robotoc::SwitchingTimeOptimization Class Reference

The switching time optimization (STO) problem. More...

#include <switching_time_optimization.hpp>

Public Member Functions
	SwitchingTimeOptimization (const OCP &ocp)
	Construct the STO problem. More...
	SwitchingTimeOptimization ()
	Default constructor. More...
	~SwitchingTimeOptimization ()=default
	Default destructor. More...
	SwitchingTimeOptimization (const SwitchingTimeOptimization &)=default
	Default copy constructor. More...
SwitchingTimeOptimization &	operator= (const SwitchingTimeOptimization &)=default
	Default copy assign operator. More...
	SwitchingTimeOptimization (SwitchingTimeOptimization &&) noexcept=default
	Default move constructor. More...
SwitchingTimeOptimization &	operator= (SwitchingTimeOptimization &&) noexcept=default
	Default move assign operator. More...
void	setRegularization (const double sto_reg)
	Sets the regularization paremeter on the STO problem. More...
void	initConstraints (const TimeDiscretization &time_discretization)
	Initializes the priaml-dual interior point method for inequality constraints. More...
bool	isFeasible (const TimeDiscretization &time_discretization)
	Checks whether the solution is feasible under inequality constraints. More...
void	evalSTO (const TimeDiscretization &time_discretization)
	Computes the cost and constraint violations. More...
void	evalKKT (const TimeDiscretization &time_discretization, KKTMatrix &kkt_matrix, KKTResidual &kkt_residual)
	Computes the KKT residual and matrix. More...
const PerformanceIndex &	getEval () const
	Gets the performance index of the evaluation. More...
void	computeStepSizes (const TimeDiscretization &time_discretization, const 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 TimeDiscretization &time_discretization, const double primal_step_size, const double dual_step_size, const Direction &d)
	Computes the initial state direction. More...

Detailed Description

The switching time optimization (STO) problem.

Constructor & Destructor Documentation

SwitchingTimeOptimization() [1/4]

robotoc::SwitchingTimeOptimization::SwitchingTimeOptimization

(

const OCP &

ocp

)

Construct the STO problem.

Parameters

[in]

ocp

Optimal control problem.

SwitchingTimeOptimization() [2/4]

robotoc::SwitchingTimeOptimization::SwitchingTimeOptimization

(

)

Default constructor.

~SwitchingTimeOptimization()

robotoc::SwitchingTimeOptimization::~SwitchingTimeOptimization ( )

default

Default destructor.

SwitchingTimeOptimization() [3/4]

robotoc::SwitchingTimeOptimization::SwitchingTimeOptimization ( const SwitchingTimeOptimization &  )

default

Default copy constructor.

SwitchingTimeOptimization() [4/4]

robotoc::SwitchingTimeOptimization::SwitchingTimeOptimization ( SwitchingTimeOptimization &&  )

defaultnoexcept

Default move constructor.

Member Function Documentation

computeStepSizes()

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

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

Parameters

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

evalKKT()

void robotoc::SwitchingTimeOptimization::evalKKT	(	const TimeDiscretization &	time_discretization,
		KKTMatrix &	kkt_matrix,
		KKTResidual &	kkt_residual
	)

Computes the KKT residual and matrix.

Parameters

[in]	time_discretization	Time discretization.
[in,out]	kkt_matrix	KKT matrix.
[in,out]	kkt_residual	KKT residual.

evalSTO()

void robotoc::SwitchingTimeOptimization::evalSTO

(

const TimeDiscretization &

time_discretization

)

Computes the cost and constraint violations.

Parameters

[in]

time_discretization

Time discretization.

getEval()

const PerformanceIndex & robotoc::SwitchingTimeOptimization::getEval

(

)

const

Gets the performance index of the evaluation.

Returns

const reference to the performance index.

initConstraints()

void robotoc::SwitchingTimeOptimization::initConstraints

(

const TimeDiscretization &

time_discretization

)

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

Parameters

[in]

time_discretization

Time discretization.

integrateSolution()

void robotoc::SwitchingTimeOptimization::integrateSolution	(	const TimeDiscretization &	time_discretization,
		const double	primal_step_size,
		const double	dual_step_size,
		const Direction &	d
	)

Computes the initial state direction.

Parameters

[in]	time_discretization	Time discretization.
[in]	primal_step_size	Primal step size.
[in]	dual_step_size	Dual step size.
[in,out]	d	Direction.

isFeasible()

bool robotoc::SwitchingTimeOptimization::isFeasible

(

const TimeDiscretization &

time_discretization

)

Checks whether the solution is feasible under inequality constraints.

Parameters

[in]

time_discretization

Time discretization.

maxDualStepSize()

double robotoc::SwitchingTimeOptimization::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::SwitchingTimeOptimization::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]

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

default

Default copy assign operator.

operator=() [2/2]

SwitchingTimeOptimization & robotoc::SwitchingTimeOptimization::operator= ( SwitchingTimeOptimization &&  )

defaultnoexcept

Default move assign operator.

setRegularization()

void robotoc::SwitchingTimeOptimization::setRegularization

(

const double

sto_reg

)

Sets the regularization paremeter on the STO problem.

Parameters

[in]

sto_reg

The regularization paremeter. Must be non-negative.

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

• /github/workspace/include/robotoc/sto/switching_time_optimization.hpp