A pure state constraint term. More...

#include <ConstraintTest.h>

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

Public Types
typedef ct::optcon::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< 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
	PureStateConstraint_Example ()

	PureStateConstraint_Example (const PureStateConstraint_Example &arg)

virtual	~PureStateConstraint_Example ()

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

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 Eigen::Matrix< ct::core::ADCGScalar, Eigen::Dynamic, 1 >	evaluateCppadCg (const core::StateVector< STATE_DIM, ct::core::ADCGScalar > &x, const core::ControlVector< CONTROL_DIM, ct::core::ADCGScalar > &u, ct::core::ADCGScalar t) override

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

void	setA (const Eigen::Matrix< SCALAR, STATE_DIM, STATE_DIM > &A)

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 MatrixXs	jacobianInput (const state_vector_t &x, const control_vector_t &u, const SCALAR t)
	Returns the constraint jacobian wrt input. 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 size_t	getNumNonZerosJacobianState () const
	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
	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)
	Returns the constraint jacobian wrt state in sparse structure. The default implementation maps the JacobianState matrix to a vector. 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::example::PureStateConstraint_Example< STATE_DIM, CONTROL_DIM, SCALAR >

A pure state constraint term.

Member Typedef Documentation

◆ Base

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

typedef ct::optcon::ConstraintBase<state_dim, control_dim, SCALAR> ct::optcon::example::PureStateConstraint_Example< STATE_DIM, CONTROL_DIM, SCALAR >::Base

Examples:: ConstraintTest.h.

◆ state_vector_t

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

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

Examples:: ConstraintTest.h.

◆ control_vector_t

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

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

Examples:: ConstraintTest.h.

◆ VectorXs

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

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

Examples:: ConstraintTest.h.

◆ MatrixXs

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

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

Examples:: ConstraintTest.h.

Constructor & Destructor Documentation

◆ PureStateConstraint_Example() [1/2]

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

ct::optcon::example::PureStateConstraint_Example< STATE_DIM, CONTROL_DIM, SCALAR >::PureStateConstraint_Example ( )

inline

Examples:: ConstraintTest.h.

References ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::lb_, and ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::ub_.

Referenced by ct::optcon::example::PureStateConstraint_Example< STATE_DIM, CONTROL_DIM, SCALAR >::clone().

◆ PureStateConstraint_Example() [2/2]

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

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

inline

◆ ~PureStateConstraint_Example()

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

virtual ct::optcon::example::PureStateConstraint_Example< STATE_DIM, CONTROL_DIM, SCALAR >::~PureStateConstraint_Example ( )

inlinevirtual

Examples:: ConstraintTest.h.

Member Function Documentation

◆ clone()

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

virtual PureStateConstraint_Example<STATE_DIM, CONTROL_DIM, SCALAR>* ct::optcon::example::PureStateConstraint_Example< STATE_DIM, CONTROL_DIM, SCALAR >::clone ( ) const

inlineoverridevirtual

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 >.

Examples:: ConstraintTest.h.

References ct::optcon::example::PureStateConstraint_Example< STATE_DIM, CONTROL_DIM, SCALAR >::PureStateConstraint_Example().

◆ getConstraintSize()

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

virtual size_t ct::optcon::example::PureStateConstraint_Example< STATE_DIM, CONTROL_DIM, SCALAR >::getConstraintSize ( ) const

inlineoverridevirtual

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 >.

Examples:: ConstraintTest.h.

◆ evaluate()

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

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

inlineoverridevirtual

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 >.

Examples:: ConstraintTest.h.

References x.

◆ evaluateCppadCg()

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

virtual Eigen::Matrix<ct::core::ADCGScalar, Eigen::Dynamic, 1> ct::optcon::example::PureStateConstraint_Example< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateCppadCg	(	const core::StateVector< STATE_DIM, ct::core::ADCGScalar > &	x,
		const core::ControlVector< CONTROL_DIM, ct::core::ADCGScalar > &	u,
		ct::core::ADCGScalar	t
	)

inlineoverridevirtual

Examples:: ConstraintTest.h.

◆ jacobianState()

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

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

inlineoverridevirtual

Returns the constraint jacobian wrt state.

Returns: The constraint jacobian

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

Examples:: ConstraintTest.h.

◆ setA()

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

void ct::optcon::example::PureStateConstraint_Example< STATE_DIM, CONTROL_DIM, SCALAR >::setA ( const Eigen::Matrix< SCALAR, STATE_DIM, STATE_DIM > & A )

inline

Examples:: ConstraintTest.h.

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::example::PureStateConstraint_Example< STATE_DIM, CONTROL_DIM, SCALAR >::Trait

Examples:: ConstraintTest.h.

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/test/constraint/ConstraintTest.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::example::PureStateConstraint_Example< STATE_DIM, CONTROL_DIM, SCALAR >

Member Typedef Documentation

◆ Base

◆ state_vector_t

◆ control_vector_t

◆ VectorXs

◆ MatrixXs

Constructor & Destructor Documentation

◆ PureStateConstraint_Example() [1/2]

◆ PureStateConstraint_Example() [2/2]

◆ ~PureStateConstraint_Example()

Member Function Documentation

◆ clone()

◆ getConstraintSize()

◆ evaluate()

◆ evaluateCppadCg()

◆ jacobianState()

◆ setA()

Member Data Documentation

◆ Trait

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