robotoc::TimeDiscretization Class Reference

Time discretization of the optimal control problem. More...

#include <time_discretization.hpp>

Public Member Functions
	TimeDiscretization (const double T, const int N, const int reserved_num_discrete_events=0)
	Constructor. More...
	TimeDiscretization ()
	Default constructor. More...
	~TimeDiscretization ()=default
	Default destructor. More...
	TimeDiscretization (const TimeDiscretization &)=default
	Default copy constructor. More...
TimeDiscretization &	operator= (const TimeDiscretization &)=default
	Default copy assign operator. More...
	TimeDiscretization (TimeDiscretization &&) noexcept=default
	Default move constructor. More...
TimeDiscretization &	operator= (TimeDiscretization &&) noexcept=default
	Default move assign operator. More...
int	N () const
int	size () const
	Returns the number of grids. More...
const GridInfo &	grid (const int i) const
	Returns the grid info of the specified stage. More...
const GridInfo &	operator[] (const int i) const
	Returns the grid info of the specified stage. More...
const GridInfo &	front () const
	Returns the grid info of the initial stage. More...
const GridInfo &	back () const
	Returns the grid info of the terminal stage. More...
double	maxTimeStep () const
	Gets the maximum time step of the discretization. More...
void	reserve (const int reserved_num_discrete_events)
	Reserve the discrete-event data. More...
int	reservedNumDiscreteEvents () const
void	discretize (const std::shared_ptr< ContactSequence > &contact_sequence, const double t)
	Discretizes the finite horizon taking into account the discrete events. More...
void	correctTimeSteps (const std::shared_ptr< ContactSequence > &contact_sequence, const double t)
	Discretizes the finite horizon taking into account the discrete events. More...
void	disp (std::ostream &os) const
	Displays the time discretization onto a ostream. More...

Friends
std::ostream &	operator<< (std::ostream &os, const TimeDiscretization &discretization)

Detailed Description

Time discretization of the optimal control problem.

Constructor & Destructor Documentation

TimeDiscretization() [1/4]

robotoc::TimeDiscretization::TimeDiscretization	(	const double	T,
		const int	N,
		const int	reserved_num_discrete_events = 0
	)

Constructor.

Parameters

[in]	T	Length of the horizon. Must be positive.
[in]	N	Number of the discretization grids of the horizon except for the discrete events. Must be positive.
[in]	reserved_num_discrete_events	Reserved size of each discrete events (impact and lift) to avoid dynamic memory allocation. Must be non-negative. Default is 0.

TimeDiscretization() [2/4]

robotoc::TimeDiscretization::TimeDiscretization

(

)

Default constructor.

~TimeDiscretization()

robotoc::TimeDiscretization::~TimeDiscretization ( )

default

Default destructor.

TimeDiscretization() [3/4]

robotoc::TimeDiscretization::TimeDiscretization ( const TimeDiscretization &  )

default

Default copy constructor.

TimeDiscretization() [4/4]

robotoc::TimeDiscretization::TimeDiscretization ( TimeDiscretization &&  )

defaultnoexcept

Default move constructor.

Member Function Documentation

back()

const GridInfo & robotoc::TimeDiscretization::back ( ) const

inline

Returns the grid info of the terminal stage.

Returns

const reference to the grid info of the terminal stage.

correctTimeSteps()

void robotoc::TimeDiscretization::correctTimeSteps	(	const std::shared_ptr< ContactSequence > &	contact_sequence,
		const double	t
	)

Discretizes the finite horizon taking into account the discrete events.

Parameters

[in]	contact_sequence	Shared ptr to the contact sequence.
[in]	t	Initial time of the horizon.

discretize()

void robotoc::TimeDiscretization::discretize	(	const std::shared_ptr< ContactSequence > &	contact_sequence,
		const double	t
	)

Discretizes the finite horizon taking into account the discrete events.

Parameters

[in]	contact_sequence	Shared ptr to the contact sequence.
[in]	t	Initial time of the horizon.

disp()

void robotoc::TimeDiscretization::disp

(

std::ostream &

os

)

const

Displays the time discretization onto a ostream.

front()

const GridInfo & robotoc::TimeDiscretization::front ( ) const

inline

Returns the grid info of the initial stage.

Returns

const reference to the grid info of the intial stage.

grid()

const GridInfo & robotoc::TimeDiscretization::grid ( const int  i ) const

inline

Returns the grid info of the specified stage.

Parameters

[in]

i

Stage of interest.

Returns

const reference to the grid info of the stage of interest.

maxTimeStep()

double robotoc::TimeDiscretization::maxTimeStep ( ) const

inline

Gets the maximum time step of the discretization.

Returns

The maximum time step of the discretization.

N()

int robotoc::TimeDiscretization::N ( ) const

inline

Returns

Number of the time stages on the horizon.

operator=() [1/2]

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

default

Default copy assign operator.

operator=() [2/2]

TimeDiscretization & robotoc::TimeDiscretization::operator= ( TimeDiscretization &&  )

defaultnoexcept

Default move assign operator.

operator[]()

const GridInfo & robotoc::TimeDiscretization::operator[] ( const int  i ) const

inline

Returns the grid info of the specified stage.

Parameters

[in]

i

Stage of interest.

Returns

const reference to the grid info of the stage of interest.

reserve()

void robotoc::TimeDiscretization::reserve

(

const int

reserved_num_discrete_events

)

Reserve the discrete-event data.

Parameters

[in]

reserved_num_discrete_events

Reserved size of discrete events on the horizon. Must be non-negative.

reservedNumDiscreteEvents()

int robotoc::TimeDiscretization::reservedNumDiscreteEvents

(

)

const

Returns

Reserved size of the discrete-event data.

size()

int robotoc::TimeDiscretization::size ( ) const

inline

Returns the number of grids.

Returns

The number of grids..

Friends And Related Function Documentation

operator<<

std::ostream & operator<< ( std::ostream &  os, const TimeDiscretization &  discretization  )

friend

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

• /github/workspace/include/robotoc/ocp/time_discretization.hpp