ct::optcon::example Namespace Reference

Namespaces
	tpl

Classes
class	ConstraintTerm1D
	A simple example with an 1d constraint. More...
class	ConstraintTerm2D
	A simple example with a 2d constraint. More...
class	DiehlSystem
	Dynamics class for the Diehl system. More...
class	DiehlSystemLinear
	Linear system class for the Diehl system. More...
class	Dynamics
	Dynamics class for the GNMS unit test, slightly nonlinear dynamics. More...
class	LinearizedSystem
	Linear system class for the GNMS unit test. More...
class	MatFilesGenerator
class	MIMOIntegrator
	Dynamics class for the GNMS unit test. More...
class	MIMOIntegratorLinear
	Linear system class for the GNMS unit test. More...
class	OscDms
class	OscillatorDms
class	PureStateConstraint_Example
	A pure state constraint term. More...
class	SpringLoadedMass
	Dynamics class for the GNMS unit test. More...
class	SpringLoadedMassLinear
	Linear system class for the GNMS unit test. More...
class	StateInputConstraint_Example
	A state input constraint term. More...
class	TestTerm

Typedefs
typedef tpl::LinearOscillator< double >	LinearOscillator
typedef tpl::LinearOscillatorLinear< double >	LinearOscillatorLinear

Functions
	TEST (ConstraintComparison, comparisonAnalyticAD)
	TEST (pureStateConstraintTest, pureStateConstraintTest)
	TEST (stateInputConstraintTest, stateInputConstraintTest)
	TEST (AD_TEST_TIME_VAR, AD_TEST_TIME_VAR)
template<size_t state_dim, size_t control_dim>
void	compareCostFunctionOutput (CostFunctionQuadratic< state_dim, control_dim > &costFunction, CostFunctionQuadratic< state_dim, control_dim > &costFunction2)
	This method is called from different unit tests in order to compare the cost, first and second order gradients of two cost functions. More...
template<size_t state_dim, size_t control_dim>
void	printCostFunctionOutput (CostFunctionQuadratic< state_dim, control_dim > &costFunction, CostFunctionQuadratic< state_dim, control_dim > &costFunction2)
	TEST (CostFunctionTest, ADQuadraticTest)
	TEST (CostFunctionTest, ADQuadMultTest)
	TEST (CostFunctionTest, TrackingTermTest)
	TEST (CostFunctionTest, TermSmoothAbsTest)
	TEST (LoadCostFromFileTest, LoadAnalyticalDirect)
	Test case: trying to load analytical cost function directly from file. More...
	TEST (LoadCostFromFileTest, LoadAnalyticalViaTerms)
	Test case: trying to load analytical cost terms separately and then add them cost function. More...
	TEST (LoadCostFromFileTest, LoadADViaTerms)
	Test case: trying to load AD cost terms separately and then add them to the cost function. More...
	TEST (LoadCostFromFileTest, LoadADDirect1)
	Test case: trying to load AD cost directly, but calling standard constructor first. More...
	TEST (LoadCostFromFileTest, LoadADDirect2)
	Test case: trying to load AD cost directly. More...
	TEST (DmsTest, OscDmsTest)
	TEST (DmsTest, OscillatorDmsTestAllVariants)
	TEST (LQRTest, DARETest)
	TEST (LQRTest, quadTest)
	TEST (MPCTestA, ForwardIntegratorTest)
	TEST (MPCTestB, NLOC_MPC_DoublePrecision)
	TEST (LinearSystemsSolverComparison, LinearSystemsSolverComparison)
	TEST (LinearSystemsTest, NLOCSolverTest)
	TEST (ILQRTestA, InstancesComparison)
	TEST (ILQRTestB, MultiThreadingTest)
	TEST (ILQRTestC, PolicyComparison)
	TEST (NLOCTest, NonlinearSystemAlgorithmComparison)
std::shared_ptr< CostFunctionQuadratic< state_dim, control_dim > >	createCostFunction (Eigen::Vector2d &x_final)
	Create a cost function for the GNMS unit test. More...
void	symplecticTest ()
	TEST (SystemInterfaceTest, ContinuousSystemInterface)
	TEST (SystemInterfaceTest, DiscreteSystemInterface)
std::shared_ptr< CostFunctionQuadratic< 1, 1 > >	createDiehlCostFunction (const core::StateVector< 1 > &x_final)
	create a cost function of appropriate Dimensions for the Diehl system More...
template<size_t state_dim, size_t control_dim>
std::shared_ptr< CostFunctionQuadratic< state_dim, control_dim > >	createMIMOIntegratorCostFunction (const core::StateVector< state_dim > &x_final)
std::shared_ptr< CostFunctionQuadratic< 2, 1 > >	createSpringLoadedMassCostFunction (const core::StateVector< 2 > &x_final)

Variables
const bool	verbose = true
const size_t	state_dim = 3
const size_t	control_dim = 3
const double	kStiffness = 1

Typedef Documentation

LinearOscillator

typedef tpl::LinearOscillator<double> ct::optcon::example::LinearOscillator

Examples:

LinearSystemTest.h.

LinearOscillatorLinear

typedef tpl::LinearOscillatorLinear<double> ct::optcon::example::LinearOscillatorLinear

Examples:

LinearSystemTest.h.

Function Documentation

TEST() [1/27]

ct::optcon::example::TEST	(	ConstraintComparison	,
		comparisonAnalyticAD
	)

Examples:

ConstraintComparison.h, ConstraintTest.h, LinearSystemTest.h, LqrTest.h, NonlinearSystemTest.h, oscDMSTest.cpp, and oscDMSTestAllVariants.cpp.

Referenced by TEST().

TEST() [2/27]

ct::optcon::example::TEST	(	pureStateConstraintTest	,
		pureStateConstraintTest
	)

References i.

TEST() [3/27]

ct::optcon::example::TEST	(	stateInputConstraintTest	,
		stateInputConstraintTest
	)

TEST() [4/27]

ct::optcon::example::TEST	(	AD_TEST_TIME_VAR	,
		AD_TEST_TIME_VAR
	)

References t, u, and x.

compareCostFunctionOutput()

template<size_t state_dim, size_t control_dim>

void ct::optcon::example::compareCostFunctionOutput	(	CostFunctionQuadratic< state_dim, control_dim > &	costFunction,
		CostFunctionQuadratic< state_dim, control_dim > &	costFunction2
	)

This method is called from different unit tests in order to compare the cost, first and second order gradients of two cost functions.

Parameters

costFunction	the first cost function to be compared
costFunction2	the second cost function to be compared

References ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::controlDerivativeIntermediate(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::controlDerivativeTerminal(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::controlSecondDerivativeIntermediate(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::controlSecondDerivativeTerminal(), ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateIntermediate(), ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateTerminal(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateControlDerivativeIntermediate(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateControlDerivativeTerminal(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateDerivativeIntermediate(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateDerivativeTerminal(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateSecondDerivativeIntermediate(), and ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateSecondDerivativeTerminal().

Referenced by TEST().

printCostFunctionOutput()

template<size_t state_dim, size_t control_dim>

void ct::optcon::example::printCostFunctionOutput	(	CostFunctionQuadratic< state_dim, control_dim > &	costFunction,
		CostFunctionQuadratic< state_dim, control_dim > &	costFunction2
	)

References ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::controlDerivativeIntermediate(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::controlDerivativeTerminal(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::controlSecondDerivativeIntermediate(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::controlSecondDerivativeTerminal(), ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateIntermediate(), ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateTerminal(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateControlDerivativeIntermediate(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateControlDerivativeTerminal(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateDerivativeIntermediate(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateDerivativeTerminal(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateSecondDerivativeIntermediate(), and ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateSecondDerivativeTerminal().

TEST() [5/27]

ct::optcon::example::TEST	(	CostFunctionTest	,
		ADQuadraticTest
	)

References ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::addFinalTerm(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::addIntermediateTerm(), compareCostFunctionOutput(), ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::controlDerivativeIntermediate(), ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::controlSecondDerivativeIntermediate(), i, ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::setCurrentStateAndControl(), ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::stateDerivativeIntermediate(), ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::stateDerivativeTerminal(), ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::stateSecondDerivativeIntermediate(), ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::stateSecondDerivativeTerminal(), u, and x.

TEST() [6/27]

ct::optcon::example::TEST	(	CostFunctionTest	,
		ADQuadMultTest
	)

References ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::addIntermediateTerm(), compareCostFunctionOutput(), i, ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::setCurrentStateAndControl(), t, u, and x.

TEST() [7/27]

ct::optcon::example::TEST	(	CostFunctionTest	,
		TrackingTermTest
	)

References control_dim, i, ct::core::DiscreteTrajectoryBase< T, Alloc, SCALAR >::push_back(), state_dim, t, u, and x.

TEST() [8/27]

ct::optcon::example::TEST	(	CostFunctionTest	,
		TermSmoothAbsTest
	)

Test the TermSmoothAbs term for first and second order derivatives

References compareCostFunctionOutput(), control_dim, i, state_dim, t, u, and x.

TEST() [9/27]

ct::optcon::example::TEST	(	LoadCostFromFileTest	,
		LoadAnalyticalDirect
	)

Test case: trying to load analytical cost function directly from file.

References costFunctionFile, t, and verbose.

TEST() [10/27]

ct::optcon::example::TEST	(	LoadCostFromFileTest	,
		LoadAnalyticalViaTerms
	)

Test case: trying to load analytical cost terms separately and then add them cost function.

References costFunctionFile, t, and verbose.

TEST() [11/27]

ct::optcon::example::TEST	(	LoadCostFromFileTest	,
		LoadADViaTerms
	)

Test case: trying to load AD cost terms separately and then add them to the cost function.

References costFunctionFile, t, and verbose.

TEST() [12/27]

ct::optcon::example::TEST	(	LoadCostFromFileTest	,
		LoadADDirect1
	)

Test case: trying to load AD cost directly, but calling standard constructor first.

References costFunctionFile, t, and verbose.

TEST() [13/27]

ct::optcon::example::TEST	(	LoadCostFromFileTest	,
		LoadADDirect2
	)

Test case: trying to load AD cost directly.

References costFunctionFile, t, and verbose.

TEST() [14/27]

ct::optcon::example::TEST	(	DmsTest	,
		OscDmsTest
	)

References ct::optcon::example::OscDms::compareIpoptSolutions(), ct::optcon::example::OscDms::compareSnoptSolutions(), ct::optcon::example::OscDms::getIpoptMatlabTrajectories(), ct::optcon::example::OscDms::getIpoptSolution(), ct::optcon::example::OscDms::getSnoptMatlabTrajectories(), ct::optcon::example::OscDms::getSnoptSolution(), and ct::optcon::example::OscDms::initialize().

TEST() [15/27]

ct::optcon::example::TEST	(	DmsTest	,
		OscillatorDmsTestAllVariants
	)

References ct::optcon::DmsSettings::absErrTol_, ct::optcon::DmsSettings::costEvaluationType_, ct::optcon::DmsSettings::dt_sim_, ct::optcon::example::OscillatorDms::getSolution(), ct::optcon::DmsSettings::h_min_, ct::optcon::example::OscillatorDms::initialize(), ct::optcon::DmsSettings::integrationType_, ct::optcon::IPOPT, ct::optcon::DmsSettings::N_, ct::optcon::DmsSettings::nThreads_, ct::optcon::DmsSettings::objectiveType_, ct::optcon::DmsSettings::relErrTol_, ct::optcon::DmsSettings::RK4, ct::optcon::SNOPT, ct::optcon::DmsSettings::solverSettings_, ct::optcon::NlpSolverSettings::solverType_, ct::optcon::DmsSettings::splineType_, and ct::optcon::DmsSettings::T_.

TEST() [16/27]

ct::optcon::example::TEST	(	LQRTest	,
		DARETest
	)

References ct::optcon::DARE< STATE_DIM, CONTROL_DIM, SCALAR >::computeSteadyStateRiccatiMatrix().

TEST() [17/27]

ct::optcon::example::TEST	(	LQRTest	,
		quadTest
	)

References ct::optcon::LQR< STATE_DIM, CONTROL_DIM >::compute(), i, and TEST().

TEST() [18/27]

ct::optcon::example::TEST	(	MPCTestA	,
		ForwardIntegratorTest
	)

Test the MPC forward integrator

required for this test

Run the first MPC cycle, in which the pre-integrator should not be active at all. after one mpc cycle the solution must still be the same (time horizon unchanged, state unchanged)

Test the forward integration scheme employing a 'custom controller'. In this test,

• we select the custom controller to be equal to the previously optimized policy
• we integrate systematically across shifting time intervals
• the integrated solutions need to match the original trajectories with numerical accuracy.

Warning

This test is only reasonnable for dt_sim = 1, and is generally problematic since the solver's forward integration is implemented step-wise.

References ct::optcon::NLOptConSettings::computeK(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::configure(), ct::optcon::NLOptConSettings::discretization, ct::optcon::MPC< OPTCON_SOLVER >::doForwardIntegration(), ct::optcon::NLOptConSettings::dt, ct::optcon::MPC< OPTCON_SOLVER >::finishIteration(), ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::getFeedforwardTrajectory(), ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::getReferenceStateTrajectory(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getSolution(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getStateTrajectory(), i, ct::optcon::NLOptConSettings::integrator, ct::optcon::NLOptConSettings::K_sim, ct::optcon::NLOptConSettings::lqocp_solver, ct::optcon::NLOptConSettings::max_iterations, ct::optcon::NLOptConSettings::nlocp_algorithm, ct::optcon::mpc_settings::postTruncation_, ct::optcon::MPC< OPTCON_SOLVER >::prepareIteration(), ct::optcon::NLOptConSettings::printSummary, ct::optcon::MPC< OPTCON_SOLVER >::setInitialGuess(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::setInitialGuess(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::solve(), ct::optcon::mpc_settings::stateForwardIntegration_, ct::optcon::mpc_settings::stateForwardIntegration_dt_, ct::optcon::mpc_settings::stateForwardIntegratorType_, t, timeHorizon, ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::uff(), and x0.

TEST() [19/27]

ct::optcon::example::TEST	(	MPCTestB	,
		NLOC_MPC_DoublePrecision
	)

References ct::optcon::mpc_settings::additionalDelayUs_, ct::optcon::mpc_settings::coldStart_, ct::optcon::NLOptConSettings::computeK(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::configure(), ct::optcon::NLOptConSettings::debugPrint, ct::optcon::mpc_settings::delayMeasurementMultiplier_, ct::optcon::NLOptConSettings::discretization, ct::optcon::NLOptConSettings::dt, ct::core::DiscreteTrajectoryBase< T, Alloc, SCALAR >::eval(), ct::optcon::MPC< OPTCON_SOLVER >::finishIteration(), ct::optcon::FIXED_FINAL_TIME, ct::optcon::mpc_settings::fixedDelayUs_, ct::core::DiscreteTrajectoryBase< T, Alloc, SCALAR >::front(), ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >::getReferenceStateTrajectory(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getSolution(), i, ct::optcon::NLOptConSettings::integrator, ct::optcon::NLOptConSettings::K_shot, ct::optcon::NLOptConSettings::K_sim, ct::optcon::NLOptConSettings::lineSearchSettings, ct::optcon::NLOptConSettings::lqocp_solver, ct::optcon::NLOptConSettings::max_iterations, ct::optcon::mpc_settings::measureDelay_, ct::optcon::NLOptConSettings::min_cost_improvement, ct::optcon::mpc_settings::mpc_mode, ct::optcon::NLOptConSettings::nlocp_algorithm, ct::optcon::NLOptConSettings::nThreads, ct::optcon::NLOptConSettings::nThreadsEigen, ct::optcon::mpc_settings::postTruncation_, ct::optcon::MPC< OPTCON_SOLVER >::prepareIteration(), ct::optcon::MPC< OPTCON_SOLVER >::printMpcSummary(), ct::optcon::NLOptConSettings::printSummary, ct::optcon::MPC< OPTCON_SOLVER >::setInitialGuess(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::setInitialGuess(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::solve(), ct::optcon::mpc_settings::stateForwardIntegration_, ct::optcon::mpc_settings::stateForwardIntegration_dt_, ct::optcon::mpc_settings::stateForwardIntegratorType_, t, timeHorizon, ct::optcon::MPC< OPTCON_SOLVER >::timeHorizonReached(), ct::optcon::LineSearchSettings::type, ct::optcon::mpc_settings::useExternalTiming_, and x0.

TEST() [20/27]

ct::optcon::example::TEST	(	LinearSystemsSolverComparison	,
		LinearSystemsSolverComparison
	)

This unit test considers a variety of different solver/algorithm options for NLOC, and explicitly compares HPIPM and GNRiccati solvers against each other.

run two iterations to solve LQ problem

run two iterations to solve LQ problem

retrieve summaries

check that all logs from both solvers are identical

References ct::optcon::NLOptConSettings::computeK(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::configure(), control_dim, SummaryAllIterations< SCALAR >::defect_l1_norms, SummaryAllIterations< SCALAR >::defect_l2_norms, ct::optcon::NLOptConSettings::discretization, ct::optcon::NLOptConSettings::dt, ct::optcon::NLOptConSettings::epsilon, ct::optcon::NLOptConSettings::fixedHessianCorrection, ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getBackend(), ct::optcon::NLOptConSettings::integrator, ct::optcon::NLOptConSettings::K_shot, ct::optcon::NLOptConSettings::K_sim, kStiffness, ct::optcon::NLOptConSettings::lineSearchSettings, ct::optcon::NLOptConSettings::lqocp_solver, SummaryAllIterations< SCALAR >::lu_norms, SummaryAllIterations< SCALAR >::lx_norms, SummaryAllIterations< SCALAR >::merits, ct::optcon::NLOptConSettings::nlocp_algorithm, ct::optcon::NLOptConSettings::nThreads, ct::optcon::NLOptConSettings::printSummary, ct::optcon::NLOptConSettings::recordSmallestEigenvalue, ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::runIteration(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::setInitialGuess(), state_dim, ct::optcon::LineSearchSettings::type, ct::optcon::NLOptConSettings::useSensitivityIntegrator, and x0.

TEST() [21/27]

ct::optcon::example::TEST	(	LinearSystemsTest	,
		NLOCSolverTest
	)

run two iterations to solve LQ problem

retrieve summary of the optimization

check that the policy improved in the first iteration

check that we are converged after the first iteration

References ct::optcon::NLOptConSettings::computeK(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::configure(), control_dim, SummaryAllIterations< SCALAR >::defect_l1_norms, SummaryAllIterations< SCALAR >::defect_l2_norms, ct::optcon::NLOptConSettings::discretization, ct::optcon::NLOptConSettings::dt, ct::optcon::NLOptConSettings::epsilon, ct::optcon::NLOptConSettings::fixedHessianCorrection, ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getBackend(), ct::optcon::NLOptConSettings::integrator, ct::optcon::NLOptConSettings::K_shot, ct::optcon::NLOptConSettings::K_sim, kStiffness, ct::optcon::NLOptConSettings::lineSearchSettings, ct::optcon::NLOptConSettings::lqocp_solver, SummaryAllIterations< SCALAR >::lu_norms, SummaryAllIterations< SCALAR >::lx_norms, ct::optcon::NLOptConSettings::nlocp_algorithm, ct::optcon::NLOptConSettings::nThreads, ct::optcon::NLOptConSettings::printSummary, ct::optcon::NLOptConSettings::recordSmallestEigenvalue, ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::runIteration(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::setInitialGuess(), state_dim, ct::optcon::LineSearchSettings::type, ct::optcon::NLOptConSettings::useSensitivityIntegrator, and x0.

TEST() [22/27]

ct::optcon::example::TEST	(	ILQRTestA	,
		InstancesComparison
	)

check that if retrieving solution now, we exactly get back the init guess.

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::configure(), costFunctionFile, ct::optcon::LineSearchSettings::debugPrint, ct::optcon::NLOptConSettings::debugPrint, ct::optcon::NLOptConSettings::discretization, ct::optcon::NLOptConSettings::dt, ct::optcon::NLOptConSettings::epsilon, ct::optcon::NLOptConSettings::fixedHessianCorrection, ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getSolution(), i, ct::optcon::NLOptConSettings::integrator, ct::optcon::NLOptConSettings::K_shot, ct::optcon::NLOptConSettings::K_sim, ct::optcon::NLOptConSettings::lineSearchSettings, ct::optcon::NLOptConSettings::lqocp_solver, ct::optcon::NLOptConSettings::max_iterations, ct::optcon::NLOptConSettings::min_cost_improvement, ct::optcon::NLOptConSettings::nlocp_algorithm, ct::optcon::NLOptConSettings::nThreads, ct::optcon::NLOptConSettings::printSummary, ct::optcon::NLOptConSettings::recordSmallestEigenvalue, ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::setInitialGuess(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::solve(), ct::optcon::LineSearchSettings::type, and x0.

TEST() [23/27]

ct::optcon::example::TEST	(	ILQRTestB	,
		MultiThreadingTest
	)

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::configure(), costFunctionFile, ct::optcon::NLOptConSettings::discretization, ct::optcon::NLOptConSettings::dt, ct::optcon::NLOptConSettings::epsilon, ct::optcon::NLOptConSettings::fixedHessianCorrection, ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getBackend(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getControlTrajectory(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getStateTrajectory(), i, ct::optcon::NLOptConSettings::integrator, ct::optcon::NLOptConSettings::lineSearchSettings, ct::optcon::NLOptConSettings::lqocp_solver, ct::optcon::NLOptConSettings::max_iterations, ct::optcon::NLOptConSettings::min_cost_improvement, ct::optcon::NLOptConSettings::nlocp_algorithm, ct::optcon::NLOptConSettings::nThreads, ct::optcon::NLOptConSettings::printSummary, ct::optcon::NLOptConSettings::recordSmallestEigenvalue, ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::runIteration(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::setInitialGuess(), ct::core::DiscreteTrajectoryBase< T, Alloc, SCALAR >::size(), ct::optcon::LineSearchSettings::type, and x0.

TEST() [24/27]

ct::optcon::example::TEST	(	ILQRTestC	,
		PolicyComparison
	)

References ct::core::DiscreteTrajectoryBase< T, Alloc, SCALAR >::back(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::configure(), costFunctionFile, ct::optcon::NLOptConSettings::discretization, ct::optcon::NLOptConSettings::dt, ct::optcon::NLOptConSettings::epsilon, ct::optcon::NLOptConSettings::fixedHessianCorrection, ct::optcon::NLOptConSettings::getSimulationTimestep(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getSolution(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getStateTrajectory(), i, ct::core::Integrator< STATE_DIM, SCALAR >::integrate_n_steps(), ct::optcon::NLOptConSettings::integrator, ct::optcon::NLOptConSettings::lineSearchSettings, ct::optcon::NLOptConSettings::lqocp_solver, ct::optcon::NLOptConSettings::max_iterations, ct::optcon::NLOptConSettings::min_cost_improvement, ct::optcon::NLOptConSettings::nlocp_algorithm, ct::optcon::NLOptConSettings::nThreads, ct::optcon::NLOptConSettings::printSummary, ct::optcon::NLOptConSettings::recordSmallestEigenvalue, ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::runIteration(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::setInitialGuess(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::solve(), ct::optcon::LineSearchSettings::type, and x0.

TEST() [25/27]

ct::optcon::example::TEST	(	NLOCTest	,
		NonlinearSystemAlgorithmComparison
	)

References ct::optcon::NLOptConSettings::computeK(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::configure(), costFunctionFile, ct::optcon::NLOptConSettings::dt, ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getControlTrajectory(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getStateTrajectory(), i, ct::optcon::NLOptConSettings::load(), ct::core::loadMatrix(), ct::core::loadScalar(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::setInitialGuess(), ct::core::DiscreteTrajectoryBase< T, Alloc, SCALAR >::size(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::solve(), and x0.

createCostFunction()

std::shared_ptr<CostFunctionQuadratic<state_dim, control_dim> > ct::optcon::example::createCostFunction

(

Eigen::Vector2d &

x_final

)

Create a cost function for the GNMS unit test.

Examples:

SymplecticTest.h.

Referenced by symplecticTest().

symplecticTest()

void ct::optcon::example::symplecticTest

(

)

Examples:

SymplecticTest.h.

References ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::configure(), control_dim, createCostFunction(), ct::optcon::NLOptConSettings::dt, ct::optcon::NLOptConSettings::epsilon, ct::optcon::NLOptConSettings::fixedHessianCorrection, ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getControlTrajectory(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::getStateTrajectory(), i, ct::optcon::NLOptConSettings::integrator, ct::optcon::NLOptConSettings::K_shot, ct::optcon::NLOptConSettings::K_sim, ct::optcon::NLOptConSettings::lineSearchSettings, ct::optcon::NLOptConSettings::loggingPrefix, ct::optcon::NLOptConSettings::lqocp_solver, ct::optcon::NLOptConSettings::max_iterations, ct::optcon::NLOptConSettings::min_cost_improvement, ct::optcon::NLOptConSettings::nlocp_algorithm, ct::optcon::NLOptConSettings::nThreads, ct::optcon::NLOptConSettings::printSummary, ct::optcon::NLOptConSettings::recordSmallestEigenvalue, ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::runIteration(), ct::optcon::NLOptConSolver< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::setInitialGuess(), state_dim, ct::optcon::LineSearchSettings::type, ct::optcon::NLOptConSettings::useSensitivityIntegrator, and x0.

Referenced by main().

TEST() [26/27]

ct::optcon::example::TEST	(	SystemInterfaceTest	,
		ContinuousSystemInterface
	)

References control_dim, ct::optcon::NLOptConSettings::discretization, ct::optcon::NLOptConSettings::dt, ct::optcon::NLOptConSettings::getSimulationTimestep(), i, ct::optcon::NLOptConSettings::integrator, ct::optcon::NLOptConSettings::K_sim, state_dim, ct::optcon::NLOptConSettings::timeVaryingDiscretization, and ct::optcon::NLOptConSettings::useSensitivityIntegrator.

TEST() [27/27]

ct::optcon::example::TEST	(	SystemInterfaceTest	,
		DiscreteSystemInterface
	)

createDiehlCostFunction()

std::shared_ptr<CostFunctionQuadratic<1, 1> > ct::optcon::example::createDiehlCostFunction

(

const core::StateVector< 1 > &

x_final

)

create a cost function of appropriate Dimensions for the Diehl system

createMIMOIntegratorCostFunction()

template<size_t state_dim, size_t control_dim>

std::shared_ptr<CostFunctionQuadratic<state_dim, control_dim> > ct::optcon::example::createMIMOIntegratorCostFunction

(

const core::StateVector< state_dim > &

x_final

)

createSpringLoadedMassCostFunction()

std::shared_ptr<CostFunctionQuadratic<2, 1> > ct::optcon::example::createSpringLoadedMassCostFunction

(

const core::StateVector< 2 > &

x_final

)

Referenced by TEST().

Variable Documentation

verbose

const bool ct::optcon::example::verbose = true

Examples:

ConstraintComparison.h, ConstraintTest.h, NLOC.cpp, NLOC_boxConstrained.cpp, NLOC_generalConstrained.cpp, NLOC_MPC.cpp, and switched_continuous_optcon.cpp.

Referenced by ct::optcon::addADTerm(), ct::optcon::addTerm(), ct::optcon::OptConSolver< DmsSolver< STATE_DIM, CONTROL_DIM, SCALAR >, DmsPolicy< STATE_DIM, CONTROL_DIM, SCALAR >, DmsSettings, STATE_DIM, CONTROL_DIM, SCALAR >::configureFromFile(), ct::optcon::LineSearchSettings::load(), ct::optcon::DmsSettings::load(), ct::optcon::LQOCSolverSettings::load(), ct::optcon::NlpSolverSettings::load(), ct::optcon::NLOptConSettings::load(), main(), TEST(), TEST(), and ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::~CostFunctionQuadratic().

state_dim

const size_t ct::optcon::example::state_dim = 3

Examples:

ConstraintComparison.h, ConstraintTest.h, LinearSystemTest.h, and SymplecticTest.h.

Referenced by ct::optcon::example::MIMOIntegrator< state_dim, control_dim >::computeControlledDynamics(), symplecticTest(), and TEST().

control_dim

const size_t ct::optcon::example::control_dim = 3

Examples:

ConstraintComparison.h, ConstraintTest.h, LinearSystemTest.h, and SymplecticTest.h.

Referenced by ct::optcon::example::MIMOIntegrator< state_dim, control_dim >::computeControlledDynamics(), symplecticTest(), and TEST().

kStiffness

const double ct::optcon::example::kStiffness = 1

Examples:

LinearSystemTest.h, and SymplecticTest.h.

Referenced by ct::optcon::example::tpl::LinearOscillatorLinear< SCALAR >::getDerivativeState(), ct::optcon::example::LinearizedSystem::getDerivativeState(), and TEST().