_t::LinearPtr_t & lin )

overridevirtual

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

Member Data Documentation

◆ Base

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

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef OptconSystemInterface<STATE_DIM, CONTROL_DIM, DiscreteOptConProblem<STATE_DIM, CONTROL_DIM, SCALAR>, SCALAR> ct::optcon::OptconDiscreteSystemInterface< STATE_DIM, CONTROL_DIM, SCALAR >::Base

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/system_interface/OptconDiscreteSystemInterface.h
/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/system_interface/OptconDiscreteSystemInterface-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::OptconDiscreteSystemInterface< STATE_DIM, CONTROL_DIM, SCALAR >

Member Typedef Documentation

◆ control_vector_t

◆ state_vector_t

◆ state_matrix_t

◆ state_control_matrix_t

◆ StateVectorArrayPtr

◆ StateSubsteps

◆ ControlVectorArrayPtr

◆ ControlSubsteps

◆ optConProblem_t

◆ settings_t

Constructor & Destructor Documentation

◆ OptconDiscreteSystemInterface()

◆ ~OptconDiscreteSystemInterface()

Member Function Documentation

◆ initialize()

◆ configure()

◆ getAandB()

◆ propagateControlledDynamics()

◆ changeNonlinearSystem()

◆ changeLinearSystem()

Member Data Documentation

◆ Base

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