interface base class for optimal control algorithms More...

#include <OptconSystemInterface.h>

Public Types
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 OPTCONPROBLEM	optConProblem_t

typedef NLOptConSettings	settings_t

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

virtual void	initialize ()
	perform any required setup work 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 ct::core::ControlVector< CONTROL_DIM, SCALAR >	control_vector_t

Protected Attributes
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 OPTCONPROBLEM, typename SCALAR = double>
class ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >

interface base class for optimal control algorithms

Defines the unified interface for optimal control solvers. It bundles the optimal control problem with required tools to propagate the system dynamics and provide corresponding sensitivities.

Template Parameters

STATE_DIM	size of state vector
CONTROL_DIM	size of input vector
OPTCONPROBLEM	type of the optConProblem (continuous or discrete)
SCALAR	the underlying scalar type

Member Typedef Documentation

◆ state_vector_t

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

typedef ct::core::StateVector<STATE_DIM, SCALAR> ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >::state_vector_t

◆ state_matrix_t

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

typedef ct::core::StateMatrix<STATE_DIM, SCALAR> ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >::state_matrix_t

◆ state_control_matrix_t

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

typedef ct::core::StateControlMatrix<STATE_DIM, CONTROL_DIM, SCALAR> ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >::state_control_matrix_t

◆ StateVectorArray

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

typedef ct::core::StateVectorArray<STATE_DIM, SCALAR> ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >::StateVectorArray

◆ StateVectorArrayPtr

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

typedef std::shared_ptr<StateVectorArray> ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >::StateVectorArrayPtr

◆ StateSubsteps

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

typedef std::vector<StateVectorArrayPtr, Eigen::aligned_allocator<StateVectorArrayPtr> > ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >::StateSubsteps

◆ StateSubstepsPtr

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

typedef std::shared_ptr<StateSubsteps> ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >::StateSubstepsPtr

◆ ControlVectorArray

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

typedef ct::core::ControlVectorArray<CONTROL_DIM, SCALAR> ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >::ControlVectorArray

◆ ControlVectorArrayPtr

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

typedef std::shared_ptr<ControlVectorArray> ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >::ControlVectorArrayPtr

◆ ControlSubsteps

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

typedef std::vector<ControlVectorArrayPtr, Eigen::aligned_allocator<ControlVectorArrayPtr> > ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >::ControlSubsteps

◆ ControlSubstepsPtr

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

typedef std::shared_ptr<ControlSubsteps> ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >::ControlSubstepsPtr

◆ constant_controller_t

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

typedef ct::core::ConstantController<STATE_DIM, CONTROL_DIM, SCALAR> ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >::constant_controller_t

◆ ConstantControllerPtr

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

typedef std::shared_ptr<constant_controller_t> ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >::ConstantControllerPtr

◆ optConProblem_t

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

typedef OPTCONPROBLEM ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >::optConProblem_t

◆ settings_t

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

typedef NLOptConSettings ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >::settings_t

Constructor & Destructor Documentation

◆ OptconSystemInterface()

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

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

inline

constructor

Member Function Documentation

◆ initialize()

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

virtual void ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >::initialize ( )

inlinevirtual

perform any required setup work

Reimplemented in ct::optcon::OptconContinuousSystemInterface< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >, and ct::optcon::OptconDiscreteSystemInterface< STATE_DIM, CONTROL_DIM, SCALAR >.

◆ configure()

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

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

inlinevirtual

◆ getAandB()

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

virtual void ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, 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
	)

pure virtual

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

Referenced by ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, DiscreteOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >::configure().

◆ propagateControlledDynamics()

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

virtual void ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >::propagateControlledDynamics	(	const state_vector_t &	state,
		const time_t	n,
		const control_vector_t &	control,
		state_vector_t &	stateNext,
		const size_t	threadId
	)

pure virtual

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

Referenced by ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, DiscreteOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >::configure().

◆ changeNumStages()

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

virtual void ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >::changeNumStages ( const int numStages )

inlinevirtual

set the number of stages/time steps

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

◆ getOptConProblem()

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

const optConProblem_t& ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >::getOptConProblem ( )

inline

◆ getNonlinearSystemsInstances()

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

std::vector<typename optConProblem_t::DynamicsPtr_t>& ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >::getNonlinearSystemsInstances ( )

inline

◆ getLinearSystemsInstances()

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

std::vector<typename optConProblem_t::LinearPtr_t>& ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >::getLinearSystemsInstances ( )

inline

◆ changeNonlinearSystem()

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

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

pure virtual

Referenced by ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, DiscreteOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >::getLinearSystemsInstances().

◆ changeLinearSystem()

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

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

pure virtual

Referenced by ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, DiscreteOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >::getLinearSystemsInstances().

◆ getSubstates()

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

virtual void ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >::getSubstates	(	StateVectorArrayPtr &	subStepsX,
		const size_t	threadId
	)

inlinevirtual

◆ getSubcontrols()

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

virtual void ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >::getSubcontrols	(	ControlVectorArrayPtr &	subStepsU,
		const size_t	threadId
	)

inlinevirtual

◆ setSubstepTrajectoryReference()

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

virtual void ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >::setSubstepTrajectoryReference	(	const StateSubstepsPtr &	xSubsteps,
		const ControlSubstepsPtr &	uSubsteps,
		const size_t	threadId
	)

inlinevirtual

Member Data Documentation

◆ control_vector_t

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

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ct::core::ControlVector<CONTROL_DIM, SCALAR> ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >::control_vector_t

◆ systems_

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

std::vector<typename optConProblem_t::DynamicsPtr_t> ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >::systems_

protected

of the following objects, we have nThreads+1 instantiations in form of a vector. Every instantiation is dedicated to a certain thread in the multi-thread implementation

Referenced by ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, DiscreteOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >::getNonlinearSystemsInstances().

◆ linearSystems_

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

std::vector<typename optConProblem_t::LinearPtr_t> ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >::linearSystems_

protected

Referenced by ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, DiscreteOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >::getLinearSystemsInstances().

◆ controller_

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

std::vector<ConstantControllerPtr, Eigen::aligned_allocator<ConstantControllerPtr> > ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >::controller_

protected

Referenced by ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, DiscreteOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >::OptconSystemInterface().

◆ optConProblem_

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

optConProblem_t ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >::optConProblem_

protected

the constant controller for forward-integration during one time-step

Referenced by ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, DiscreteOptConProblem< STATE_DIM, CONTROL_DIM, SCALAR >, SCALAR >::getOptConProblem().

◆ settings_

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

settings_t ct::optcon::OptconSystemInterface< STATE_DIM, CONTROL_DIM, OPTCONPROBLEM, SCALAR >::settings_

protected

instance of the optconProblem

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/system_interface/OptconSystemInterface.h

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ state_vector_t

◆ state_matrix_t

◆ state_control_matrix_t

◆ StateVectorArray

◆ StateVectorArrayPtr

◆ StateSubsteps

◆ StateSubstepsPtr

◆ ControlVectorArray

◆ ControlVectorArrayPtr

◆ ControlSubsteps

◆ ControlSubstepsPtr

◆ constant_controller_t

◆ ConstantControllerPtr

◆ optConProblem_t

◆ settings_t

Constructor & Destructor Documentation

◆ OptconSystemInterface()

Member Function Documentation

◆ initialize()

◆ configure()

◆ getAandB()

◆ propagateControlledDynamics()

◆ changeNumStages()

◆ getOptConProblem()

◆ getNonlinearSystemsInstances()

◆ getLinearSystemsInstances()

◆ changeNonlinearSystem()

◆ changeLinearSystem()

◆ getSubstates()

◆ getSubcontrols()

◆ setSubstepTrajectoryReference()

Member Data Documentation

◆ control_vector_t

◆ systems_

◆ linearSystems_

◆ controller_

◆ optConProblem_

◆ settings_

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