A state barrier term (could also be considered a soft constraint) Note that this term explicitly excludes controls, as there are better ways to limit control effort in a "soft" way, e.g. through the use of sigmoid functions. More...

#include <TermStateBarrier.hpp>

Inheritance diagram for ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >:

Public Types
typedef Eigen::Matrix< SCALAR_EVAL, STATE_DIM, STATE_DIM >	state_matrix_t

typedef Eigen::Matrix< SCALAR_EVAL, CONTROL_DIM, CONTROL_DIM >	control_matrix_t

typedef Eigen::Matrix< SCALAR_EVAL, CONTROL_DIM, STATE_DIM >	control_state_matrix_t

typedef Eigen::Matrix< SCALAR_EVAL, STATE_DIM, STATE_DIM >	state_matrix_double_t

typedef Eigen::Matrix< SCALAR_EVAL, CONTROL_DIM, CONTROL_DIM >	control_matrix_double_t

typedef Eigen::Matrix< SCALAR_EVAL, CONTROL_DIM, STATE_DIM >	control_state_matrix_double_t

Public Types inherited from ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >
typedef Eigen::Matrix< SCALAR_EVAL, STATE_DIM, STATE_DIM >	state_matrix_t

typedef Eigen::Matrix< SCALAR_EVAL, CONTROL_DIM, CONTROL_DIM >	control_matrix_t

typedef Eigen::Matrix< SCALAR_EVAL, CONTROL_DIM, STATE_DIM >	control_state_matrix_t

typedef Eigen::Matrix< SCALAR_EVAL, STATE_DIM, STATE_DIM >	state_matrix_double_t

typedef Eigen::Matrix< SCALAR_EVAL, CONTROL_DIM, CONTROL_DIM >	control_matrix_double_t

typedef Eigen::Matrix< SCALAR_EVAL, CONTROL_DIM, STATE_DIM >	control_state_matrix_double_t

Public Member Functions
	TermStateBarrier ()

	TermStateBarrier (const state_vector_t &ub, const state_vector_t &lb, const state_vector_t &alpha)

	TermStateBarrier (const TermStateBarrier &arg)

virtual	~TermStateBarrier ()

TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR > *	clone () const override
	Deep-copy term. More...

virtual SCALAR	evaluate (const Eigen::Matrix< SCALAR, STATE_DIM, 1 > &x, const Eigen::Matrix< SCALAR, CONTROL_DIM, 1 > &u, const SCALAR &t) override
	Evaluates the term at x, u, t. More...

virtual void	loadConfigFile (const std::string &filename, const std::string &termName, bool verbose=false) override
	load the term from config file, where the bounds are stored as matrices More...

Public Member Functions inherited from ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >
	TermBase (std::string name="Unnamed")
	Default constructor. More...

	TermBase (const TermBase &arg)
	Copy Cunstructor. More...

virtual	~TermBase ()
	Destructor. More...

SCALAR_EVAL	eval (const Eigen::Matrix< SCALAR_EVAL, STATE_DIM, 1 > &x, const Eigen::Matrix< SCALAR_EVAL, CONTROL_DIM, 1 > &u, const SCALAR_EVAL &t)
	Gets called by the analytical costfunction. Adds time dependent activations on top of the term. More...

virtual bool	isActiveAtTime (SCALAR_EVAL t)
	Returns if term is non-zero at a specific time By default, all terms are evaluated at all times. However, if a term is not active at a certain time, you can overload this function to spare evaluations of the term and its derivatives. More...

SCALAR_EVAL	computeActivation (SCALAR_EVAL t)
	compute time activation More...

virtual core::StateVector< STATE_DIM, SCALAR_EVAL >	stateDerivative (const core::StateVector< STATE_DIM, SCALAR_EVAL > &x, const core::ControlVector< CONTROL_DIM, SCALAR_EVAL > &u, const SCALAR_EVAL &t)
	compute derivative of this cost term w.r.t. the state More...

virtual state_matrix_t	stateSecondDerivative (const core::StateVector< STATE_DIM, SCALAR_EVAL > &x, const core::ControlVector< CONTROL_DIM, SCALAR_EVAL > &u, const SCALAR_EVAL &t)
	compute second order derivative of this cost term w.r.t. the state More...

virtual core::ControlVector< CONTROL_DIM, SCALAR_EVAL >	controlDerivative (const core::StateVector< STATE_DIM, SCALAR_EVAL > &x, const core::ControlVector< CONTROL_DIM, SCALAR_EVAL > &u, const SCALAR_EVAL &t)
	compute derivative of this cost term w.r.t. the control input More...

virtual control_matrix_t	controlSecondDerivative (const core::StateVector< STATE_DIM, SCALAR_EVAL > &x, const core::ControlVector< CONTROL_DIM, SCALAR_EVAL > &u, const SCALAR_EVAL &t)
	compute second order derivative of this cost term w.r.t. the control input More...

virtual control_state_matrix_t	stateControlDerivative (const core::StateVector< STATE_DIM, SCALAR_EVAL > &x, const core::ControlVector< CONTROL_DIM, SCALAR_EVAL > &u, const SCALAR_EVAL &t)
	compute the cross-term derivative (state-control) of this cost function term More...

void	setTimeActivation (std::shared_ptr< ct::core::tpl::ActivationBase< SCALAR_EVAL >> c_i, bool verbose=false)
	set the time activation functions for this term More...

void	loadTimeActivation (const std::string &filename, const std::string &termName, bool verbose=false)
	load the time activation functions for this term from file More...

const std::string &	getName () const
	Returns the name of the term. More...

void	setName (const std::string &termName)
	Sets the name of the term. More...

virtual void	updateReferenceState (const Eigen::Matrix< SCALAR_EVAL, STATE_DIM, 1 > &newRefState)
	updates the reference state for this term More...

virtual void	updateReferenceControl (const Eigen::Matrix< SCALAR_EVAL, CONTROL_DIM, 1 > &newRefControl)
	updates the reference control for this term More...

virtual Eigen::Matrix< SCALAR_EVAL, STATE_DIM, 1 >	getReferenceState () const
	retrieve this term's current reference state More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Eigen::Matrix< SCALAR_EVAL, STATE_DIM, 1 >	state_vector_t

Protected Member Functions
void	initialize ()

Protected Attributes
state_vector_t	alpha_

state_vector_t	ub_

state_vector_t	lb_

std::vector< ct::core::tpl::BarrierActivation< SCALAR, ct::core::tpl::TraitSelector< SCALAR > > >	barriers_

Protected Attributes inherited from ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >
std::string	name_
	a name identifier for this term More...

std::shared_ptr< ct::core::tpl::ActivationBase< SCALAR_EVAL > >	c_i_
	time activations for this term More...

Detailed Description

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

A state barrier term (could also be considered a soft constraint) Note that this term explicitly excludes controls, as there are better ways to limit control effort in a "soft" way, e.g. through the use of sigmoid functions.

Todo:: implement sigmoid barriers

Member Typedef Documentation

◆ state_matrix_t

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

typedef Eigen::Matrix<SCALAR_EVAL, STATE_DIM, STATE_DIM> ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::state_matrix_t

◆ control_matrix_t

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

typedef Eigen::Matrix<SCALAR_EVAL, CONTROL_DIM, CONTROL_DIM> ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::control_matrix_t

◆ control_state_matrix_t

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

typedef Eigen::Matrix<SCALAR_EVAL, CONTROL_DIM, STATE_DIM> ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::control_state_matrix_t

◆ state_matrix_double_t

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

typedef Eigen::Matrix<SCALAR_EVAL, STATE_DIM, STATE_DIM> ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::state_matrix_double_t

◆ control_matrix_double_t

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

typedef Eigen::Matrix<SCALAR_EVAL, CONTROL_DIM, CONTROL_DIM> ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::control_matrix_double_t

◆ control_state_matrix_double_t

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

typedef Eigen::Matrix<SCALAR_EVAL, CONTROL_DIM, STATE_DIM> ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::control_state_matrix_double_t

Constructor & Destructor Documentation

◆ TermStateBarrier() [1/3]

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

ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::TermStateBarrier ( )

Referenced by ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::clone().

◆ TermStateBarrier() [2/3]

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

ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::TermStateBarrier	(	const state_vector_t &	ub,
		const state_vector_t &	lb,
		const state_vector_t &	alpha
	)

◆ TermStateBarrier() [3/3]

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

ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::TermStateBarrier ( const TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR > & arg )

References ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::initialize().

◆ ~TermStateBarrier()

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

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

virtual

Member Function Documentation

◆ clone()

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

TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR > * ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::clone ( ) const

overridevirtual

Deep-copy term.

Returns

Implements ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >.

References ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::TermStateBarrier().

◆ evaluate()

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

SCALAR ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate	(	const Eigen::Matrix< SCALAR, STATE_DIM, 1 > &	x,
		const Eigen::Matrix< SCALAR, CONTROL_DIM, 1 > &	u,
		const SCALAR &	t
	)

overridevirtual

Evaluates the term at x, u, t.

Parameters

[in]	x	The current state
[in]	u	The current control
[in]	t	The current time

Returns: The evaluatated cost term

Implements ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >.

References ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::barriers_, ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::computeActivation(), i, t, u, and x.

◆ loadConfigFile()

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

void ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::loadConfigFile	(	const std::string &	filename,
		const std::string &	termName,
		bool	verbose = `false`
	)

overridevirtual

load the term from config file, where the bounds are stored as matrices

Reimplemented from ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >.

References ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::alpha_, ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::lb_, ct::optcon::loadMatrixCF(), and ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::ub_.

◆ initialize()

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

void ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::initialize ( )

protected

References ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::alpha_, ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::barriers_, i, ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::lb_, and ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::ub_.

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

Member Data Documentation

◆ state_vector_t

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

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Eigen::Matrix<SCALAR_EVAL, STATE_DIM, 1> ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::state_vector_t

◆ alpha_

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

state_vector_t ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::alpha_

protected

Referenced by ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::initialize(), and ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::loadConfigFile().

◆ ub_

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

state_vector_t ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::ub_

protected

Referenced by ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::initialize(), and ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::loadConfigFile().

◆ lb_

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

state_vector_t ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::lb_

protected

Referenced by ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::initialize(), and ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::loadConfigFile().

◆ barriers_

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

std::vector<ct::core::tpl::BarrierActivation<SCALAR, ct::core::tpl::TraitSelector<SCALAR> > > ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::barriers_

protected

Referenced by ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate(), and ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::initialize().

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/costfunction/term/TermStateBarrier.hpp
/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/costfunction/term/TermStateBarrier-impl.hpp

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ state_matrix_t

◆ control_matrix_t

◆ control_state_matrix_t

◆ state_matrix_double_t

◆ control_matrix_double_t

◆ control_state_matrix_double_t

Constructor & Destructor Documentation

◆ TermStateBarrier() [1/3]

◆ TermStateBarrier() [2/3]

◆ TermStateBarrier() [3/3]

◆ ~TermStateBarrier()

Member Function Documentation

◆ clone()

◆ evaluate()

◆ loadConfigFile()

◆ initialize()

Member Data Documentation

◆ state_vector_t

◆ alpha_

◆ ub_

◆ lb_

◆ barriers_

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