Constraints of the switching time optimization problems. More...

#include <sto_constraints.hpp>

Public Member Functions
	STOConstraints (const int num_switches, const double minimum_dwell_time=std::sqrt(std::numeric_limits< double >::epsilon()), const double barrier_param=1.0e-03, const double fraction_to_boundary_rule=0.995)
	Constructor. More...

	STOConstraints (const std::vector< double > &minimum_dwell_times, const double barrier_param=1.0e-03, const double fraction_to_boundary_rule=0.995)
	Constructor. More...

	STOConstraints (const Eigen::VectorXd &minimum_dwell_times, const double barrier_param=1.0e-03, const double fraction_to_boundary_rule=0.995)
	Constructor. More...

	STOConstraints ()
	Default constructor. More...

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

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

STOConstraints &	operator= (const STOConstraints &)=default
	Default copy operator. More...

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

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

void	setMinimumDwellTimes (const double minimum_dwell_time=std::sqrt(std::numeric_limits< double >::epsilon()))
	Sets the minimum dwell times. More...

void	setMinimumDwellTimes (const std::vector< double > &minimum_dwell_times)
	Sets the minimum dwell times. More...

void	setMinimumDwellTimes (const Eigen::VectorXd &minimum_dwell_times)
	Sets the minimum dwell times. More...

const Eigen::VectorXd &	getMinimumDwellTimes () const
	Gets the minimum dwell times. More...

void	setBarrierParam (const double barrier_param)
	Sets the barrier parameter for all the constraint components. More...

void	setFractionToBoundaryRule (const double fraction_to_boundary_rule)
	Sets the parameter of the fraction-to-boundary-rule for all the constraint components. More...

double	getBarrierParam () const
	Gets the barrier parameter. More...

double	getFractionToBoundaryRule () const
	Gets the parameter of the fraction-to-boundary-rule. More...

ConstraintComponentData	createConstraintsData (const TimeDiscretization &time_discretization) const
	Creates the data for this constraints. More...

bool	isFeasible (const TimeDiscretization &time_discretization, ConstraintComponentData &data) const
	Checks whether the current split solution s is feasible or not. More...

void	setSlackAndDual (const TimeDiscretization &time_discretization, ConstraintComponentData &data) const
	Sets the slack and dual variables of constraints. More...

void	evalConstraint (const TimeDiscretization &time_discretization, ConstraintComponentData &data) const
	Computes the primal residual, residual in the complementary slackness, and the log-barrier function of the slack varible. More...

void	linearizeConstraints (const TimeDiscretization &time_discretization, ConstraintComponentData &data, Eigen::VectorXd &lt) const
	Evaluates the constraints (i.e., calls evalConstraint()) and adds the products of the Jacobian of the constraints and Lagrange multipliers. More...

void	condenseSlackAndDual (ConstraintComponentData &data, Eigen::VectorXd &lt, Eigen::MatrixXd &Qtt) const
	Condenses the slack and dual variables. linearizeConstraints() must be called before this function. More...

void	expandSlackAndDual (ConstraintComponentData &data, Eigen::VectorXd &dts) const
	Expands the slack and dual, i.e., computes the directions of the slack and dual variables from the directions of the primal variables. More...

double	maxSlackStepSize (const ConstraintComponentData &data) const
	Computes and returns the maximum step size by applying fraction-to-boundary-rule to the directions of the slack variables. More...

double	maxDualStepSize (const ConstraintComponentData &data) const
	Computes and returns the maximum step size by applying fraction-to-boundary-rule to the directions of the dual variables. More...

void	updateSlack (ConstraintComponentData &data, const double step_size) const
	Updates the slack variables according to step_size. More...

void	updateDual (ConstraintComponentData &data, const double step_size) const
	Updates the dual variables according to step_size. More...

Static Public Member Functions
static void	computeDwellTimes (const TimeDiscretization &time_discretization, Eigen::VectorXd &dwell_times)
	Computes the dwell times from the given time discretization. More...

Detailed Description

Constraints of the switching time optimization problems.

Constructor & Destructor Documentation

◆ STOConstraints() [1/6]

robotoc::STOConstraints::STOConstraints	(	const int	num_switches,
		const double	minimum_dwell_time = `std::sqrt(std::numeric_limits< double >::epsilon())`,
		const double	barrier_param = `1.0e-03`,
		const double	fraction_to_boundary_rule = `0.995`
	)

Constructor.

Parameters

[in]	num_switches	The number of switches.
[in]	minimum_dwell_time	Minimum dwell time. Must be non-negative. The all minimum dwell times are set to this value. Default is std::sqrt(std::numeric_limits<double>::epsilon()).
[in]	barrier_param	Barrier parameter. Must be positive. Should be small. Default is 1.0e-03.
[in]	fraction_to_boundary_rule	Parameter of the fraction-to-boundary-rule Must be larger than 0 and smaller than 1. Should be between 0.9 and 0.995. Default is 0.995.

◆ STOConstraints() [2/6]

robotoc::STOConstraints::STOConstraints	(	const std::vector< double > &	minimum_dwell_times,
		const double	barrier_param = `1.0e-03`,
		const double	fraction_to_boundary_rule = `0.995`
	)

Constructor.

Parameters

[in]	minimum_dwell_times	Minimum dwell times. Each component must be non-negative.
[in]	barrier_param	Barrier parameter. Must be positive. Should be small. Default is 1.0e-03.
[in]	fraction_to_boundary_rule	Parameter of the fraction-to-boundary-rule Must be larger than 0 and smaller than 1. Should be between 0.9 and 0.995. Default is 0.995.

◆ STOConstraints() [3/6]

robotoc::STOConstraints::STOConstraints	(	const Eigen::VectorXd &	minimum_dwell_times,
		const double	barrier_param = `1.0e-03`,
		const double	fraction_to_boundary_rule = `0.995`
	)

Constructor.

Parameters

[in]	minimum_dwell_times	Minimum dwell times. Each component must be non-negative.
[in]	barrier_param	Barrier parameter. Must be positive. Should be small. Default is 1.0e-03.
[in]	fraction_to_boundary_rule	Parameter of the fraction-to-boundary-rule Must be larger than 0 and smaller than 1. Should be between 0.9 and 0.995. Default is 0.995.

◆ STOConstraints() [4/6]

robotoc::STOConstraints::STOConstraints ( )

Default constructor.

◆ ~STOConstraints()

robotoc::STOConstraints::~STOConstraints ( )

default

Default destructor.

◆ STOConstraints() [5/6]

robotoc::STOConstraints::STOConstraints ( const STOConstraints & )

default

Default copy constructor.

◆ STOConstraints() [6/6]

robotoc::STOConstraints::STOConstraints ( STOConstraints && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ computeDwellTimes()

static void robotoc::STOConstraints::computeDwellTimes	(	const TimeDiscretization &	time_discretization,
		Eigen::VectorXd &	dwell_times
	)

static

Computes the dwell times from the given time discretization.

Parameters

[in]	time_discretization	Time discretization.
[in,out]	dwell_times	Dwell times.

◆ condenseSlackAndDual()

void robotoc::STOConstraints::condenseSlackAndDual	(	ConstraintComponentData &	data,
		Eigen::VectorXd &	lt,
		Eigen::MatrixXd &	Qtt
	)		const

Condenses the slack and dual variables. linearizeConstraints() must be called before this function.

Parameters

[in,out]	data	Constraints data.
[in,out]	lt	The derivatives of the Lagrangian w.r.t. the switching times.
[in,out]	Qtt	The Hessian of the Lagrangian w.r.t. the switching times.

◆ createConstraintsData()

ConstraintComponentData robotoc::STOConstraints::createConstraintsData ( const TimeDiscretization & time_discretization ) const

Creates the data for this constraints.

Parameters

[in] time_discretization Time discretization.

Returns: The constraint data for this constraints.

◆ evalConstraint()

void robotoc::STOConstraints::evalConstraint	(	const TimeDiscretization &	time_discretization,
		ConstraintComponentData &	data
	)		const

Computes the primal residual, residual in the complementary slackness, and the log-barrier function of the slack varible.

Parameters

[in]	time_discretization	Time discretization.
[in,out]	data	Constraints data.

◆ expandSlackAndDual()

void robotoc::STOConstraints::expandSlackAndDual	(	ConstraintComponentData &	data,
		Eigen::VectorXd &	dts
	)		const

Expands the slack and dual, i.e., computes the directions of the slack and dual variables from the directions of the primal variables.

Parameters

[in,out]	data	Constraints data.
[in,out]	dts	The direction of the switching times.

◆ getBarrierParam()

double robotoc::STOConstraints::getBarrierParam ( ) const

Gets the barrier parameter.

Returns: Barrier parameter.

◆ getFractionToBoundaryRule()

double robotoc::STOConstraints::getFractionToBoundaryRule ( ) const

Gets the parameter of the fraction-to-boundary-rule.

Returns: The parameter of the fraction-to-boundary-rule.

◆ getMinimumDwellTimes()

const Eigen::VectorXd & robotoc::STOConstraints::getMinimumDwellTimes ( ) const

Gets the minimum dwell times.

Returns: const reference to the minimum dwell times.

◆ isFeasible()

bool robotoc::STOConstraints::isFeasible	(	const TimeDiscretization &	time_discretization,
		ConstraintComponentData &	data
	)		const

Checks whether the current split solution s is feasible or not.

Parameters

[in]	time_discretization	Time discretization.
[in,out]	data	Constraints data.

Returns: true if s is feasible. false if not.

◆ linearizeConstraints()

void robotoc::STOConstraints::linearizeConstraints	(	const TimeDiscretization &	time_discretization,
		ConstraintComponentData &	data,
		Eigen::VectorXd &	lt
	)		const

Evaluates the constraints (i.e., calls evalConstraint()) and adds the products of the Jacobian of the constraints and Lagrange multipliers.

Parameters

[in]	time_discretization	Time discretization.
[in,out]	data	Constraints data.
[in,out]	lt	The derivatives of the Lagrangian w.r.t. the switching times.

◆ maxDualStepSize()

double robotoc::STOConstraints::maxDualStepSize ( const ConstraintComponentData & data ) const

Computes and returns the maximum step size by applying fraction-to-boundary-rule to the directions of the dual variables.

Parameters

[in] data Constraints data.

Returns: Maximum step size regarding the dual variables.

◆ maxSlackStepSize()

double robotoc::STOConstraints::maxSlackStepSize ( const ConstraintComponentData & data ) const

Computes and returns the maximum step size by applying fraction-to-boundary-rule to the directions of the slack variables.

Parameters

[in] data Constraints data.

Returns: Maximum step size regarding the slack variables.

◆ operator=() [1/2]

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

default

Default copy operator.

◆ operator=() [2/2]

STOConstraints & robotoc::STOConstraints::operator= ( STOConstraints && )

defaultnoexcept

Default move assign operator.

◆ setBarrierParam()

void robotoc::STOConstraints::setBarrierParam ( const double barrier_param )

Sets the barrier parameter for all the constraint components.

Parameters

[in] barrier_param Barrier parameter. Must be positive. Should be small.

◆ setFractionToBoundaryRule()

void robotoc::STOConstraints::setFractionToBoundaryRule ( const double fraction_to_boundary_rule )

Sets the parameter of the fraction-to-boundary-rule for all the constraint components.

Parameters

[in] fraction_to_boundary_rule Must be larger than 0 and smaller than 1. Should be between 0.9 and 0.995.

◆ setMinimumDwellTimes() [1/3]

void robotoc::STOConstraints::setMinimumDwellTimes ( const double minimum_dwell_time = std::sqrt(std::numeric_limits< double >::epsilon()) )

Sets the minimum dwell times.

Parameters

[in] minimum_dwell_time Minimum dwell time. Must be non-negative. The all minimum dwell times are set to this value. Default is std::sqrt(std::numeric_limits<double>::epsilon()).

◆ setMinimumDwellTimes() [2/3]

void robotoc::STOConstraints::setMinimumDwellTimes ( const Eigen::VectorXd & minimum_dwell_times )

Sets the minimum dwell times.

Parameters

[in] minimum_dwell_times Minimum dwell times. Each component must be non-negative.

◆ setMinimumDwellTimes() [3/3]

void robotoc::STOConstraints::setMinimumDwellTimes ( const std::vector< double > & minimum_dwell_times )

Sets the minimum dwell times.

Parameters

[in] minimum_dwell_times Minimum dwell times. Each component must be non-negative.

◆ setSlackAndDual()

void robotoc::STOConstraints::setSlackAndDual	(	const TimeDiscretization &	time_discretization,
		ConstraintComponentData &	data
	)		const

Sets the slack and dual variables of constraints.

Parameters

[in]	time_discretization	Time discretization.
[in,out]	data	Constraints data.

◆ updateDual()

void robotoc::STOConstraints::updateDual	(	ConstraintComponentData &	data,
		const double	step_size
	)		const

Updates the dual variables according to step_size.

Parameters

[in,out]	data	Constraints data.
[in]	step_size	Step size.

◆ updateSlack()

void robotoc::STOConstraints::updateSlack	(	ConstraintComponentData &	data,
		const double	step_size
	)		const

Updates the slack variables according to step_size.

Parameters

[in,out]	data	Constraints data.
[in]	step_size	Step size.

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

/github/workspace/include/robotoc/sto/sto_constraints.hpp

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ STOConstraints() [1/6]

◆ STOConstraints() [2/6]

◆ STOConstraints() [3/6]

◆ STOConstraints() [4/6]

◆ ~STOConstraints()

◆ STOConstraints() [5/6]

◆ STOConstraints() [6/6]

Member Function Documentation

◆ computeDwellTimes()

◆ condenseSlackAndDual()

◆ createConstraintsData()

◆ evalConstraint()

◆ expandSlackAndDual()

◆ getBarrierParam()

◆ getFractionToBoundaryRule()

◆ getMinimumDwellTimes()

◆ isFeasible()

◆ linearizeConstraints()

◆ maxDualStepSize()

◆ maxSlackStepSize()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ setBarrierParam()

◆ setFractionToBoundaryRule()

◆ setMinimumDwellTimes() [1/3]

◆ setMinimumDwellTimes() [2/3]

◆ setMinimumDwellTimes() [3/3]

◆ setSlackAndDual()

◆ updateDual()

◆ updateSlack()