robotoc::UnconstrLineSearch Class Reference

Line search for optimal control problems for unconstrained rigid-body systems. More...

#include <unconstr_line_search.hpp>

Public Member Functions
	UnconstrLineSearch (const OCP &ocp, const LineSearchSettings &settings=LineSearchSettings())
	Construct a line search. More...
	UnconstrLineSearch ()
	Default constructor. More...
	~UnconstrLineSearch ()=default
	Default destructor. More...
	UnconstrLineSearch (const UnconstrLineSearch &)=default
	Default copy constructor. More...
UnconstrLineSearch &	operator= (const UnconstrLineSearch &)=default
	Default copy assign operator. More...
	UnconstrLineSearch (UnconstrLineSearch &&) noexcept=default
	Default move constructor. More...
UnconstrLineSearch &	operator= (UnconstrLineSearch &&) noexcept=default
	Default move assign operator. More...
double	computeStepSize (const UnconstrDirectMultipleShooting &dms, aligned_vector< Robot > &robots, const std::vector< GridInfo > &time_discretization, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Solution &s, const Direction &d, const double max_primal_step_size)
	Compute primal step size by fliter line search method. More...
double	computeStepSize (const UnconstrBackwardCorrection &bc, aligned_vector< Robot > &robots, const std::vector< GridInfo > &time_discretization, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Solution &s, const Direction &d, const double max_primal_step_size)
	Compute primal step size by fliter line search method. More...
void	clearHistory ()
	Clear the line search filter. More...

Detailed Description

Line search for optimal control problems for unconstrained rigid-body systems.

Constructor & Destructor Documentation

UnconstrLineSearch() [1/4]

robotoc::UnconstrLineSearch::UnconstrLineSearch	(	const OCP &	ocp,
		const LineSearchSettings &	settings = LineSearchSettings()
	)

Construct a line search.

Parameters

[in]	ocp	Optimal control problem.
[in]	settings	Line search settings.

UnconstrLineSearch() [2/4]

robotoc::UnconstrLineSearch::UnconstrLineSearch

(

)

Default constructor.

~UnconstrLineSearch()

robotoc::UnconstrLineSearch::~UnconstrLineSearch ( )

default

Default destructor.

UnconstrLineSearch() [3/4]

robotoc::UnconstrLineSearch::UnconstrLineSearch ( const UnconstrLineSearch &  )

default

Default copy constructor.

UnconstrLineSearch() [4/4]

robotoc::UnconstrLineSearch::UnconstrLineSearch ( UnconstrLineSearch &&  )

defaultnoexcept

Default move constructor.

Member Function Documentation

clearHistory()

void robotoc::UnconstrLineSearch::clearHistory

(

)

Clear the line search filter.

computeStepSize() [1/2]

double robotoc::UnconstrLineSearch::computeStepSize	(	const UnconstrBackwardCorrection &	bc,
		aligned_vector< Robot > &	robots,
		const std::vector< GridInfo > &	time_discretization,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v,
		const Solution &	s,
		const Direction &	d,
		const double	max_primal_step_size
	)

Compute primal step size by fliter line search method.

Parameters

[in]	bc	Backward correction method.
[in,out]	robots	aligned_vector of Robot.
[in]	time_discretization	Time discretization.
[in]	q	Initial configuration.
[in]	v	Initial generalized velocity.
[in]	s	Solution.
[in]	d	Direction.
[in]	max_primal_step_size	Maximum primal step size.

computeStepSize() [2/2]

double robotoc::UnconstrLineSearch::computeStepSize	(	const UnconstrDirectMultipleShooting &	dms,
		aligned_vector< Robot > &	robots,
		const std::vector< GridInfo > &	time_discretization,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v,
		const Solution &	s,
		const Direction &	d,
		const double	max_primal_step_size
	)

Compute primal step size by fliter line search method.

Parameters

[in]	dms	Direct multiple shooting method.
[in,out]	robots	aligned_vector of Robot.
[in]	time_discretization	Time discretization.
[in]	q	Initial configuration.
[in]	v	Initial generalized velocity.
[in]	s	Solution.
[in]	d	Direction.
[in]	max_primal_step_size	Maximum primal step size.

operator=() [1/2]

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

default

Default copy assign operator.

operator=() [2/2]

UnconstrLineSearch & robotoc::UnconstrLineSearch::operator= ( UnconstrLineSearch &&  )

defaultnoexcept

Default move assign operator.

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

• /github/workspace/include/robotoc/line_search/unconstr_line_search.hpp