- 3.0.2 optimal control module.
Public Member Functions | Public Attributes | List of all members
ct::optcon::StateFeedbackPolicyHandler< STATE_DIM, CONTROL_DIM, SCALAR > Class Template Reference

the default policy handler for iLQR More...

#include <StateFeedbackPolicyHandler.h>

Inheritance diagram for ct::optcon::StateFeedbackPolicyHandler< STATE_DIM, CONTROL_DIM, SCALAR >:
ct::optcon::PolicyHandler< core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >, STATE_DIM, CONTROL_DIM, SCALAR >

Public Member Functions

 StateFeedbackPolicyHandler (const SCALAR &dt)
 
virtual ~StateFeedbackPolicyHandler ()
 
virtual void designWarmStartingPolicy (const SCALAR &delay, const SCALAR &newTimeHorizon, StateFeedbackController_t &policy) override
 
virtual void truncateSolutionFront (const SCALAR &delay, StateFeedbackController_t &policy, SCALAR &effectivelyTruncated) override
 
- Public Member Functions inherited from ct::optcon::PolicyHandler< core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >, STATE_DIM, CONTROL_DIM, SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW PolicyHandler ()
 
virtual ~PolicyHandler ()
 
virtual void designWarmStartingPolicy (const SCALAR &delay, const SCALAR &TimeHorizon, core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR > &policy)
 design a warm-starting policy for the optimal control problem solver More...
 
virtual void truncateSolutionFront (const SCALAR &delay, core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR > &policy, SCALAR &effectivelyTruncated)
 a method required for additional post-truncation. More...
 
void setPolicy (const core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR > &newPolicy)
 set new policy to policy handler More...
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR > StateFeedbackController_t
 

Additional Inherited Members

- Protected Attributes inherited from ct::optcon::PolicyHandler< core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >, STATE_DIM, CONTROL_DIM, SCALAR >
core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR > initialPolicy_
 

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR>
class ct::optcon::StateFeedbackPolicyHandler< STATE_DIM, CONTROL_DIM, SCALAR >

the default policy handler for iLQR

Constructor & Destructor Documentation

◆ StateFeedbackPolicyHandler()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >
ct::optcon::StateFeedbackPolicyHandler< STATE_DIM, CONTROL_DIM, SCALAR >::StateFeedbackPolicyHandler ( const SCALAR &  dt)

◆ ~StateFeedbackPolicyHandler()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >
ct::optcon::StateFeedbackPolicyHandler< STATE_DIM, CONTROL_DIM, SCALAR >::~StateFeedbackPolicyHandler ( )
virtual

Member Function Documentation

◆ designWarmStartingPolicy()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >
void ct::optcon::StateFeedbackPolicyHandler< STATE_DIM, CONTROL_DIM, SCALAR >::designWarmStartingPolicy ( const SCALAR &  delay,
const SCALAR &  newTimeHorizon,
StateFeedbackController_t &  policy 
)
overridevirtual

References ct::core::DiscreteTrajectoryBase< T, Alloc, SCALAR >::back(), ct::core::DiscreteTrajectoryBase< T, Alloc, SCALAR >::eraseFront(), ct::core::DiscreteTrajectoryBase< T, Alloc, SCALAR >::getIndexFromTime(), i, ct::core::DiscreteTrajectoryBase< T, Alloc, SCALAR >::pop_back(), ct::core::DiscreteTrajectoryBase< T, Alloc, SCALAR >::push_back(), and ct::core::DiscreteTrajectoryBase< T, Alloc, SCALAR >::size().

◆ truncateSolutionFront()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >
void ct::optcon::StateFeedbackPolicyHandler< STATE_DIM, CONTROL_DIM, SCALAR >::truncateSolutionFront ( const SCALAR &  delay,
StateFeedbackController_t &  policy,
SCALAR &  effectivelyTruncated 
)
overridevirtual

required for additional post-truncation.

Parameters
delaythe delay which is to be truncated away
policythe resulting, truncated policy
effectivelyTruncatedthe time which was effectively truncated away (can be different from the input in discrete-time case, for example)

Member Data Documentation

◆ StateFeedbackController_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef core::StateFeedbackController<STATE_DIM, CONTROL_DIM, SCALAR> ct::optcon::StateFeedbackPolicyHandler< STATE_DIM, CONTROL_DIM, SCALAR >::StateFeedbackController_t
The documentation for this class was generated from the following files: