ct::optcon::PolicyHandler< POLICY, STATE_DIM, CONTROL_DIM, SCALAR > Class Template Reference

#include <PolicyHandler.h>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	PolicyHandler ()
virtual	~PolicyHandler ()
virtual void	designWarmStartingPolicy (const SCALAR &delay, const SCALAR &TimeHorizon, POLICY &policy)
	design a warm-starting policy for the optimal control problem solver More...
virtual void	truncateSolutionFront (const SCALAR &delay, POLICY &policy, SCALAR &effectivelyTruncated)
	a method required for additional post-truncation. More...
void	setPolicy (const POLICY &newPolicy)
	set new policy to policy handler More...

Protected Attributes
POLICY	initialPolicy_

Constructor & Destructor Documentation

PolicyHandler()

template<typename POLICY , size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::optcon::PolicyHandler< POLICY, STATE_DIM, CONTROL_DIM, SCALAR >::PolicyHandler

(

)

~PolicyHandler()

template<typename POLICY , size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

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

virtual

Member Function Documentation

designWarmStartingPolicy()

template<typename POLICY, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::PolicyHandler< POLICY, STATE_DIM, CONTROL_DIM, SCALAR >::designWarmStartingPolicy ( const SCALAR &  delay, const SCALAR &  TimeHorizon, POLICY &  policy  )

virtual

design a warm-starting policy for the optimal control problem solver

Designs an initial guess for MPC (warm-start). An optimal strategy for warm-starting might be highly application/system dependent, thus the user can overload this method if desired. Straight-forward default implementations for common 'ct' solvers and policy types are provided in the folder "default". Note that the default policy handler simply performs "cold-starting" which means that the initially provided control policy is returned without modification.

Parameters

delay	time difference between nominal starting time of the current policy and when the warm-start policy should start
TimeHorizon	desired overall policy time horizon (note: not covering the whole time-horizon may result in an error)
policy	the current policy, to be overwritten with the warm start

truncateSolutionFront()

template<typename POLICY, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::PolicyHandler< POLICY, STATE_DIM, CONTROL_DIM, SCALAR >::truncateSolutionFront ( const SCALAR &  delay, POLICY &  policy, SCALAR &  effectivelyTruncated  )

virtual

a method required for additional post-truncation.

post truncation may become relevant if the delay is underestimated or pre-integration is turned off.

Parameters

delay	the time to truncate away from the solution
policy	the policy to be truncated
effectivelyTruncated	the time which was truncated away

setPolicy()

template<typename POLICY, size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::PolicyHandler< POLICY, STATE_DIM, CONTROL_DIM, SCALAR >::setPolicy

(

const POLICY &

newPolicy

)

set new policy to policy handler

Member Data Documentation

initialPolicy_

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

POLICY ct::optcon::PolicyHandler< POLICY, STATE_DIM, CONTROL_DIM, SCALAR >::initialPolicy_

protected

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

• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/mpc/policyhandler/PolicyHandler.h
• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/mpc/policyhandler/PolicyHandler-impl.h