#include <TimeGrid.h>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	TimeGrid ()=delete

	TimeGrid (const size_t numberOfShots, const SCALAR timeHorizon)
	Custom constructor. More...

void	changeShotCount (const size_t numberOfShots)
	Updates the timegrid when the number of shots changes. More...

void	changeTimeHorizon (const SCALAR timeHorizon)
	Updates the timegrid when the timehorizon changes. More...

void	updateTimeGrid (const Eigen::Matrix< SCALAR, Eigen::Dynamic, 1 > &h_segment)
	This method updates the timegrid when new optimized time segments arrive from the nlp solver. Only gets called when using timegrid optimization, otherwise the timegrid stays fixed. More...

void	makeUniformGrid ()
	Creates a uniform timegrid. More...

const SCALAR	getShotStartTime (const size_t shot_index) const
	Returns to start time of a shot. More...

const SCALAR	getShotEndTime (const size_t shot_index) const
	Returns the end time of a shot. More...

const SCALAR	getShotDuration (const size_t shot_index) const
	Returns to duration of a shot. More...

const ct::core::tpl::TimeArray< SCALAR > &	toImplementation ()
	Returns the underlying TimeArray. More...

const SCALAR	getTimeHorizon () const
	Returns the initial timehorizon of the problem. More...

const SCALAR	getOptimizedTimeHorizon () const
	Returns the optimized timehorizon. More...

Detailed Description

template<typename SCALAR>
class ct::optcon::tpl::TimeGrid< SCALAR >

This class describes the time-grid underlying the shots in the dms problem In total, we have N+1 pairs of (s_i, q_i) and N shots between them.

We assume that starting time t_0 = 0.0 [sec]

Constructor & Destructor Documentation

◆ TimeGrid() [1/2]

template<typename SCALAR >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW ct::optcon::tpl::TimeGrid< SCALAR >::TimeGrid ( )

delete

◆ TimeGrid() [2/2]

template<typename SCALAR >

ct::optcon::tpl::TimeGrid< SCALAR >::TimeGrid	(	const size_t	numberOfShots,
		const SCALAR	timeHorizon
	)

inline

Custom constructor.

Parameters

[in]	numberOfShots	The number of shots
[in]	timeHorizon	The dms time horizon

References ct::optcon::tpl::TimeGrid< SCALAR >::makeUniformGrid().

Member Function Documentation

◆ changeShotCount()

template<typename SCALAR >

void ct::optcon::tpl::TimeGrid< SCALAR >::changeShotCount ( const size_t numberOfShots )

inline

Updates the timegrid when the number of shots changes.

Parameters

[in] numberOfShots The new number of shots

References ct::optcon::tpl::TimeGrid< SCALAR >::makeUniformGrid().

◆ changeTimeHorizon()

template<typename SCALAR >

void ct::optcon::tpl::TimeGrid< SCALAR >::changeTimeHorizon ( const SCALAR timeHorizon )

inline

Updates the timegrid when the timehorizon changes.

Parameters

[in] timeHorizon The new time horizon

References ct::optcon::tpl::TimeGrid< SCALAR >::makeUniformGrid(), and timeHorizon.

◆ updateTimeGrid()

template<typename SCALAR >

void ct::optcon::tpl::TimeGrid< SCALAR >::updateTimeGrid ( const Eigen::Matrix< SCALAR, Eigen::Dynamic, 1 > & h_segment )

inline

This method updates the timegrid when new optimized time segments arrive from the nlp solver. Only gets called when using timegrid optimization, otherwise the timegrid stays fixed.

Parameters

[in] h_segment The vector of the new optimized time segments

References i.

◆ makeUniformGrid()

template<typename SCALAR >

void ct::optcon::tpl::TimeGrid< SCALAR >::makeUniformGrid ( )

inline

Creates a uniform timegrid.

References i.

Referenced by ct::optcon::tpl::TimeGrid< SCALAR >::changeShotCount(), ct::optcon::tpl::TimeGrid< SCALAR >::changeTimeHorizon(), and ct::optcon::tpl::TimeGrid< SCALAR >::TimeGrid().

◆ getShotStartTime()

template<typename SCALAR >

const SCALAR ct::optcon::tpl::TimeGrid< SCALAR >::getShotStartTime ( const size_t shot_index ) const

inline

Returns to start time of a shot.

Parameters

[in] shot_index The shot number

Returns: The start time

◆ getShotEndTime()

template<typename SCALAR >

const SCALAR ct::optcon::tpl::TimeGrid< SCALAR >::getShotEndTime ( const size_t shot_index ) const

inline

Returns the end time of a shot.

Parameters

[in] shot_index The shot number

Returns: The end time

◆ getShotDuration()

template<typename SCALAR >

const SCALAR ct::optcon::tpl::TimeGrid< SCALAR >::getShotDuration ( const size_t shot_index ) const

inline

Returns to duration of a shot.

Parameters

[in] shot_index The shot index

Returns: The duration

◆ toImplementation()

template<typename SCALAR >

const ct::core::tpl::TimeArray<SCALAR>& ct::optcon::tpl::TimeGrid< SCALAR >::toImplementation ( )

inline

Returns the underlying TimeArray.

Returns: The underlying TimeArray

◆ getTimeHorizon()

template<typename SCALAR >

const SCALAR ct::optcon::tpl::TimeGrid< SCALAR >::getTimeHorizon ( ) const

inline

Returns the initial timehorizon of the problem.

Returns: The initial time horizon

◆ getOptimizedTimeHorizon()

template<typename SCALAR >

const SCALAR ct::optcon::tpl::TimeGrid< SCALAR >::getOptimizedTimeHorizon ( ) const

inline

Returns the optimized timehorizon.

Returns: The optimized timehorizon

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/dms/dms_core/TimeGrid.h

Public Member Functions

Detailed Description

template<typename SCALAR> class ct::optcon::tpl::TimeGrid< SCALAR >

Constructor & Destructor Documentation

◆ TimeGrid() [1/2]

◆ TimeGrid() [2/2]

Member Function Documentation

◆ changeShotCount()

◆ changeTimeHorizon()

◆ updateTimeGrid()

◆ makeUniformGrid()

◆ getShotStartTime()

◆ getShotEndTime()

◆ getShotDuration()

◆ toImplementation()

◆ getTimeHorizon()

◆ getOptimizedTimeHorizon()

template<typename SCALAR>
class ct::optcon::tpl::TimeGrid< SCALAR >