Direct multiple shooting method of the optimal control problems. More...

#include <direct_multiple_shooting.hpp>

Public Member Functions
	DirectMultipleShooting (const OCP &ocp, const int nthreads)
	Construct the direct multiple shooting method. More...

	DirectMultipleShooting ()
	Default constructor. More...

	~DirectMultipleShooting ()=default
	Default destructor. More...

	DirectMultipleShooting (const DirectMultipleShooting &)=default
	Default copy constructor. More...

DirectMultipleShooting &	operator= (const DirectMultipleShooting &)=default
	Default copy assign operator. More...

	DirectMultipleShooting (DirectMultipleShooting &&) noexcept=default
	Default move constructor. More...

DirectMultipleShooting &	operator= (DirectMultipleShooting &&) noexcept=default
	Default move assign operator. More...

void	setNumThreads (const int nthreads)
	Sets the number of threads of the parallel computations. More...

void	initConstraints (aligned_vector< Robot > &robots, const TimeDiscretization &time_discretization, const Solution &s)
	Initializes the priaml-dual interior point method for inequality constraints. More...

bool	isFeasible (aligned_vector< Robot > &robots, const TimeDiscretization &time_discretization, const Solution &s)
	Checks whether the solution is feasible under inequality constraints. More...

void	evalOCP (aligned_vector< Robot > &robots, const TimeDiscretization &time_discretization, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Solution &s, KKTResidual &kkt_residual)
	Computes the cost and constraint violations. More...

void	evalKKT (aligned_vector< Robot > &robots, const TimeDiscretization &time_discretization, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Solution &s, KKTMatrix &kkt_matrix, KKTResidual &kkt_residual)
	Computes the KKT residual and matrix. More...

void	computeInitialStateDirection (const Robot &robot, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Solution &s, Direction &d) const
	Computes the initial state direction. More...

const PerformanceIndex &	getEval () const
	Gets the performance index of the evaluation. More...

void	computeStepSizes (const TimeDiscretization &time_discretization, Direction &d)
	Computes the step sizes via the fraction-to-boundary-rule. More...

double	maxPrimalStepSize () const
	Gets the maximum primal step size of the fraction-to-boundary-rule. More...

double	maxDualStepSize () const
	Gets the maximum dual step size of the fraction-to-boundary-rule. More...

void	integrateSolution (const aligned_vector< Robot > &robots, const TimeDiscretization &time_discretization, const double primal_step_size, const double dual_step_size, Direction &d, Solution &s)
	Integrates the solution. More...

void	integratePrimalSolution (const aligned_vector< Robot > &robots, const TimeDiscretization &time_discretization, const double primal_step_size, const Direction &d, Solution &s)
	Integrates the primal solution. More...

void	resizeData (const TimeDiscretization &time_discretization)
	Resizes the internal data. More...

Detailed Description

Direct multiple shooting method of the optimal control problems.

Constructor & Destructor Documentation

◆ DirectMultipleShooting() [1/4]

robotoc::DirectMultipleShooting::DirectMultipleShooting	(	const OCP &	ocp,
		const int	nthreads
	)

Construct the direct multiple shooting method.

Parameters

[in]	ocp	Optimal control problem.
[in]	nthreads	Number of the threads of the parallel computations. Must be positive.

◆ DirectMultipleShooting() [2/4]

robotoc::DirectMultipleShooting::DirectMultipleShooting ( )

Default constructor.

◆ ~DirectMultipleShooting()

robotoc::DirectMultipleShooting::~DirectMultipleShooting ( )

default

Default destructor.

◆ DirectMultipleShooting() [3/4]

robotoc::DirectMultipleShooting::DirectMultipleShooting ( const DirectMultipleShooting & )

default

Default copy constructor.

◆ DirectMultipleShooting() [4/4]

robotoc::DirectMultipleShooting::DirectMultipleShooting ( DirectMultipleShooting && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ computeInitialStateDirection()

void robotoc::DirectMultipleShooting::computeInitialStateDirection	(	const Robot &	robot,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v,
		const Solution &	s,
		Direction &	d
	)		const

Computes the initial state direction.

Parameters

[in]	robot	Robot model.
[in]	q	Initial configuration.
[in]	v	Initial generalized velocity.
[in]	s	Solution.
[in,out]	d	Direction.

◆ computeStepSizes()

void robotoc::DirectMultipleShooting::computeStepSizes	(	const TimeDiscretization &	time_discretization,
		Direction &	d
	)

Computes the step sizes via the fraction-to-boundary-rule.

Parameters

[in]	time_discretization	Time discretization.
[in,out]	d	Direction.

◆ evalKKT()

void robotoc::DirectMultipleShooting::evalKKT	(	aligned_vector< Robot > &	robots,
		const TimeDiscretization &	time_discretization,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v,
		const Solution &	s,
		KKTMatrix &	kkt_matrix,
		KKTResidual &	kkt_residual
	)

Computes the KKT residual and matrix.

Parameters

[in,out]	robots	aligned_vector of Robot for paralle computing.
[in]	time_discretization	Time discretization.
[in]	q	Initial configuration.
[in]	v	Initial generalized velocity.
[in]	s	Solution.
[in,out]	kkt_matrix	KKT matrix.
[in,out]	kkt_residual	KKT residual.

◆ evalOCP()

void robotoc::DirectMultipleShooting::evalOCP	(	aligned_vector< Robot > &	robots,
		const TimeDiscretization &	time_discretization,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v,
		const Solution &	s,
		KKTResidual &	kkt_residual
	)

Computes the cost and constraint violations.

Parameters

[in,out]	robots	aligned_vector of Robot for paralle computing.
[in]	time_discretization	Time discretization.
[in]	q	Initial configuration.
[in]	v	Initial generalized velocity.
[in]	s	Solution.
[in,out]	kkt_residual	KKT residual.

◆ getEval()

const PerformanceIndex & robotoc::DirectMultipleShooting::getEval ( ) const

Gets the performance index of the evaluation.

Returns: const reference to the performance index.

◆ initConstraints()

void robotoc::DirectMultipleShooting::initConstraints	(	aligned_vector< Robot > &	robots,
		const TimeDiscretization &	time_discretization,
		const Solution &	s
	)

Initializes the priaml-dual interior point method for inequality constraints.

Parameters

[in,out]	robots	aligned_vector of Robot for paralle computing.
[in]	time_discretization	Time discretization.
[in]	s	Solution.

◆ integratePrimalSolution()

void robotoc::DirectMultipleShooting::integratePrimalSolution	(	const aligned_vector< Robot > &	robots,
		const TimeDiscretization &	time_discretization,
		const double	primal_step_size,
		const Direction &	d,
		Solution &	s
	)

Integrates the primal solution.

Parameters

[in,out]	robots	aligned_vector of Robot for paralle computing.
[in]	time_discretization	Time discretization.
[in]	primal_step_size	Primal step size.
[in]	d	Direction.
[in,out]	s	Solution.

◆ integrateSolution()

void robotoc::DirectMultipleShooting::integrateSolution	(	const aligned_vector< Robot > &	robots,
		const TimeDiscretization &	time_discretization,
		const double	primal_step_size,
		const double	dual_step_size,
		Direction &	d,
		Solution &	s
	)

Integrates the solution.

Parameters

[in,out]	robots	aligned_vector of Robot for paralle computing.
[in]	time_discretization	Time discretization.
[in]	primal_step_size	Primal step size.
[in]	dual_step_size	Dual step size.
[in,out]	d	Direction.
[in,out]	s	Solution.

◆ isFeasible()

bool robotoc::DirectMultipleShooting::isFeasible	(	aligned_vector< Robot > &	robots,
		const TimeDiscretization &	time_discretization,
		const Solution &	s
	)

Checks whether the solution is feasible under inequality constraints.

Parameters

[in,out]	robots	aligned_vector of Robot for paralle computing.
[in]	time_discretization	Time discretization.
[in]	s	Solution.

◆ maxDualStepSize()

double robotoc::DirectMultipleShooting::maxDualStepSize ( ) const

Gets the maximum dual step size of the fraction-to-boundary-rule.

Returns: The dual step size of the fraction-to-boundary-rule.

◆ maxPrimalStepSize()

double robotoc::DirectMultipleShooting::maxPrimalStepSize ( ) const

Gets the maximum primal step size of the fraction-to-boundary-rule.

Returns: The primal step size of the fraction-to-boundary-rule.

◆ operator=() [1/2]

DirectMultipleShooting & robotoc::DirectMultipleShooting::operator= ( const DirectMultipleShooting & )

default

Default copy assign operator.

◆ operator=() [2/2]

DirectMultipleShooting & robotoc::DirectMultipleShooting::operator= ( DirectMultipleShooting && )

defaultnoexcept

Default move assign operator.

◆ resizeData()

void robotoc::DirectMultipleShooting::resizeData ( const TimeDiscretization & time_discretization )

Resizes the internal data.

Parameters

[in] time_discretization Time discretization.

◆ setNumThreads()

void robotoc::DirectMultipleShooting::setNumThreads ( const int nthreads )

Sets the number of threads of the parallel computations.

Parameters

[in] nthreads Number of the threads of the parallel computations. Must be positive.

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

/github/workspace/include/robotoc/ocp/direct_multiple_shooting.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ DirectMultipleShooting() [1/4]

◆ DirectMultipleShooting() [2/4]

◆ ~DirectMultipleShooting()

◆ DirectMultipleShooting() [3/4]

◆ DirectMultipleShooting() [4/4]

Member Function Documentation

◆ computeInitialStateDirection()

◆ computeStepSizes()

◆ evalKKT()

◆ evalOCP()

◆ getEval()

◆ initConstraints()

◆ integratePrimalSolution()

◆ integrateSolution()

◆ isFeasible()

◆ maxDualStepSize()

◆ maxPrimalStepSize()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ resizeData()

◆ setNumThreads()