robotoc::LineSearch Class Reference

Line search for optimal control problems. More...

#include <line_search.hpp>

Public Member Functions
	LineSearch (const OCP &ocp, const LineSearchSettings &settings=LineSearchSettings())
	Construct a line search. More...
	LineSearch ()
	Default constructor. More...
	~LineSearch ()=default
	Default destructor. More...
	LineSearch (const LineSearch &)=default
	Default copy constructor. More...
LineSearch &	operator= (const LineSearch &)=default
	Default copy assign operator. More...
	LineSearch (LineSearch &&) noexcept=default
	Default move constructor. More...
LineSearch &	operator= (LineSearch &&) noexcept=default
	Default move assign operator. More...
double	computeStepSize (const DirectMultipleShooting &dms, aligned_vector< Robot > &robots, const TimeDiscretization &time_discretization, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Solution &s, const Direction &d, const double max_primal_step_size)
	Compute primal step size by fliter line search method. More...
void	clearHistory ()
	Clear the line search filter. More...
void	set (const LineSearchSettings &settings)
	Set line search settings. More...
void	resizeData (const TimeDiscretization &time_discretization)
	Resizes the internal data. More...

Detailed Description

Line search for optimal control problems.

Constructor & Destructor Documentation

LineSearch() [1/4]

robotoc::LineSearch::LineSearch	(	const OCP &	ocp,
		const LineSearchSettings &	settings = LineSearchSettings()
	)

Construct a line search.

Parameters

[in]	ocp	Optimal control problem.
[in]	settings	Line search settings.

LineSearch() [2/4]

robotoc::LineSearch::LineSearch

(

)

Default constructor.

~LineSearch()

robotoc::LineSearch::~LineSearch ( )

default

Default destructor.

LineSearch() [3/4]

robotoc::LineSearch::LineSearch ( const LineSearch &  )

default

Default copy constructor.

LineSearch() [4/4]

robotoc::LineSearch::LineSearch ( LineSearch &&  )

defaultnoexcept

Default move constructor.

Member Function Documentation

clearHistory()

void robotoc::LineSearch::clearHistory

(

)

Clear the line search filter.

computeStepSize()

double robotoc::LineSearch::computeStepSize	(	const DirectMultipleShooting &	dms,
		aligned_vector< Robot > &	robots,
		const TimeDiscretization &	time_discretization,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v,
		const Solution &	s,
		const Direction &	d,
		const double	max_primal_step_size
	)

Compute primal step size by fliter line search method.

Parameters

[in]	dms	Direct multiple shooting structure.
[in,out]	robots	aligned_vector of Robot for parallel computing.
[in]	time_discretization	Time discretization.
[in]	q	Initial configuration.
[in]	v	Initial generalized velocity.
[in]	s	Solution.
[in]	d	Direction.
[in]	max_primal_step_size	Maximum primal step size.

operator=() [1/2]

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

default

Default copy assign operator.

operator=() [2/2]

LineSearch & robotoc::LineSearch::operator= ( LineSearch &&  )

defaultnoexcept

Default move assign operator.

resizeData()

void robotoc::LineSearch::resizeData

(

const TimeDiscretization &

time_discretization

)

Resizes the internal data.

Parameters

[in]

time_discretization

Time discretization.

set()

void robotoc::LineSearch::set

(

const LineSearchSettings &

settings

)

Set line search settings.

Parameters

[in]

settings

Line search settings.

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

• /github/workspace/include/robotoc/line_search/line_search.hpp