#include <iLQR.hpp>

Inheritance diagram for ct::optcon::iLQR< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >:

Public Types
typedef NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >	Base

typedef Base::Policy_t	Policy_t

typedef Base::Settings_t	Settings_t

typedef Base::Backend_t	Backend_t

typedef SCALAR	Scalar_t

Public Types inherited from ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >
typedef NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >	Backend_t

typedef NLOptConSettings	Settings_t

typedef SCALAR	Scalar_t

Public Member Functions
	iLQR (std::shared_ptr< Backend_t > &backend_, const Settings_t &settings)
	constructor More...

virtual	~iLQR ()
	destructor More...

virtual void	configure (const Settings_t &settings) override
	configure the solver More...

virtual void	setInitialGuess (const Policy_t &initialGuess) override
	set an initial guess More...

virtual bool	runIteration () override
	runIteration combines prepareIteration and finishIteration More...

virtual void	prepareIteration () override

virtual bool	finishIteration () override

virtual void	prepareMPCIteration () override

virtual bool	finishMPCIteration () override

Public Member Functions inherited from ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >
	NLOCAlgorithm (const std::shared_ptr< Backend_t > &backend)

virtual	~NLOCAlgorithm ()

virtual void	setInitialGuess (const Policy_t &initialGuess)=0

Static Public Attributes
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const size_t	STATE_D = STATE_DIM

static const size_t	CONTROL_D = CONTROL_DIM

Additional Inherited Members
Public Attributes inherited from ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >	Policy_t

Protected Attributes inherited from ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >
std::shared_ptr< Backend_t >	backend_

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR = double, bool CONTINUOUS = true>
class ct::optcon::iLQR< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >

Examples:: NLOC.cpp, NLOC_boxConstrained.cpp, NLOC_MPC.cpp, and switched_continuous_optcon.cpp.

Member Typedef Documentation

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR = double, bool CONTINUOUS = true>

typedef NLOCAlgorithm<STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS> ct::optcon::iLQR< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Base

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR = double, bool CONTINUOUS = true>

typedef Base::Policy_t ct::optcon::iLQR< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Policy_t

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR = double, bool CONTINUOUS = true>

typedef Base::Settings_t ct::optcon::iLQR< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Settings_t

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR = double, bool CONTINUOUS = true>

typedef Base::Backend_t ct::optcon::iLQR< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Backend_t

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR = double, bool CONTINUOUS = true>

typedef SCALAR ct::optcon::iLQR< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::Scalar_t

Constructor & Destructor Documentation

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR , bool CONTINUOUS>

ct::optcon::iLQR< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::iLQR	(	std::shared_ptr< Backend_t > &	backend_,
		const Settings_t &	settings
	)

constructor

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR , bool CONTINUOUS>

ct::optcon::iLQR< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::~iLQR ( )

virtual

destructor

Member Function Documentation

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR , bool CONTINUOUS>

void ct::optcon::iLQR< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::configure ( const Settings_t & settings )

overridevirtual

configure the solver

Implements ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::backend_.

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR , bool CONTINUOUS>

void ct::optcon::iLQR< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::setInitialGuess ( const Policy_t & initialGuess )

overridevirtual

set an initial guess

References ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::backend_.

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR , bool CONTINUOUS>

bool ct::optcon::iLQR< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::runIteration ( )

overridevirtual

runIteration combines prepareIteration and finishIteration

For iLQR the separation between prepareIteration and finishIteration would actually not be necessary

Returns

Implements ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::iLQR< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::finishIteration(), and ct::optcon::iLQR< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::prepareIteration().

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR , bool CONTINUOUS>

void ct::optcon::iLQR< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::prepareIteration ( )

overridevirtual

for iLQR, as it is a purely sequential approach, we cannot prepare anything prior to solving,

Implements ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::backend_.

Referenced by ct::optcon::iLQR< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::prepareMPCIteration(), and ct::optcon::iLQR< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::runIteration().

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR , bool CONTINUOUS>

bool ct::optcon::iLQR< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::finishIteration ( )

overridevirtual

for iLQR, finishIteration contains the whole main iLQR iteration.

Returns

Implements ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::backend_, and count.

Referenced by ct::optcon::iLQR< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::finishMPCIteration(), and ct::optcon::iLQR< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::runIteration().

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR , bool CONTINUOUS>

void ct::optcon::iLQR< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::prepareMPCIteration ( )

overridevirtual

for iLQR, as it is a purely sequential approach, we cannot prepare anything prior to solving,

Implements ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::iLQR< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::prepareIteration().

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR , bool CONTINUOUS>

bool ct::optcon::iLQR< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::finishMPCIteration ( )

overridevirtual

for iLQR, finishIteration contains the whole main iLQR iteration.

Returns

Todo:: : in MPC always returning true. Unclear how user wants to deal with varying costs, etc.

Implements ct::optcon::NLOCAlgorithm< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >.

References ct::optcon::iLQR< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::finishIteration().

Member Data Documentation

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR = double, bool CONTINUOUS = true>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW const size_t ct::optcon::iLQR< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::STATE_D = STATE_DIM

static

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR = double, bool CONTINUOUS = true>

const size_t ct::optcon::iLQR< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::CONTROL_D = CONTROL_DIM

static

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

/home/adrl/code/src/control-toolbox/ct_optcon/include/ct/optcon/nloc/algorithms/ilqr/iLQR.hpp
/home/adrl/code/src/control-toolbox/ct_optcon/include/ct/optcon/nloc/algorithms/ilqr/iLQR-impl.hpp

Public Types

Public Member Functions

Static Public Attributes

Additional Inherited Members

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR = double, bool CONTINUOUS = true> class ct::optcon::iLQR< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR = double, bool CONTINUOUS = true>
class ct::optcon::iLQR< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >