Terminal stage computations for optimal control problems. More...

#include <terminal_stage.hpp>

Public Member Functions
	TerminalStage (const std::shared_ptr< CostFunction > &cost, const std::shared_ptr< Constraints > &constraints, const std::shared_ptr< ContactSequence > &contact_sequence)
	Constructs the impact stage. More...

	TerminalStage ()
	Default constructor. More...

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

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

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

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

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

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

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

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

void	evalOCP (Robot &robot, const GridInfo &grid_info, const SplitSolution &s, OCPData &data, SplitKKTResidual &kkt_residual) const
	Computes the stage cost and constraint violation. More...

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

void	expandPrimal (const GridInfo &grid_info, OCPData &data, SplitDirection &d) const
	Expands the condensed primal variables, i.e., computes the Newton direction of the condensed primal variables of this stage. More...

void	expandDual (const GridInfo &grid_info, OCPData &data, SplitDirection &d) const
	Expands the condensed dual variables, i.e., computes the Newton direction of the condensed dual variables of this stage. More...

double	maxPrimalStepSize (const OCPData &data) const
	Returns maximum stap size of the primal variables that satisfies the inequality constraints. More...

double	maxDualStepSize (const OCPData &data) const
	Returns maximum stap size of the dual variables that satisfies the inequality constraints. More...

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

void	updateDual (const double dual_step_size, OCPData &data) const
	Updates dual variables of this stage. More...

Detailed Description

Terminal stage computations for optimal control problems.

Constructor & Destructor Documentation

◆ TerminalStage() [1/4]

robotoc::TerminalStage::TerminalStage	(	const std::shared_ptr< CostFunction > &	cost,
		const std::shared_ptr< Constraints > &	constraints,
		const std::shared_ptr< ContactSequence > &	contact_sequence
	)

Constructs the impact stage.

Parameters

[in]	cost	Shared ptr to the cost function.
[in]	constraints	Shared ptr to the constraints.
[in]	contact_sequence	Shared ptr to the contact sequence.

◆ TerminalStage() [2/4]

robotoc::TerminalStage::TerminalStage ( )

Default constructor.

◆ ~TerminalStage()

robotoc::TerminalStage::~TerminalStage ( )

default

Default destructor.

◆ TerminalStage() [3/4]

robotoc::TerminalStage::TerminalStage ( const TerminalStage & )

default

Default copy constructor.

◆ TerminalStage() [4/4]

robotoc::TerminalStage::TerminalStage ( TerminalStage && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ createData()

OCPData robotoc::TerminalStage::createData ( const Robot & robot ) const

Creates the data.

Parameters

[in] robot Robot model.

◆ evalKKT()

void robotoc::TerminalStage::evalKKT	(	Robot &	robot,
		const GridInfo &	grid_info,
		const Eigen::VectorXd &	q_prev,
		const SplitSolution &	s,
		OCPData &	data,
		SplitKKTMatrix &	kkt_matrix,
		SplitKKTResidual &	kkt_residual
	)		const

Computes the KKT residual and matrix of this stage.

Parameters

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

◆ evalOCP()

void robotoc::TerminalStage::evalOCP	(	Robot &	robot,
		const GridInfo &	grid_info,
		const SplitSolution &	s,
		OCPData &	data,
		SplitKKTResidual &	kkt_residual
	)		const

Computes the stage cost and constraint violation.

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.
[in,out]	kkt_residual	KKT residual of this stage.

◆ expandDual()

void robotoc::TerminalStage::expandDual	(	const GridInfo &	grid_info,
		OCPData &	data,
		SplitDirection &	d
	)		const

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

Parameters

[in]	grid_info	Grid info of this stage.
[in,out]	data	Data of this stage.
[in,out]	d	Split direction of this stage.

◆ expandPrimal()

void robotoc::TerminalStage::expandPrimal	(	const GridInfo &	grid_info,
		OCPData &	data,
		SplitDirection &	d
	)		const

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

Parameters

[in]	grid_info	Grid info of this stage.
[in,out]	data	Data of this stage.
[in,out]	d	Split direction of this stage.

◆ initConstraints()

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

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

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.

◆ isFeasible()

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

Checks whether the solution is feasible under 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::TerminalStage::maxDualStepSize ( const OCPData & data ) const

Returns maximum stap size of the dual variables that satisfies the inequality constraints.

Parameters

[in] data Data of this stage.

Returns: Maximum stap size of the dual variables that satisfies the inequality constraints.

◆ maxPrimalStepSize()

double robotoc::TerminalStage::maxPrimalStepSize ( const OCPData & data ) const

Returns maximum stap size of the primal variables that satisfies the inequality constraints.

Parameters

[in] data Data of this stage.

Returns: Maximum stap size of the primal variables that satisfies the inequality constraints.

◆ operator=() [1/2]

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

default

Default copy assign operator.

◆ operator=() [2/2]

TerminalStage & robotoc::TerminalStage::operator= ( TerminalStage && )

defaultnoexcept

Default move assign operator.

◆ updateDual()

void robotoc::TerminalStage::updateDual	(	const double	dual_step_size,
		OCPData &	data
	)		const

Updates dual variables of this stage.

Parameters

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

◆ updatePrimal()

void robotoc::TerminalStage::updatePrimal	(	const Robot &	robot,
		const double	primal_step_size,
		const SplitDirection &	d,
		SplitSolution &	s,
		OCPData &	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/ocp/terminal_stage.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ TerminalStage() [1/4]

◆ TerminalStage() [2/4]

◆ ~TerminalStage()

◆ TerminalStage() [3/4]

◆ TerminalStage() [4/4]

Member Function Documentation

◆ createData()

◆ evalKKT()

◆ evalOCP()

◆ expandDual()

◆ expandPrimal()

◆ initConstraints()

◆ isFeasible()

◆ maxDualStepSize()

◆ maxPrimalStepSize()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ updateDual()

◆ updatePrimal()