Class for terminal constraint. More...

#include <TerminalConstraint.h>

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

Public Types
typedef ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >	Base

typedef core::StateVector< STATE_DIM, SCALAR >	state_vector_t

typedef core::ControlVector< CONTROL_DIM, SCALAR >	control_vector_t

typedef Eigen::Matrix< int, Eigen::Dynamic, 1 >	VectorXi

typedef Eigen::Matrix< SCALAR, Eigen::Dynamic, 1 >	VectorXs

typedef Eigen::Matrix< SCALAR, Eigen::Dynamic, Eigen::Dynamic >	MatrixXs

Public Types inherited from ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >
typedef core::StateVector< STATE_DIM, SCALAR >	state_vector_t

typedef core::ControlVector< CONTROL_DIM, SCALAR >	control_vector_t

typedef Eigen::Matrix< SCALAR, Eigen::Dynamic, 1 >	VectorXs

typedef Eigen::Matrix< SCALAR, Eigen::Dynamic, Eigen::Dynamic >	MatrixXs

Public Member Functions
	TerminalConstraint (const core::StateVector< STATE_DIM, SCALAR > xf)
	Custom constructor. More...

virtual TerminalConstraint< STATE_DIM, CONTROL_DIM, SCALAR > *	clone () const override
	Creates a new instance of the object with same properties than original. More...

	TerminalConstraint (const TerminalConstraint &arg)

virtual	~TerminalConstraint ()

virtual size_t	getConstraintSize () const override
	The evaluate method used for jit compilation in constraint container ad. More...

virtual VectorXs	evaluate (const state_vector_t &x, const control_vector_t &u, const SCALAR t) override
	The evaluation of the constraint violation. Note this method is SCALAR typed. More...

virtual MatrixXs	jacobianState (const state_vector_t &x, const control_vector_t &u, const SCALAR t) override
	Returns the constraint jacobian wrt state. More...

virtual MatrixXs	jacobianInput (const state_vector_t &x, const control_vector_t &u, const SCALAR t) override
	Returns the constraint jacobian wrt input. More...

virtual size_t	getNumNonZerosJacobianState () const override
	Returns the number of nonzeros in the jacobian wrt state. The default implementation assumes a dense matrix with only nonzero elements. More...

virtual size_t	getNumNonZerosJacobianInput () const override
	Returns the number of nonzeros in the jacobian wrt control input. The default implementation assumes a dense matrix with only nonzero elements. More...

virtual VectorXs	jacobianStateSparse (const state_vector_t &x, const control_vector_t &u, const SCALAR t) override
	Returns the constraint jacobian wrt state in sparse structure. The default implementation maps the JacobianState matrix to a vector. More...

virtual void	sparsityPatternState (VectorXi &rows, VectorXi &cols) override

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

	ConstraintBase (const ConstraintBase &arg)
	Copy constructor. More...

virtual	~ConstraintBase ()
	Destructor. More...

virtual VectorXs	getLowerBound () const
	Returns the lower constraint bound. More...

virtual VectorXs	getUpperBound () const
	Returns the upper constraint bound. More...

void	getName (std::string &constraintName) const
	Returns the constraint name. More...

void	setName (const std::string constraintName)
	Sets the constraint name. More...

virtual VectorXs	jacobianInputSparse (const state_vector_t &x, const control_vector_t &u, const SCALAR t)
	Returns the constraint jacobian wrt control input in sparse structure. The default implementation maps the JacobianState matrix to a vector. More...

virtual void	sparsityPatternState (Eigen::VectorXi &rows, Eigen::VectorXi &cols)
	Generates the sparsity pattern of the jacobian wrt state. The default implementation returns a vector of ones corresponding to the dense jacobianState. More...

virtual void	sparsityPatternInput (Eigen::VectorXi &rows, Eigen::VectorXi &cols)
	Generates the sparsity pattern of the jacobian wrt control input. The default implementation returns a vector of ones corresponding to the dense jacobianInput. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ct::core::tpl::TraitSelector< SCALAR >::Trait	Trait

Public Attributes inherited from ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ct::core::tpl::TraitSelector< SCALAR >::Trait	Trait

Additional Inherited Members
Static Protected Member Functions inherited from ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >
static void	genDiagonalIndices (const size_t num_elements, Eigen::VectorXi &iRow_vec, Eigen::VectorXi &jCol_vec)
	upper bound on the constraints More...

static void	genSparseDiagonalIndices (const Eigen::VectorXi &diag_sparsity, Eigen::VectorXi &iRow_vec, Eigen::VectorXi &jCol_vec)
	Generates indices of a sparse diagonal square matrix. More...

static void	genBlockIndices (const size_t num_rows, const size_t num_cols, Eigen::VectorXi &iRow_vec, Eigen::VectorXi &jCol_vec)
	Generates indices of a full matrix. More...

Protected Attributes inherited from ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >
VectorXs	lb_

VectorXs	ub_
	lower bound on the constraints More...

Detailed Description

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

Class for terminal constraint.

Template Parameters

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

Examples:: DMS.cpp.

Member Typedef Documentation

◆ Base

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

typedef ConstraintBase<STATE_DIM, CONTROL_DIM, SCALAR> ct::optcon::TerminalConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::Base

◆ state_vector_t

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

typedef core::StateVector<STATE_DIM, SCALAR> ct::optcon::TerminalConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_t

◆ control_vector_t

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

typedef core::ControlVector<CONTROL_DIM, SCALAR> ct::optcon::TerminalConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_t

◆ VectorXi

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

typedef Eigen::Matrix<int, Eigen::Dynamic, 1> ct::optcon::TerminalConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXi

◆ VectorXs

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

typedef Eigen::Matrix<SCALAR, Eigen::Dynamic, 1> ct::optcon::TerminalConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXs

◆ MatrixXs

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

typedef Eigen::Matrix<SCALAR, Eigen::Dynamic, Eigen::Dynamic> ct::optcon::TerminalConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::MatrixXs

Constructor & Destructor Documentation

◆ TerminalConstraint() [1/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::optcon::TerminalConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::TerminalConstraint ( const core::StateVector< STATE_DIM, SCALAR > xf )

Custom constructor.

Parameters

[in] xf The desired terminal state

◆ TerminalConstraint() [2/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

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

◆ ~TerminalConstraint()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

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

virtual

Member Function Documentation

◆ clone()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

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

overridevirtual

Creates a new instance of the object with same properties than original.

Returns: Copy of this object.

Implements ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >.

◆ getConstraintSize()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

size_t ct::optcon::TerminalConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::getConstraintSize ( ) const

overridevirtual

The evaluate method used for jit compilation in constraint container ad.

Parameters

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

Returns: The constraint violation Returns the number of constraints; The number of constraints

Implements ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >.

◆ evaluate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

TerminalConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXs ct::optcon::TerminalConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::evaluate	(	const state_vector_t &	x,
		const control_vector_t &	u,
		const SCALAR	t
	)

overridevirtual

The evaluation of the constraint violation. Note this method is SCALAR typed.

Parameters

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

Returns: The constraint violation

Implements ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >.

References t, u, and x.

◆ jacobianState()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

TerminalConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::MatrixXs ct::optcon::TerminalConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianState	(	const state_vector_t &	x,
		const control_vector_t &	u,
		const SCALAR	t
	)

overridevirtual

Returns the constraint jacobian wrt state.

Returns: The constraint jacobian

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

◆ jacobianInput()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

TerminalConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::MatrixXs ct::optcon::TerminalConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInput	(	const state_vector_t &	x,
		const control_vector_t &	u,
		const SCALAR	t
	)

overridevirtual

Returns the constraint jacobian wrt input.

Returns: The constraint jacobian

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

◆ getNumNonZerosJacobianState()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

size_t ct::optcon::TerminalConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::getNumNonZerosJacobianState ( ) const

overridevirtual

Returns the number of nonzeros in the jacobian wrt state. The default implementation assumes a dense matrix with only nonzero elements.

Returns: The number of non zeros

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

◆ getNumNonZerosJacobianInput()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

size_t ct::optcon::TerminalConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::getNumNonZerosJacobianInput ( ) const

overridevirtual

Returns the number of nonzeros in the jacobian wrt control input. The default implementation assumes a dense matrix with only nonzero elements.

Returns: The number of non zeros

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

◆ jacobianStateSparse()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

TerminalConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXs ct::optcon::TerminalConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianStateSparse	(	const state_vector_t &	x,
		const control_vector_t &	u,
		const SCALAR	t
	)

overridevirtual

Returns the constraint jacobian wrt state in sparse structure. The default implementation maps the JacobianState matrix to a vector.

Returns: The sparse constraint jacobian

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

◆ sparsityPatternState()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::TerminalConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::sparsityPatternState	(	VectorXi &	rows,
		VectorXi &	cols
	)

overridevirtual

References ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::genDiagonalIndices().

Member Data Documentation

◆ Trait

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

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ct::core::tpl::TraitSelector<SCALAR>::Trait ct::optcon::TerminalConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::Trait

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/constraint/term/TerminalConstraint.h
/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/constraint/term/TerminalConstraint-impl.h

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ Base

◆ state_vector_t

◆ control_vector_t

◆ VectorXi

◆ VectorXs

◆ MatrixXs

Constructor & Destructor Documentation

◆ TerminalConstraint() [1/2]

◆ TerminalConstraint() [2/2]

◆ ~TerminalConstraint()

Member Function Documentation

◆ clone()

◆ getConstraintSize()

◆ evaluate()

◆ jacobianState()

◆ jacobianInput()

◆ getNumNonZerosJacobianState()

◆ getNumNonZerosJacobianInput()

◆ jacobianStateSparse()

◆ sparsityPatternState()

Member Data Documentation

◆ Trait

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