Direct multiple shooting method of optimal control problems of unconstrained rigid-body systems. More...

#include <unconstr_direct_multiple_shooting.hpp>

Public Member Functions
	UnconstrDirectMultipleShooting (const OCP &ocp, const int nthreads=1)
	Construct the direct multiple shooting method. More...

	UnconstrDirectMultipleShooting ()
	Default constructor. More...

	~UnconstrDirectMultipleShooting ()=default
	Destructor. More...

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

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

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

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

void	setNumThreads (const int nthreads)
	Sets the number of threads of the parallel computations. More...

void	initConstraints (aligned_vector< Robot > &robots, const std::vector< GridInfo > &time_discretization, const Solution &s)
	Initializes the priaml-dual interior point method for inequality constraints. More...

bool	isFeasible (aligned_vector< Robot > &robots, const std::vector< GridInfo > &time_discretization, const Solution &s)
	Checks whether the solution is feasible under inequality constraints. More...

void	evalOCP (aligned_vector< Robot > &robots, const std::vector< GridInfo > &time_discretization, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Solution &s, KKTResidual &kkt_residual)
	Computes the cost and constraint violations. More...

void	evalKKT (aligned_vector< Robot > &robots, const std::vector< GridInfo > &time_discretization, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Solution &s, 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 std::vector< GridInfo > &time_discretization, KKTMatrix &kkt_matrix, KKTResidual &kkt_residual, 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 aligned_vector< Robot > &robots, const std::vector< GridInfo > &time_discretization, const double primal_step_size, const double dual_step_size, Direction &d, Solution &s)
	Integrates the solution. More...

void	integratePrimalSolution (const aligned_vector< Robot > &robots, const std::vector< GridInfo > &time_discretization, const double primal_step_size, const Direction &d, Solution &s)
	Integrates the primal solution. More...

Static Public Member Functions
static void	computeInitialStateDirection (const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Solution &s, Direction &d)
	Computes the initial state direction. More...

Detailed Description

Direct multiple shooting method of optimal control problems of unconstrained rigid-body systems.

Constructor & Destructor Documentation

◆ UnconstrDirectMultipleShooting() [1/4]

robotoc::UnconstrDirectMultipleShooting::UnconstrDirectMultipleShooting	(	const OCP &	ocp,
		const int	nthreads = `1`
	)

Construct the direct multiple shooting method.

Parameters

[in]	ocp	Optimal control problem.
[in]	nthreads	Number of the threads of the parallel computations. Must be positive.

◆ UnconstrDirectMultipleShooting() [2/4]

robotoc::UnconstrDirectMultipleShooting::UnconstrDirectMultipleShooting ( )

Default constructor.

◆ ~UnconstrDirectMultipleShooting()

robotoc::UnconstrDirectMultipleShooting::~UnconstrDirectMultipleShooting ( )

default

Destructor.

◆ UnconstrDirectMultipleShooting() [3/4]

robotoc::UnconstrDirectMultipleShooting::UnconstrDirectMultipleShooting ( const UnconstrDirectMultipleShooting & )

default

Default copy constructor.

◆ UnconstrDirectMultipleShooting() [4/4]

robotoc::UnconstrDirectMultipleShooting::UnconstrDirectMultipleShooting ( UnconstrDirectMultipleShooting && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ computeInitialStateDirection()

static void robotoc::UnconstrDirectMultipleShooting::computeInitialStateDirection	(	const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v,
		const Solution &	s,
		Direction &	d
	)

static

Computes the initial state direction.

Parameters

[in]	q	Initial configuration.
[in]	v	Initial generalized velocity.
[in]	s	Solution.
[in,out]	d	Direction.

◆ computeStepSizes()

void robotoc::UnconstrDirectMultipleShooting::computeStepSizes	(	const std::vector< GridInfo > &	time_discretization,
		KKTMatrix &	kkt_matrix,
		KKTResidual &	kkt_residual,
		Direction &	d
	)

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

Parameters

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

◆ evalKKT()

void robotoc::UnconstrDirectMultipleShooting::evalKKT	(	aligned_vector< Robot > &	robots,
		const std::vector< GridInfo > &	time_discretization,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v,
		const Solution &	s,
		KKTMatrix &	kkt_matrix,
		KKTResidual &	kkt_residual
	)

Computes the KKT residual and matrix.

Parameters

[in,out]	robots	aligned_vector of Robot for paralle computing.
[in]	time_discretization	Time discretization.
[in]	q	Initial configuration.
[in]	v	Initial generalized velocity.
[in]	s	Solution.
[in,out]	kkt_matrix	KKT matrix.
[in,out]	kkt_residual	KKT residual.

◆ evalOCP()

void robotoc::UnconstrDirectMultipleShooting::evalOCP	(	aligned_vector< Robot > &	robots,
		const std::vector< GridInfo > &	time_discretization,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v,
		const Solution &	s,
		KKTResidual &	kkt_residual
	)

Computes the cost and constraint violations.

Parameters

[in,out]	robots	aligned_vector of Robot for paralle computing.
[in]	time_discretization	Time discretization.
[in]	q	Initial configuration.
[in]	v	Initial generalized velocity.
[in]	s	Solution.
[in,out]	kkt_residual	KKT residual.

◆ getEval()

const PerformanceIndex & robotoc::UnconstrDirectMultipleShooting::getEval ( ) const

Gets the performance index of the evaluation.

Returns: const reference to the performance index.

◆ initConstraints()

void robotoc::UnconstrDirectMultipleShooting::initConstraints	(	aligned_vector< Robot > &	robots,
		const std::vector< GridInfo > &	time_discretization,
		const Solution &	s
	)

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

Parameters

[in,out]	robots	aligned_vector of Robot for paralle computing.
[in]	time_discretization	Time discretization.
[in]	s	Solution.

◆ integratePrimalSolution()

void robotoc::UnconstrDirectMultipleShooting::integratePrimalSolution	(	const aligned_vector< Robot > &	robots,
		const std::vector< GridInfo > &	time_discretization,
		const double	primal_step_size,
		const Direction &	d,
		Solution &	s
	)

Integrates the primal solution.

Parameters

[in,out]	robots	aligned_vector of Robot for paralle computing.
[in]	time_discretization	Time discretization.
[in]	primal_step_size	Primal step size.
[in]	d	Direction.
[in,out]	s	Solution.

◆ integrateSolution()

void robotoc::UnconstrDirectMultipleShooting::integrateSolution	(	const aligned_vector< Robot > &	robots,
		const std::vector< GridInfo > &	time_discretization,
		const double	primal_step_size,
		const double	dual_step_size,
		Direction &	d,
		Solution &	s
	)

Integrates the solution.

Parameters

[in,out]	robots	aligned_vector of Robot for paralle computing.
[in]	time_discretization	Time discretization.
[in]	primal_step_size	Primal step size.
[in]	dual_step_size	Dual step size.
[in,out]	d	Direction.
[in,out]	s	Solution.

◆ isFeasible()

bool robotoc::UnconstrDirectMultipleShooting::isFeasible	(	aligned_vector< Robot > &	robots,
		const std::vector< GridInfo > &	time_discretization,
		const Solution &	s
	)

Checks whether the solution is feasible under inequality constraints.

Parameters

[in,out]	robots	aligned_vector of Robot for paralle computing.
[in]	time_discretization	Time discretization.
[in]	s	Solution.

◆ maxDualStepSize()

double robotoc::UnconstrDirectMultipleShooting::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::UnconstrDirectMultipleShooting::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]

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

default

Default copy assign operator.

◆ operator=() [2/2]

UnconstrDirectMultipleShooting & robotoc::UnconstrDirectMultipleShooting::operator= ( UnconstrDirectMultipleShooting && )

defaultnoexcept

Default move assign operator.

◆ setNumThreads()

void robotoc::UnconstrDirectMultipleShooting::setNumThreads ( const int nthreads )

Sets the number of threads of the parallel computations.

Parameters

[in] nthreads Number of the threads of the parallel computations. Must be positive.

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

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

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ UnconstrDirectMultipleShooting() [1/4]

◆ UnconstrDirectMultipleShooting() [2/4]

◆ ~UnconstrDirectMultipleShooting()

◆ UnconstrDirectMultipleShooting() [3/4]

◆ UnconstrDirectMultipleShooting() [4/4]

Member Function Documentation

◆ computeInitialStateDirection()

◆ computeStepSizes()

◆ evalKKT()

◆ evalOCP()

◆ getEval()

◆ initConstraints()

◆ integratePrimalSolution()

◆ integrateSolution()

◆ isFeasible()

◆ maxDualStepSize()

◆ maxPrimalStepSize()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ setNumThreads()