Optimal control problem solver of unconstrained rigid-body systems by ParNMPC algorithm. "Unconstrained" means that the system does not have either a floating base or any contacts. More...

#include <unconstr_parnmpc_solver.hpp>

Public Member Functions
	UnconstrParNMPCSolver (const OCP &ocp, const SolverOptions &solver_options=SolverOptions())
	Construct optimal control problem solver. More...

	UnconstrParNMPCSolver ()
	Default constructor. More...

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

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

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

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

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

void	setSolverOptions (const SolverOptions &solver_options)
	Sets the solver option. More...

void	discretize (const double t)
	Discretizes the problem and reiszes the data structures. More...

void	initConstraints ()
	Initializes the priaml-dual interior point method for inequality constraints. More...

void	initBackwardCorrection ()
	Initializes the backward correction solver. More...

void	solve (const double t, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const bool init_solver=true)
	Solves the optimal control problem. Internally calls updateSolution(). More...

const SolverStatistics &	getSolverStatistics () const
	Gets the solver statistics. More...

const SplitSolution &	getSolution (const int stage) const
	Get the split solution of a time stage. For example, the control input torques at the initial stage can be obtained by ocp.getSolution(0).u. More...

std::vector< Eigen::VectorXd >	getSolution (const std::string &name) const
	Get the solution vector over the horizon. More...

void	setSolution (const std::string &name, const Eigen::VectorXd &value)
	Sets the solution over the horizon. More...

double	KKTError (const double t, const Eigen::VectorXd &q, const Eigen::VectorXd &v)
	Computes the KKT residual of the optimal control problem and returns the KKT error, that is, the l2-norm of the KKT residual. More...

double	KKTError () const
	Returns the l2-norm of the KKT residuals using the results of UnconstrParNMPCsolver::updateSolution() or UnconstrParNMPCsolver::solve(). More...

const std::vector< GridInfo > &	getTimeDiscretization () const
	Gets the discretization. More...

void	setRobotProperties (const RobotProperties &properties)
	Sets a collection of the properties for robot model in this solver. More...

Detailed Description

Optimal control problem solver of unconstrained rigid-body systems by ParNMPC algorithm. "Unconstrained" means that the system does not have either a floating base or any contacts.

Constructor & Destructor Documentation

◆ UnconstrParNMPCSolver() [1/4]

robotoc::UnconstrParNMPCSolver::UnconstrParNMPCSolver	(	const OCP &	ocp,
		const SolverOptions &	solver_options = `SolverOptions()`
	)

Construct optimal control problem solver.

Parameters

[in]	ocp	Optimal control problem.
[in]	solver_options	Solver options. Default is SolverOptions().

◆ UnconstrParNMPCSolver() [2/4]

robotoc::UnconstrParNMPCSolver::UnconstrParNMPCSolver ( )

Default constructor.

◆ ~UnconstrParNMPCSolver()

robotoc::UnconstrParNMPCSolver::~UnconstrParNMPCSolver ( )

default

Destructor.

◆ UnconstrParNMPCSolver() [3/4]

robotoc::UnconstrParNMPCSolver::UnconstrParNMPCSolver ( const UnconstrParNMPCSolver & )

default

Default copy constructor.

◆ UnconstrParNMPCSolver() [4/4]

robotoc::UnconstrParNMPCSolver::UnconstrParNMPCSolver ( UnconstrParNMPCSolver && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ discretize()

void robotoc::UnconstrParNMPCSolver::discretize ( const double t )

Discretizes the problem and reiszes the data structures.

Parameters

[in] t Initial time of the horizon.

◆ getSolution() [1/2]

const SplitSolution & robotoc::UnconstrParNMPCSolver::getSolution ( const int stage ) const

Get the split solution of a time stage. For example, the control input torques at the initial stage can be obtained by ocp.getSolution(0).u.

Parameters

[in] stage Time stage of interest. Must be larger than 0 and smaller than N.

Returns: Const reference to the split solution of the specified time stage.

◆ getSolution() [2/2]

std::vector< Eigen::VectorXd > robotoc::UnconstrParNMPCSolver::getSolution ( const std::string & name ) const

Get the solution vector over the horizon.

Parameters

[in] name Name of the variable.

Returns: Solution vector.

◆ getSolverStatistics()

const SolverStatistics & robotoc::UnconstrParNMPCSolver::getSolverStatistics ( ) const

Gets the solver statistics.

Returns: Solver statistics.

◆ getTimeDiscretization()

const std::vector< GridInfo > & robotoc::UnconstrParNMPCSolver::getTimeDiscretization ( ) const

Gets the discretization.

Returns: Returns const reference to the time discretization.

◆ initBackwardCorrection()

void robotoc::UnconstrParNMPCSolver::initBackwardCorrection ( )

Initializes the backward correction solver.

◆ initConstraints()

void robotoc::UnconstrParNMPCSolver::initConstraints ( )

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

◆ KKTError() [1/2]

double robotoc::UnconstrParNMPCSolver::KKTError ( ) const

Returns the l2-norm of the KKT residuals using the results of UnconstrParNMPCsolver::updateSolution() or UnconstrParNMPCsolver::solve().

Returns: The l2-norm of the KKT residual.

◆ KKTError() [2/2]

double robotoc::UnconstrParNMPCSolver::KKTError	(	const double	t,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v
	)

Computes the KKT residual of the optimal control problem and returns the KKT error, that is, the l2-norm of the KKT residual.

Parameters

[in]	t	Initial time of the horizon.
[in]	q	Initial configuration. Size must be Robot::dimq().
[in]	v	Initial velocity. Size must be Robot::dimv().

Returns: The KKT error, that is, the l2-norm of the KKT residual.

◆ operator=() [1/2]

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

default

Default copy assign operator.

◆ operator=() [2/2]

UnconstrParNMPCSolver & robotoc::UnconstrParNMPCSolver::operator= ( UnconstrParNMPCSolver && )

defaultnoexcept

Default move assign operator.

◆ setRobotProperties()

void robotoc::UnconstrParNMPCSolver::setRobotProperties ( const RobotProperties & properties )

Sets a collection of the properties for robot model in this solver.

Parameters

[in] properties A collection of the properties for the robot model.

◆ setSolution()

void robotoc::UnconstrParNMPCSolver::setSolution	(	const std::string &	name,
		const Eigen::VectorXd &	value
	)

Sets the solution over the horizon.

Parameters

[in]	name	Name of the variable.
[in]	value	Value of the specified variable.

◆ setSolverOptions()

void robotoc::UnconstrParNMPCSolver::setSolverOptions ( const SolverOptions & solver_options )

Sets the solver option.

Parameters

[in] solver_options Solver options.

◆ solve()

void robotoc::UnconstrParNMPCSolver::solve	(	const double	t,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v,
		const bool	init_solver = `true`
	)

Solves the optimal control problem. Internally calls updateSolution().

Parameters

[in]	t	Initial time of the horizon.
[in]	q	Initial configuration. Size must be Robot::dimq().
[in]	v	Initial velocity. Size must be Robot::dimv().
[in]	init_solver	If true, initializes the solver, that is, calls initConstraints(), initBackwardCorrection(), and clears the line search filter. Default is true.

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

/github/workspace/include/robotoc/solver/unconstr_parnmpc_solver.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ UnconstrParNMPCSolver() [1/4]

◆ UnconstrParNMPCSolver() [2/4]

◆ ~UnconstrParNMPCSolver()

◆ UnconstrParNMPCSolver() [3/4]

◆ UnconstrParNMPCSolver() [4/4]

Member Function Documentation

◆ discretize()

◆ getSolution() [1/2]

◆ getSolution() [2/2]

◆ getSolverStatistics()

◆ getTimeDiscretization()

◆ initBackwardCorrection()

◆ initConstraints()

◆ KKTError() [1/2]

◆ KKTError() [2/2]

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ setRobotProperties()

◆ setSolution()

◆ setSolverOptions()

◆ solve()