This class can integrate a controlled system and a costfunction. Furthermore, it provides first order derivatives with respect to initial state and control. More...

#include <SensitivityIntegratorCT.h>

Public Types
typedef ct::core::ControlVector< CONTROL_DIM, SCALAR >	control_vector

typedef Eigen::Matrix< SCALAR, STATE_DIM, STATE_DIM >	state_matrix

typedef Eigen::Matrix< SCALAR, CONTROL_DIM, CONTROL_DIM >	control_matrix

typedef Eigen::Matrix< SCALAR, STATE_DIM, CONTROL_DIM >	state_control_matrix

Public Member Functions
	SensitivityIntegratorCT (const std::shared_ptr< ct::core::ControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >> &system, const ct::core::IntegrationType stepperType=ct::core::IntegrationType::EULERCT)
	Constructor. More...

	~SensitivityIntegratorCT ()=default
	Destroys the object. More...

void	initializeDerived (const ct::core::IntegrationType stepperType)
	Initializes the steppers. More...

void	setLinearSystem (const std::shared_ptr< ct::core::LinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >> &linearSystem)
	Prepares the integrator to provide first order sensitivity generation by setting a linearsystem, enabling state caching and settings up the function objects. More...

void	setControlledSystem (const std::shared_ptr< ct::core::ControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >> &controlledSystem)
	Changes the controlledsystem to be integrated. More...

void	setCostFunction (const std::shared_ptr< CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >> costFun)
	Prepares the integrator to provide cost integration and first order cost derivatives. This is done by enabling sensitivity caching and setting up the function objects. More...

void	integrate (state_vector &state, const SCALAR startTime, const size_t numSteps, const SCALAR dt, ct::core::StateVectorArray< STATE_DIM, SCALAR > &stateTrajectory, ct::core::tpl::TimeArray< SCALAR > &timeTrajectory)
	Integrates the system starting from state and startTime for numSteps integration steps. Returns the full state and time trajectories. More...

void	integrate (state_vector &state, const SCALAR startTime, const size_t numSteps, const SCALAR dt)
	Integrates the system starting from state and startTime for numSteps integration steps. Returns only the final state and time. More...

void	integrateSensitivityDX0 (state_matrix &dX0, const SCALAR startTime, const size_t numSteps, const SCALAR dt)
	Integrates the sensitivity ODE of the integrator with respec to the initial state x0. More...

void	integrateSensitivityDU0 (state_control_matrix &dU0, const SCALAR startTime, const size_t numSteps, const SCALAR dt)
	Integrates the sensitivity ODE of the integrator with respec to the initial control input u0. More...

void	integrateSensitivityDUf (state_control_matrix &dUf, const SCALAR startTime, const size_t numSteps, const SCALAR dt)
	Integrates the sensitivity ODE of the integrator with respec to the final control input uf. More...

void	integrateCost (SCALAR &cost, const SCALAR startTime, const size_t numSteps, const SCALAR dt)
	Integrates the costfunction using the states and controls from the costintegration. More...

void	integrateCostSensitivityDX0 (state_vector &dX0, const SCALAR startTime, const size_t numSteps, const SCALAR dt)
	Integrates the sensitivity of the cost with respect to the initial state x0. More...

void	integrateCostSensitivityDU0 (control_vector &dU0, const SCALAR startTime, const size_t numSteps, const SCALAR dt)
	Integrates the sensitivity of the cost with respect to the initial control input u0. More...

void	integrateCostSensitivityDUf (control_vector &dUf, const SCALAR &startTime, const size_t numSteps, const SCALAR dt)
	Integrates the sensitivity of the cost with respect to the final control input uF. More...

void	linearize ()
	Linearizes the system around the rollout from the state interation. More...

void	clearStates ()
	Clears the cached states, controls and times. More...

void	clearSensitivities ()
	Clears the cached sensitivities. More...

void	clearLinearization ()
	Clears the linearized matrices. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ct::core::StateVector< STATE_DIM, SCALAR >	state_vector

Detailed Description

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

This class can integrate a controlled system and a costfunction. Furthermore, it provides first order derivatives with respect to initial state and control.

Template Parameters

STATE_DIM	The state dimension
CONTROL_DIM	The control dimension
SCALAR	The scalar type

Member Typedef Documentation

◆ control_vector

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

typedef ct::core::ControlVector<CONTROL_DIM, SCALAR> ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector

◆ state_matrix

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

typedef Eigen::Matrix<SCALAR, STATE_DIM, STATE_DIM> ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::state_matrix

◆ control_matrix

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

typedef Eigen::Matrix<SCALAR, CONTROL_DIM, CONTROL_DIM> ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::control_matrix

◆ state_control_matrix

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

typedef Eigen::Matrix<SCALAR, STATE_DIM, CONTROL_DIM> ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::state_control_matrix

Constructor & Destructor Documentation

◆ SensitivityIntegratorCT()

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

ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::SensitivityIntegratorCT	(	const std::shared_ptr< ct::core::ControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >> &	system,
		const ct::core::IntegrationType	stepperType = `ct::core::IntegrationType::EULERCT`
	)

inline

Constructor.

Parameters

[in]	system	The controlled system
[in]	stepperType	The integration stepper type

References ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::initializeDerived(), ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::setControlledSystem(), and ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::~SensitivityIntegratorCT().

◆ ~SensitivityIntegratorCT()

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

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

default

Destroys the object.

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

Member Function Documentation

◆ initializeDerived()

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

void ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::initializeDerived ( const ct::core::IntegrationType stepperType )

inline

Initializes the steppers.

Parameters

[in] stepperType The desired integration stepper type

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

◆ setLinearSystem()

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

void ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::setLinearSystem ( const std::shared_ptr< ct::core::LinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >> & linearSystem )

inline

Prepares the integrator to provide first order sensitivity generation by setting a linearsystem, enabling state caching and settings up the function objects.

Parameters

[in] linearSystem The linearized system

References t.

◆ setControlledSystem()

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

void ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::setControlledSystem ( const std::shared_ptr< ct::core::ControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >> & controlledSystem )

inline

Changes the controlledsystem to be integrated.

Parameters

[in] controlledSystem The new controlled system

References t, and x.

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

◆ setCostFunction()

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

void ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::setCostFunction ( const std::shared_ptr< CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >> costFun )

inline

Prepares the integrator to provide cost integration and first order cost derivatives. This is done by enabling sensitivity caching and setting up the function objects.

Parameters

[in] costFun The new costfunction

References t.

◆ integrate() [1/2]

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

void ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::integrate	(	state_vector &	state,
		const SCALAR	startTime,
		const size_t	numSteps,
		const SCALAR	dt,
		ct::core::StateVectorArray< STATE_DIM, SCALAR > &	stateTrajectory,
		ct::core::tpl::TimeArray< SCALAR > &	timeTrajectory
	)

inline

Integrates the system starting from state and startTime for numSteps integration steps. Returns the full state and time trajectories.

Parameters

[in,out]	state	The initial state for integration
[in]	startTime	The start time
[in]	numSteps	The number steps
[in]	dt	The integration timestep
[out]	stateTrajectory	The output state trajectory
[out]	timeTrajectory	The output time trajectory

References ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::clearLinearization(), ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::clearStates(), dt, and i.

◆ integrate() [2/2]

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

void ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::integrate	(	state_vector &	state,
		const SCALAR	startTime,
		const size_t	numSteps,
		const SCALAR	dt
	)

inline

Integrates the system starting from state and startTime for numSteps integration steps. Returns only the final state and time.

Parameters

References ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::clearLinearization(), ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::clearStates(), dt, and i.

◆ integrateSensitivityDX0()

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

void ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::integrateSensitivityDX0	(	state_matrix &	dX0,
		const SCALAR	startTime,
		const size_t	numSteps,
		const SCALAR	dt
	)

inline

Integrates the sensitivity ODE of the integrator with respec to the initial state x0.

Parameters

[in,out]	dX0	The sensitivity matrix wrt x0
[in]	startTime	The start time
[in]	numSteps	The number of integration steps
[in]	dt	The integration timestep

References dt, and i.

◆ integrateSensitivityDU0()

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

void ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::integrateSensitivityDU0	(	state_control_matrix &	dU0,
		const SCALAR	startTime,
		const size_t	numSteps,
		const SCALAR	dt
	)

inline

Integrates the sensitivity ODE of the integrator with respec to the initial control input u0.

Parameters

[in,out]	dU0	The sensitivity matrix wrt u0
[in]	startTime	The start time
[in]	numSteps	The number of integration steps
[in]	dt	The integration timestep

References dt, and i.

◆ integrateSensitivityDUf()

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

void ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::integrateSensitivityDUf	(	state_control_matrix &	dUf,
		const SCALAR	startTime,
		const size_t	numSteps,
		const SCALAR	dt
	)

inline

Integrates the sensitivity ODE of the integrator with respec to the final control input uf.

Parameters

[in,out]	dUF	The sensitivity matrix wrt uF
[in]	startTime	The start time
[in]	numSteps	The number of integration steps
[in]	dt	The integration timestep

References dt, and i.

◆ integrateCost()

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

void ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::integrateCost	(	SCALAR &	cost,
		const SCALAR	startTime,
		const size_t	numSteps,
		const SCALAR	dt
	)

inline

Integrates the costfunction using the states and controls from the costintegration.

Parameters

[in,out]	cost	The initial cost
[in]	startTime	The start time
[in]	numSteps	The number of integration steps
[in]	dt	The integration time step

References dt, and i.

◆ integrateCostSensitivityDX0()

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

void ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::integrateCostSensitivityDX0	(	state_vector &	dX0,
		const SCALAR	startTime,
		const size_t	numSteps,
		const SCALAR	dt
	)

inline

Integrates the sensitivity of the cost with respect to the initial state x0.

Parameters

[in,out]	dX0	The initial cost sensitivity vector
[in]	startTime	The start time
[in]	numSteps	The number of integration steps
[in]	dt	The integration time step

References dt, and i.

◆ integrateCostSensitivityDU0()

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

void ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::integrateCostSensitivityDU0	(	control_vector &	dU0,
		const SCALAR	startTime,
		const size_t	numSteps,
		const SCALAR	dt
	)

inline

Integrates the sensitivity of the cost with respect to the initial control input u0.

Parameters

[in,out]	dU0	The initial cost sensitivity vector
[in]	startTime	The start time
[in]	numSteps	The number of integration steps
[in]	dt	The integration time step

References dt, and i.

◆ integrateCostSensitivityDUf()

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

void ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::integrateCostSensitivityDUf	(	control_vector &	dUf,
		const SCALAR &	startTime,
		const size_t	numSteps,
		const SCALAR	dt
	)

inline

Integrates the sensitivity of the cost with respect to the final control input uF.

Parameters

[in,out]	dUf	The initial cost sensitivity vector
[in]	startTime	The start time
[in]	numSteps	The number of integration steps
[in]	dt	The integration time step

References dt, and i.

◆ linearize()

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

void ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::linearize ( )

inline

Linearizes the system around the rollout from the state interation.

References i.

◆ clearStates()

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

void ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::clearStates ( )

inline

Clears the cached states, controls and times.

Referenced by ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::integrate().

◆ clearSensitivities()

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

void ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::clearSensitivities ( )

inline

Clears the cached sensitivities.

◆ clearLinearization()

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

void ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::clearLinearization ( )

inline

Clears the linearized matrices.

Referenced by ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::integrate().

Member Data Documentation

◆ state_vector

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

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ct::core::StateVector<STATE_DIM, SCALAR> ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector

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/SensitivityIntegratorCT.h

Public Types

Public Member Functions

Public Attributes

Detailed Description

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

Member Typedef Documentation

◆ control_vector

◆ state_matrix

◆ control_matrix

◆ state_control_matrix

Constructor & Destructor Documentation

◆ SensitivityIntegratorCT()

◆ ~SensitivityIntegratorCT()

Member Function Documentation

◆ initializeDerived()

◆ setLinearSystem()

◆ setControlledSystem()

◆ setCostFunction()

◆ integrate() [1/2]

◆ integrate() [2/2]

◆ integrateSensitivityDX0()

◆ integrateSensitivityDU0()

◆ integrateSensitivityDUf()

◆ integrateCost()

◆ integrateCostSensitivityDX0()

◆ integrateCostSensitivityDU0()

◆ integrateCostSensitivityDUf()

◆ linearize()

◆ clearStates()

◆ clearSensitivities()

◆ clearLinearization()

Member Data Documentation

◆ state_vector

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