This class performs the state and the sensitivity integration on a shot. More...

#include <ShotContainer.h>

Public Types
typedef DIMENSIONS::state_vector_t	state_vector_t

typedef DIMENSIONS::control_vector_t	control_vector_t

typedef DIMENSIONS::state_vector_array_t	state_vector_array_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::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
	ShotContainer ()=delete

	ShotContainer (std::shared_ptr< ct::core::ControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >> controlledSystem, std::shared_ptr< ct::core::LinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >> linearSystem, std::shared_ptr< ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >> costFct, std::shared_ptr< OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >> w, std::shared_ptr< SplinerBase< control_vector_t, SCALAR >> controlSpliner, std::shared_ptr< tpl::TimeGrid< SCALAR >> timeGrid, size_t shotNr, DmsSettings settings, size_t nIntegrationSteps)
	Custom constructor. More...

void	integrateShot ()
	Performs the state integration between the shots. More...

void	integrateCost ()

void	integrateSensitivities ()
	Performs the state and the sensitivity integration between the shots. More...

void	integrateCostSensitivities ()

void	reset ()

const state_vector_t &	getStateIntegrated ()
	Returns the integrated state. More...

const SCALAR	getIntegrationTimeFinal ()
	Returns the end time of the integration. More...

const state_matrix_t &	getdXdSiIntegrated ()
	Returns the integrated ODE sensitivity with respect to the discretized state s_i. More...

const state_control_matrix_t &	getdXdQiIntegrated ()
	Returns the integrated ODE sensitivity with respect to the discretized inputs q_i. More...

const state_control_matrix_t &	getdXdQip1Integrated ()
	Returns the integrated ODE sensitivity with respect to the discretized inputs q_{i+1}. More...

const state_vector_array_t &	getXHistory () const
	Returns the integrated ODE sensitivity with respect to the time segments h_i. More...

const control_vector_array_t &	getUHistory ()
	Returns the control input trajectory used during the state integration. More...

const time_array_t &	getTHistory () const
	Returns the time trajectory used during the integration. More...

const SCALAR	getCostIntegrated () const
	Gets the cost integrated. More...

const state_vector_t &	getdLdSiIntegrated () const
	Returns the cost gradient with respect to s_i integrated over the shot. More...

const control_vector_t &	getdLdQiIntegrated () const
	Returns the cost gradient with respect to q_i integrated over the shot. More...

const control_vector_t &	getdLdQip1Integrated () const
	Returns to cost gradient with respect to q_{i+1} integrated over the shot. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef DmsDimensions< STATE_DIM, CONTROL_DIM, SCALAR >	DIMENSIONS

Detailed Description

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

This class performs the state and the sensitivity integration on a shot.

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, typename SCALAR = double>

typedef DIMENSIONS::state_vector_t ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_t

◆ control_vector_t

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

typedef DIMENSIONS::control_vector_t ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_t

◆ state_vector_array_t

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

typedef DIMENSIONS::state_vector_array_t ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_array_t

◆ control_vector_array_t

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

typedef DIMENSIONS::control_vector_array_t ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_array_t

◆ time_array_t

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

typedef DIMENSIONS::time_array_t ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::time_array_t

◆ state_matrix_t

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

typedef DIMENSIONS::state_matrix_t ct::optcon::ShotContainer< 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 DIMENSIONS::state_control_matrix_t ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::state_control_matrix_t

◆ state_matrix_array_t

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

typedef DIMENSIONS::state_matrix_array_t ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::state_matrix_array_t

◆ state_control_matrix_array_t

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

typedef DIMENSIONS::state_control_matrix_array_t ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::state_control_matrix_array_t

Constructor & Destructor Documentation

◆ ShotContainer() [1/2]

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

ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::ShotContainer ( )

delete

◆ ShotContainer() [2/2]

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

ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::ShotContainer	(	std::shared_ptr< ct::core::ControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >>	controlledSystem,
		std::shared_ptr< ct::core::LinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >>	linearSystem,
		std::shared_ptr< ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >>	costFct,
		std::shared_ptr< OptVectorDms< STATE_DIM, CONTROL_DIM, SCALAR >>	w,
		std::shared_ptr< SplinerBase< control_vector_t, SCALAR >>	controlSpliner,
		std::shared_ptr< tpl::TimeGrid< SCALAR >>	timeGrid,
		size_t	shotNr,
		DmsSettings	settings,
		size_t	nIntegrationSteps
	)

inline

Custom constructor.

Parameters

[in]	controlledSystem	The nonlinear system
[in]	linearSystem	The linearized system
[in]	costFct	The costfunction
[in]	w	The optimization vector
[in]	controlSpliner	The control input spliner
[in]	timeGrid	The timegrid
[in]	shotNr	The shot number
[in]	settings	The dms settings

References ct::optcon::DmsSettings::costEvaluationType_, ct::optcon::DmsSettings::EULER, ct::core::EULERCT, ct::optcon::DmsSettings::FULL, ct::optcon::DmsSettings::integrationType_, ct::optcon::DmsSettings::N_, ct::optcon::DmsSettings::RK4, ct::core::RK4CT, and ct::optcon::DmsSettings::RK5.

Member Function Documentation

◆ integrateShot()

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

void ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::integrateShot ( )

inline

Performs the state integration between the shots.

References ct::optcon::DmsSettings::dt_sim_.

Referenced by ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::integrateCost(), and ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::integrateSensitivities().

◆ integrateCost()

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

void ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::integrateCost ( )

inline

References ct::optcon::DmsSettings::dt_sim_, and ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::integrateShot().

◆ integrateSensitivities()

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

void ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::integrateSensitivities ( )

inline

Performs the state and the sensitivity integration between the shots.

References ct::optcon::DmsSettings::dt_sim_, ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::integrateShot(), ct::optcon::DmsSettings::PIECEWISE_LINEAR, and ct::optcon::DmsSettings::splineType_.

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

◆ integrateCostSensitivities()

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

void ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::integrateCostSensitivities ( )

inline

References ct::optcon::DmsSettings::dt_sim_, ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::integrateSensitivities(), ct::optcon::DmsSettings::PIECEWISE_LINEAR, and ct::optcon::DmsSettings::splineType_.

◆ reset()

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

void ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::reset ( )

inline

◆ getStateIntegrated()

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

const state_vector_t& ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::getStateIntegrated ( )

inline

Returns the integrated state.

Returns: The integrated state

◆ getIntegrationTimeFinal()

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

const SCALAR ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::getIntegrationTimeFinal ( )

inline

Returns the end time of the integration.

Returns: The end time of the integration.

◆ getdXdSiIntegrated()

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

const state_matrix_t& ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::getdXdSiIntegrated ( )

inline

Returns the integrated ODE sensitivity with respect to the discretized state s_i.

Returns: The integrated sensitivity

◆ getdXdQiIntegrated()

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

const state_control_matrix_t& ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::getdXdQiIntegrated ( )

inline

Returns the integrated ODE sensitivity with respect to the discretized inputs q_i.

Returns: The integrated sensitivity

◆ getdXdQip1Integrated()

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

const state_control_matrix_t& ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::getdXdQip1Integrated ( )

inline

Returns the integrated ODE sensitivity with respect to the discretized inputs q_{i+1}.

Returns: The integrated sensitivity

◆ getXHistory()

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

const state_vector_array_t& ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::getXHistory ( ) const

inline

Returns the integrated ODE sensitivity with respect to the time segments h_i.

Returns: The integrated sensitivity Gets the full integrated state trajectory.; The integrated state trajectory

◆ getUHistory()

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

const control_vector_array_t& ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::getUHistory ( )

inline

Returns the control input trajectory used during the state integration.

Returns: The control trajectory

References t.

◆ getTHistory()

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

const time_array_t& ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::getTHistory ( ) const

inline

Returns the time trajectory used during the integration.

Returns: The time trajectory

◆ getCostIntegrated()

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

const SCALAR ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::getCostIntegrated ( ) const

inline

Gets the cost integrated.

Returns: The integrated cost.

◆ getdLdSiIntegrated()

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

const state_vector_t& ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::getdLdSiIntegrated ( ) const

inline

Returns the cost gradient with respect to s_i integrated over the shot.

Returns: The cost gradient

◆ getdLdQiIntegrated()

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

const control_vector_t& ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::getdLdQiIntegrated ( ) const

inline

Returns the cost gradient with respect to q_i integrated over the shot.

Returns: The cost gradient

◆ getdLdQip1Integrated()

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

const control_vector_t& ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::getdLdQip1Integrated ( ) const

inline

Returns to cost gradient with respect to q_{i+1} integrated over the shot.

Returns: The cost gradient

Member Data Documentation

◆ DIMENSIONS

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

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef DmsDimensions<STATE_DIM, CONTROL_DIM, SCALAR> ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::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/ShotContainer.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::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >

Member Typedef Documentation

◆ state_vector_t

◆ control_vector_t

◆ state_vector_array_t

◆ control_vector_array_t

◆ time_array_t

◆ state_matrix_t

◆ state_control_matrix_t

◆ state_matrix_array_t

◆ state_control_matrix_array_t

Constructor & Destructor Documentation

◆ ShotContainer() [1/2]

◆ ShotContainer() [2/2]

Member Function Documentation

◆ integrateShot()

◆ integrateCost()

◆ integrateSensitivities()

◆ integrateCostSensitivities()

◆ reset()

◆ getStateIntegrated()

◆ getIntegrationTimeFinal()

◆ getdXdSiIntegrated()

◆ getdXdQiIntegrated()

◆ getdXdQip1Integrated()

◆ getXHistory()

◆ getUHistory()

◆ getTHistory()

◆ getCostIntegrated()

◆ getdLdSiIntegrated()

◆ getdLdQiIntegrated()

◆ getdLdQip1Integrated()

Member Data Documentation

◆ DIMENSIONS

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