The intermediate stage of ParNMPC for unconstrained rigid-body systems. More...

#include <parnmpc_intermediate_stage.hpp>

Public Member Functions
	ParNMPCIntermediateStage (const Robot &robot, const std::shared_ptr< CostFunction > &cost, const std::shared_ptr< Constraints > &constraints)
	Constructs the intermediate stage. More...

	ParNMPCIntermediateStage ()
	Default constructor. More...

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

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

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

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

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

UnconstrOCPData	createData (const Robot &robot) const
	Creates the data. More...

bool	isFeasible (Robot &robot, const GridInfo &grid_info, const SplitSolution &s, UnconstrOCPData &data) const
	Checks whether the solution is feasible w.r.t. the inequality constraints. More...

void	initConstraints (Robot &robot, const GridInfo &grid_info, const SplitSolution &s, UnconstrOCPData &data) const
	Initializes the constraints, i.e., set slack and dual variables. More...

void	evalOCP (Robot &robot, const GridInfo &grid_info, const Eigen::VectorXd &q_prev, const Eigen::VectorXd &v_prev, const SplitSolution &s, UnconstrOCPData &data, SplitKKTResidual &kkt_residual) const
	Computes the stage cost and constraint violation of this stage. More...

void	evalKKT (Robot &robot, const GridInfo &grid_info, const Eigen::VectorXd &q_prev, const Eigen::VectorXd &v_prev, const SplitSolution &s, const SplitSolution &s_next, UnconstrOCPData &data, SplitKKTMatrix &kkt_matrix, SplitKKTResidual &kkt_residual) const
	Computes the KKT matrix and residual of this stage. More...

void	expandPrimalAndDual (const double dt, const SplitKKTMatrix &kkt_matrix, const SplitKKTResidual &kkt_residual, UnconstrOCPData &data, SplitDirection &d) const
	Expands the primal and dual variables, i.e., computes the Newton direction of the condensed variables of this stage. More...

double	maxPrimalStepSize (const UnconstrOCPData &data) const
	Computes the maximum primal step size. More...

double	maxDualStepSize (const UnconstrOCPData &data) const
	Computes the maximum dual size. More...

void	updatePrimal (const Robot &robot, const double primal_step_size, const SplitDirection &d, SplitSolution &s, UnconstrOCPData &data) const
	Updates primal variables of this stage. More...

void	updateDual (const double dual_step_size, UnconstrOCPData &data) const
	Updates dual variables of the inequality constraints. More...

Detailed Description

The intermediate stage of ParNMPC for unconstrained rigid-body systems.

Constructor & Destructor Documentation

◆ ParNMPCIntermediateStage() [1/4]

robotoc::ParNMPCIntermediateStage::ParNMPCIntermediateStage	(	const Robot &	robot,
		const std::shared_ptr< CostFunction > &	cost,
		const std::shared_ptr< Constraints > &	constraints
	)

Constructs the intermediate stage.

Parameters

[in]	robot	Robot model.
[in]	cost	Shared ptr to the cost function.
[in]	constraints	Shared ptr to the constraints.

◆ ParNMPCIntermediateStage() [2/4]

robotoc::ParNMPCIntermediateStage::ParNMPCIntermediateStage ( )

Default constructor.

◆ ~ParNMPCIntermediateStage()

robotoc::ParNMPCIntermediateStage::~ParNMPCIntermediateStage ( )

default

Default destructor.

◆ ParNMPCIntermediateStage() [3/4]

robotoc::ParNMPCIntermediateStage::ParNMPCIntermediateStage ( const ParNMPCIntermediateStage & )

default

Default copy constructor.

◆ ParNMPCIntermediateStage() [4/4]

robotoc::ParNMPCIntermediateStage::ParNMPCIntermediateStage ( ParNMPCIntermediateStage && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ createData()

UnconstrOCPData robotoc::ParNMPCIntermediateStage::createData ( const Robot & robot ) const

Creates the data.

Parameters

[in] robot Robot model.

◆ evalKKT()

void robotoc::ParNMPCIntermediateStage::evalKKT	(	Robot &	robot,
		const GridInfo &	grid_info,
		const Eigen::VectorXd &	q_prev,
		const Eigen::VectorXd &	v_prev,
		const SplitSolution &	s,
		const SplitSolution &	s_next,
		UnconstrOCPData &	data,
		SplitKKTMatrix &	kkt_matrix,
		SplitKKTResidual &	kkt_residual
	)		const

Computes the KKT matrix and residual of this stage.

Parameters

[in,out]	robot	Robot model.
[in]	grid_info	Grid info.
[in]	q_prev	Configuration at the previous stage.
[in]	v_prev	Configuration at the previous stage.
[in]	s	Split solution of this stage.
[in]	s_next	Split solution of the next stage.
[in,out]	data	Data of this stage.
[in,out]	kkt_matrix	Split KKT matrix of this stage.
[in,out]	kkt_residual	Split KKT residual of this stage.

◆ evalOCP()

void robotoc::ParNMPCIntermediateStage::evalOCP	(	Robot &	robot,
		const GridInfo &	grid_info,
		const Eigen::VectorXd &	q_prev,
		const Eigen::VectorXd &	v_prev,
		const SplitSolution &	s,
		UnconstrOCPData &	data,
		SplitKKTResidual &	kkt_residual
	)		const

Computes the stage cost and constraint violation of this stage.

Parameters

[in,out]	robot	Robot model.
[in]	grid_info	Grid info.
[in]	q_prev	Configuration at the previous stage.
[in]	v_prev	Configuration at the previous stage.
[in]	s	Split solution of this stage.
[in,out]	data	Data of this stage.
[in,out]	kkt_residual	Split KKT residual of this stage.

◆ expandPrimalAndDual()

void robotoc::ParNMPCIntermediateStage::expandPrimalAndDual	(	const double	dt,
		const SplitKKTMatrix &	kkt_matrix,
		const SplitKKTResidual &	kkt_residual,
		UnconstrOCPData &	data,
		SplitDirection &	d
	)		const

Expands the primal and dual variables, i.e., computes the Newton direction of the condensed variables of this stage.

Parameters

[in]	dt	Time step.
[in]	kkt_matrix	Split KKT matrix of this stage.
[in]	kkt_residual	Split KKT residual of this stage.
[in,out]	data	Data of this stage.
[in,out]	d	Split direction of this stage.

◆ initConstraints()

void robotoc::ParNMPCIntermediateStage::initConstraints	(	Robot &	robot,
		const GridInfo &	grid_info,
		const SplitSolution &	s,
		UnconstrOCPData &	data
	)		const

Initializes the constraints, i.e., set slack and dual variables.

Parameters

[in,out]	robot	Robot model.
[in]	grid_info	Grid info.
[in]	s	Split solution of this stage.
[in,out]	data	Data of this stage.

◆ isFeasible()

bool robotoc::ParNMPCIntermediateStage::isFeasible	(	Robot &	robot,
		const GridInfo &	grid_info,
		const SplitSolution &	s,
		UnconstrOCPData &	data
	)		const

Checks whether the solution is feasible w.r.t. the inequality constraints.

Parameters

[in,out]	robot	Robot model.
[in]	grid_info	Grid info of this stage.
[in]	s	Split solution of this stage.
[in,out]	data	Data of this stage.

◆ maxDualStepSize()

double robotoc::ParNMPCIntermediateStage::maxDualStepSize ( const UnconstrOCPData & data ) const

Computes the maximum dual size.

Parameters

[in] data Data of this stage.

Returns: Maximum dual step size.

◆ maxPrimalStepSize()

double robotoc::ParNMPCIntermediateStage::maxPrimalStepSize ( const UnconstrOCPData & data ) const

Computes the maximum primal step size.

Parameters

[in] data Data of this stage.

Returns: Maximum primal step size.

◆ operator=() [1/2]

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

default

Default copy assign operator.

◆ operator=() [2/2]

ParNMPCIntermediateStage & robotoc::ParNMPCIntermediateStage::operator= ( ParNMPCIntermediateStage && )

defaultnoexcept

Default move assign operator.

◆ updateDual()

void robotoc::ParNMPCIntermediateStage::updateDual	(	const double	dual_step_size,
		UnconstrOCPData &	data
	)		const

Updates dual variables of the inequality constraints.

Parameters

[in]	dual_step_size	Dula step size.
[in,out]	data	Data of this stage.

◆ updatePrimal()

void robotoc::ParNMPCIntermediateStage::updatePrimal	(	const Robot &	robot,
		const double	primal_step_size,
		const SplitDirection &	d,
		SplitSolution &	s,
		UnconstrOCPData &	data
	)		const

Updates primal variables of this stage.

Parameters

[in]	robot	Robot model.
[in]	primal_step_size	Primal step size.
[in]	d	Split direction of this stage.
[in,out]	s	Split solution of this stage.
[in,out]	data	Data of this stage.

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

/github/workspace/include/robotoc/unconstr/parnmpc_intermediate_stage.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ParNMPCIntermediateStage() [1/4]

◆ ParNMPCIntermediateStage() [2/4]

◆ ~ParNMPCIntermediateStage()

◆ ParNMPCIntermediateStage() [3/4]

◆ ParNMPCIntermediateStage() [4/4]

Member Function Documentation

◆ createData()

◆ evalKKT()

◆ evalOCP()

◆ expandPrimalAndDual()

◆ initConstraints()

◆ isFeasible()

◆ maxDualStepSize()

◆ maxPrimalStepSize()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ updateDual()

◆ updatePrimal()