Time Keeper Class for Model Predictive Control. More...

#include <MpcTimeKeeper.h>

Public Member Functions
	MpcTimeKeeper ()
	Standard Constructor MpcTimeKeeper. More...

	MpcTimeKeeper (std::shared_ptr< MpcTimeHorizon< SCALAR >> timeHorizonStrategy, const mpc_settings &mpc_settings)
	Constructor for Mpc Time Keeper class. More...

void	initialize ()
	initialize the Mpc Time Keeper (mandatory) More...

void	computeNewTimings (const SCALAR externalTime, const SCALAR current_T, SCALAR &new_T, SCALAR &t_forw_start, SCALAR &t_forw_stop)
	compute new mpc timings, based on current time horizon and the given time horizon strategy More...

const bool	finalPointReached () const
	query this in order to find out if the final time horizon has been reached. More...

void	updateSettings (const mpc_settings &settings)
	update mpc settings More...

void	startDelayMeasurement (const SCALAR &externalTime)
	start measuring time elapsed during planning / solving the optimal control problem More...

void	stopDelayMeasurement (const SCALAR &externalTime)
	stop measuring time elapsed during solving the optimal control problem More...

SCALAR	timeSincePreviousSuccessfulSolve (const SCALAR &externalTime)
	retrieve the time that elapsed since the last successful solve() call to an Optimal Control Problem More...

const SCALAR	timeSinceFirstSuccessfulSolve (const SCALAR &externalTime)
	retrieve the time that elapsed since the first successful solve() call to an Optimal Control Problem More...

const SCALAR &	getMeasuredDelay () const
	obtain the delay which was measured during solving the optimal control problem More...

const SCALAR &	getMaxMeasuredDelay () const
	get the maximum measured delay (maximum over all cycles) More...

const SCALAR &	getMinMeasuredDelay () const
	get the smallest measured delay (minimum over all cycles) More...

const SCALAR &	getSummedDelay () const
	get the sum of all measured delays More...

Detailed Description

template<typename SCALAR = double>
class ct::optcon::tpl::MpcTimeKeeper< SCALAR >

Time Keeper Class for Model Predictive Control.

uses an internal clock for bookkeeping of times between MPC clycles
this class is based on the assumption that all Optimal Control Problems start at t = 0. All times computed here are expressed as relative times w.r.t. the start of the Optimal Control Problem.
calculates the required shifting times between iterations and due to forward integration (initial state prediction)
update Time Horizons accordingly

Constructor & Destructor Documentation

◆ MpcTimeKeeper() [1/2]

template<typename SCALAR = double>

ct::optcon::tpl::MpcTimeKeeper< SCALAR >::MpcTimeKeeper ( )

inline

Standard Constructor MpcTimeKeeper.

this constructor should not be used by the normal user. Todo: get rid of MpcTimeKeeper default constructor

◆ MpcTimeKeeper() [2/2]

template<typename SCALAR = double>

ct::optcon::tpl::MpcTimeKeeper< SCALAR >::MpcTimeKeeper	(	std::shared_ptr< MpcTimeHorizon< SCALAR >>	timeHorizonStrategy,
		const mpc_settings &	mpc_settings
	)

inline

Constructor for Mpc Time Keeper class.

Parameters

timeHorizonStrategy	the user-specified time horizon strategy, for example fixed time horizon
mpc_settings	the mpc_settings as specified by the user

Member Function Documentation

◆ initialize()

template<typename SCALAR = double>

void ct::optcon::tpl::MpcTimeKeeper< SCALAR >::initialize ( )

inline

initialize the Mpc Time Keeper (mandatory)

resets the TimeKeeper, needs to be called whenever MPC starts over from the beginning.

Referenced by ct::optcon::MPC< OPTCON_SOLVER >::prepareIteration(), and ct::optcon::MPC< OPTCON_SOLVER >::resetMpc().

◆ computeNewTimings()

template<typename SCALAR = double>

void ct::optcon::tpl::MpcTimeKeeper< SCALAR >::computeNewTimings	(	const SCALAR	externalTime,
		const SCALAR	current_T,
		SCALAR &	new_T,
		SCALAR &	t_forw_start,
		SCALAR &	t_forw_stop
	)

inline

compute new mpc timings, based on current time horizon and the given time horizon strategy

Parameters

externalTime	the external timing, optional.
current_T	the currently active problem time horizon
new_T	the new, updated problem time horizon, which gets computed by the time horizon strategy
t_forw_start	time where to start the forward propagation of the state measurement based on delays
t_forw_stop	time where to stop the forward propagation of the state measurement based on delays

estimate the delay from planning, etc.

check for compliance of t_forward_stop and t_forward_start with time horizon of the current controller

Referenced by ct::optcon::MPC< OPTCON_SOLVER >::prepareIteration().

◆ finalPointReached()

template<typename SCALAR = double>

const bool ct::optcon::tpl::MpcTimeKeeper< SCALAR >::finalPointReached ( ) const

inline

query this in order to find out if the final time horizon has been reached.

May be used to trigger corresponding events, such as stopping the control loop.

Returns: bool, true if final time horizon has been reached

Referenced by ct::optcon::MPC< OPTCON_SOLVER >::timeHorizonReached().

◆ updateSettings()

template<typename SCALAR = double>

void ct::optcon::tpl::MpcTimeKeeper< SCALAR >::updateSettings ( const mpc_settings & settings )

inline

update mpc settings

Parameters

settings the new settings to be handed over

Referenced by ct::optcon::MPC< OPTCON_SOLVER >::updateSettings().

◆ startDelayMeasurement()

template<typename SCALAR = double>

void ct::optcon::tpl::MpcTimeKeeper< SCALAR >::startDelayMeasurement ( const SCALAR & externalTime )

inline

start measuring time elapsed during planning / solving the optimal control problem

Referenced by ct::optcon::MPC< OPTCON_SOLVER >::finishIteration().

◆ stopDelayMeasurement()

template<typename SCALAR = double>

void ct::optcon::tpl::MpcTimeKeeper< SCALAR >::stopDelayMeasurement ( const SCALAR & externalTime )

inline

stop measuring time elapsed during solving the optimal control problem

Referenced by ct::optcon::MPC< OPTCON_SOLVER >::finishIteration().

◆ timeSincePreviousSuccessfulSolve()

template<typename SCALAR = double>

SCALAR ct::optcon::tpl::MpcTimeKeeper< SCALAR >::timeSincePreviousSuccessfulSolve ( const SCALAR & externalTime )

inline

retrieve the time that elapsed since the last successful solve() call to an Optimal Control Problem

the returned time can be used to synchronize the calls to optimal control problems

Returns: time elapsed

Referenced by ct::optcon::MPC< OPTCON_SOLVER >::finishIteration().

◆ timeSinceFirstSuccessfulSolve()

template<typename SCALAR = double>

const SCALAR ct::optcon::tpl::MpcTimeKeeper< SCALAR >::timeSinceFirstSuccessfulSolve ( const SCALAR & externalTime )

inline

retrieve the time that elapsed since the first successful solve() call to an Optimal Control Problem

the returned time can be used externally, for example to update cost functions

Returns: time elapsed

Referenced by ct::optcon::MPC< OPTCON_SOLVER >::timeSinceFirstSuccessfulSolve().

◆ getMeasuredDelay()

template<typename SCALAR = double>

const SCALAR& ct::optcon::tpl::MpcTimeKeeper< SCALAR >::getMeasuredDelay ( ) const

inline

obtain the delay which was measured during solving the optimal control problem

Referenced by ct::optcon::MPC< OPTCON_SOLVER >::finishIteration().

◆ getMaxMeasuredDelay()

template<typename SCALAR = double>

const SCALAR& ct::optcon::tpl::MpcTimeKeeper< SCALAR >::getMaxMeasuredDelay ( ) const

inline

get the maximum measured delay (maximum over all cycles)

Referenced by ct::optcon::MPC< OPTCON_SOLVER >::printMpcSummary().

◆ getMinMeasuredDelay()

template<typename SCALAR = double>

const SCALAR& ct::optcon::tpl::MpcTimeKeeper< SCALAR >::getMinMeasuredDelay ( ) const

inline

get the smallest measured delay (minimum over all cycles)

Referenced by ct::optcon::MPC< OPTCON_SOLVER >::printMpcSummary().

◆ getSummedDelay()

template<typename SCALAR = double>

const SCALAR& ct::optcon::tpl::MpcTimeKeeper< SCALAR >::getSummedDelay ( ) const

inline

get the sum of all measured delays

Referenced by ct::optcon::MPC< OPTCON_SOLVER >::printMpcSummary().

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/mpc/MpcTimeKeeper.h

Public Member Functions

Detailed Description

template<typename SCALAR = double> class ct::optcon::tpl::MpcTimeKeeper< SCALAR >

Constructor & Destructor Documentation

◆ MpcTimeKeeper() [1/2]

◆ MpcTimeKeeper() [2/2]

Member Function Documentation

◆ initialize()

◆ computeNewTimings()

◆ finalPointReached()

◆ updateSettings()

◆ startDelayMeasurement()

◆ stopDelayMeasurement()

◆ timeSincePreviousSuccessfulSolve()

◆ timeSinceFirstSuccessfulSolve()

◆ getMeasuredDelay()

◆ getMaxMeasuredDelay()

◆ getMinMeasuredDelay()

◆ getSummedDelay()

template<typename SCALAR = double>
class ct::optcon::tpl::MpcTimeKeeper< SCALAR >