This class implements analytical sensitivity generation for the euler and rk4 integration scheme. More...

#include <RKnDerivatives.h>

Public Types
typedef DIMENSIONS::state_vector_t	state_vector_t

typedef DIMENSIONS::state_vector_array_t	state_vector_array_t

typedef DIMENSIONS::control_vector_t	control_vector_t

typedef DIMENSIONS::control_vector_array_t	control_vector_array_t

typedef DIMENSIONS::time_array_t	time_array_t

typedef DIMENSIONS::state_matrix_t	state_matrix_t

typedef DIMENSIONS::control_matrix_t	control_matrix_t

typedef DIMENSIONS::state_control_matrix_t	state_control_matrix_t

typedef DIMENSIONS::state_matrix_array_t	state_matrix_array_t

typedef DIMENSIONS::state_control_matrix_array_t	state_control_matrix_array_t

Public Member Functions
	RKnDerivatives ()=delete

	RKnDerivatives (std::shared_ptr< SplinerBase< control_vector_t >> controlSpliner, size_t shotIdx, const DmsSettings &settings)
	Custom constructor. More...

void	setLogs (std::shared_ptr< state_vector_array_t > x_log, std::shared_ptr< control_vector_array_t > u_log, std::shared_ptr< time_array_t > t_log, std::shared_ptr< state_matrix_array_t > A_log, std::shared_ptr< state_control_matrix_array_t > B_log)

void	compute_dXdSi ()

void	compute_dXdQi ()

void	compute_dXdQip1 ()

void	getdXdSiTraj (state_matrix_array_t &dXdSiTraj)

void	getdXdQiTraj (state_control_matrix_array_t &dXdQiTraj)

void	getdXdQip1Traj (state_control_matrix_array_t &dXdQip1Traj)

void	getdXdHiTraj (state_vector_array_t &dXdHiTraj)

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef DmsDimensions< STATE_DIM, CONTROL_DIM >	DIMENSIONS

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM>
class ct::optcon::RKnDerivatives< STATE_DIM, CONTROL_DIM >

This class implements analytical sensitivity generation for the euler and rk4 integration scheme.

Template Parameters

STATE_DIM	The state dimension
CONTROL_DIM	The control dimension

Member Typedef Documentation

◆ state_vector_t

template<size_t STATE_DIM, size_t CONTROL_DIM>

typedef DIMENSIONS::state_vector_t ct::optcon::RKnDerivatives< STATE_DIM, CONTROL_DIM >::state_vector_t

◆ state_vector_array_t

template<size_t STATE_DIM, size_t CONTROL_DIM>

typedef DIMENSIONS::state_vector_array_t ct::optcon::RKnDerivatives< STATE_DIM, CONTROL_DIM >::state_vector_array_t

◆ control_vector_t

template<size_t STATE_DIM, size_t CONTROL_DIM>

typedef DIMENSIONS::control_vector_t ct::optcon::RKnDerivatives< STATE_DIM, CONTROL_DIM >::control_vector_t

◆ control_vector_array_t

template<size_t STATE_DIM, size_t CONTROL_DIM>

typedef DIMENSIONS::control_vector_array_t ct::optcon::RKnDerivatives< STATE_DIM, CONTROL_DIM >::control_vector_array_t

◆ time_array_t

template<size_t STATE_DIM, size_t CONTROL_DIM>

typedef DIMENSIONS::time_array_t ct::optcon::RKnDerivatives< STATE_DIM, CONTROL_DIM >::time_array_t

◆ state_matrix_t

template<size_t STATE_DIM, size_t CONTROL_DIM>

typedef DIMENSIONS::state_matrix_t ct::optcon::RKnDerivatives< STATE_DIM, CONTROL_DIM >::state_matrix_t

◆ control_matrix_t

template<size_t STATE_DIM, size_t CONTROL_DIM>

typedef DIMENSIONS::control_matrix_t ct::optcon::RKnDerivatives< STATE_DIM, CONTROL_DIM >::control_matrix_t

◆ state_control_matrix_t

template<size_t STATE_DIM, size_t CONTROL_DIM>

typedef DIMENSIONS::state_control_matrix_t ct::optcon::RKnDerivatives< STATE_DIM, CONTROL_DIM >::state_control_matrix_t

◆ state_matrix_array_t

template<size_t STATE_DIM, size_t CONTROL_DIM>

typedef DIMENSIONS::state_matrix_array_t ct::optcon::RKnDerivatives< STATE_DIM, CONTROL_DIM >::state_matrix_array_t

◆ state_control_matrix_array_t

template<size_t STATE_DIM, size_t CONTROL_DIM>

typedef DIMENSIONS::state_control_matrix_array_t ct::optcon::RKnDerivatives< STATE_DIM, CONTROL_DIM >::state_control_matrix_array_t

Constructor & Destructor Documentation

◆ RKnDerivatives() [1/2]

template<size_t STATE_DIM, size_t CONTROL_DIM>

ct::optcon::RKnDerivatives< STATE_DIM, CONTROL_DIM >::RKnDerivatives ( )

delete

◆ RKnDerivatives() [2/2]

template<size_t STATE_DIM, size_t CONTROL_DIM>

ct::optcon::RKnDerivatives< STATE_DIM, CONTROL_DIM >::RKnDerivatives	(	std::shared_ptr< SplinerBase< control_vector_t >>	controlSpliner,
		size_t	shotIdx,
		const DmsSettings &	settings
	)

inline

Custom constructor.

Parameters

[in]	controlSpliner	The control spliner
[in]	shotIdx	The shot number
[in]	settings	The dms settings

Member Function Documentation

◆ setLogs()

template<size_t STATE_DIM, size_t CONTROL_DIM>

void ct::optcon::RKnDerivatives< STATE_DIM, CONTROL_DIM >::setLogs	(	std::shared_ptr< state_vector_array_t >	x_log,
		std::shared_ptr< control_vector_array_t >	u_log,
		std::shared_ptr< time_array_t >	t_log,
		std::shared_ptr< state_matrix_array_t >	A_log,
		std::shared_ptr< state_control_matrix_array_t >	B_log
	)

inline

◆ compute_dXdSi()

template<size_t STATE_DIM, size_t CONTROL_DIM>

void ct::optcon::RKnDerivatives< STATE_DIM, CONTROL_DIM >::compute_dXdSi ( )

inline

References ct::optcon::DmsSettings::EULER, i, ct::optcon::DmsSettings::integrationType_, and ct::optcon::DmsSettings::RK4.

◆ compute_dXdQi()

template<size_t STATE_DIM, size_t CONTROL_DIM>

void ct::optcon::RKnDerivatives< STATE_DIM, CONTROL_DIM >::compute_dXdQi ( )

inline

References ct::optcon::DmsSettings::EULER, i, ct::optcon::DmsSettings::integrationType_, and ct::optcon::DmsSettings::RK4.

◆ compute_dXdQip1()

template<size_t STATE_DIM, size_t CONTROL_DIM>

void ct::optcon::RKnDerivatives< STATE_DIM, CONTROL_DIM >::compute_dXdQip1 ( )

inline

References ct::optcon::DmsSettings::EULER, i, ct::optcon::DmsSettings::integrationType_, and ct::optcon::DmsSettings::RK4.

◆ getdXdSiTraj()

template<size_t STATE_DIM, size_t CONTROL_DIM>

void ct::optcon::RKnDerivatives< STATE_DIM, CONTROL_DIM >::getdXdSiTraj ( state_matrix_array_t & dXdSiTraj )

inline

◆ getdXdQiTraj()

template<size_t STATE_DIM, size_t CONTROL_DIM>

void ct::optcon::RKnDerivatives< STATE_DIM, CONTROL_DIM >::getdXdQiTraj ( state_control_matrix_array_t & dXdQiTraj )

inline

◆ getdXdQip1Traj()

template<size_t STATE_DIM, size_t CONTROL_DIM>

void ct::optcon::RKnDerivatives< STATE_DIM, CONTROL_DIM >::getdXdQip1Traj ( state_control_matrix_array_t & dXdQip1Traj )

inline

◆ getdXdHiTraj()

template<size_t STATE_DIM, size_t CONTROL_DIM>

void ct::optcon::RKnDerivatives< STATE_DIM, CONTROL_DIM >::getdXdHiTraj ( state_vector_array_t & dXdHiTraj )

inline

Member Data Documentation

◆ DIMENSIONS

template<size_t STATE_DIM, size_t CONTROL_DIM>

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

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

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

Public Types

Public Member Functions

Public Attributes

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM> class ct::optcon::RKnDerivatives< STATE_DIM, CONTROL_DIM >

Member Typedef Documentation

◆ state_vector_t

◆ state_vector_array_t

◆ control_vector_t

◆ control_vector_array_t

◆ time_array_t

◆ state_matrix_t

◆ control_matrix_t

◆ state_control_matrix_t

◆ state_matrix_array_t

◆ state_control_matrix_array_t

Constructor & Destructor Documentation

◆ RKnDerivatives() [1/2]

◆ RKnDerivatives() [2/2]

Member Function Documentation

◆ setLogs()

◆ compute_dXdSi()

◆ compute_dXdQi()

◆ compute_dXdQip1()

◆ getdXdSiTraj()

◆ getdXdQiTraj()

◆ getdXdQip1Traj()

◆ getdXdHiTraj()

Member Data Documentation

◆ DIMENSIONS

template<size_t STATE_DIM, size_t CONTROL_DIM>
class ct::optcon::RKnDerivatives< STATE_DIM, CONTROL_DIM >