robotoc::OCP Class Reference

The optimal control problem. More...

#include <ocp.hpp>

Collaboration diagram for robotoc::OCP:

Public Member Functions
	OCP (const Robot &robot, const std::shared_ptr< CostFunction > &cost, const std::shared_ptr< Constraints > &constraints, const std::shared_ptr< STOCostFunction > &sto_cost, const std::shared_ptr< STOConstraints > &sto_constraints, const std::shared_ptr< ContactSequence > &contact_sequence, const double T, const int N, const int reserved_num_discrete_events=0)
	Construct the optiaml control problem. More...
	OCP (const Robot &robot, const std::shared_ptr< CostFunction > &cost, const std::shared_ptr< Constraints > &constraints, const std::shared_ptr< ContactSequence > &contact_sequence, const double T, const int N, const int reserved_num_discrete_events=0)
	Construct the optiaml control problem. More...
	OCP (const Robot &robot, const std::shared_ptr< CostFunction > &cost, const std::shared_ptr< Constraints > &constraints, const double T, const int N)
	Construct the optiaml control problem. More...
	OCP ()
	Default constructor. More...
	~OCP ()=default
	Default destructor. More...
	OCP (const OCP &)=default
	Default copy constructor. More...
OCP &	operator= (const OCP &)=default
	Default copy assign operator. More...
	OCP (OCP &&) noexcept=default
	Default move constructor. More...
OCP &	operator= (OCP &&) noexcept=default
	Default move assign operator. More...
void	disp (std::ostream &os) const

Public Attributes
Robot	robot
	The robot model. More...
std::shared_ptr< CostFunction >	cost = nullptr
	The cost function. More...
std::shared_ptr< Constraints >	constraints = nullptr
	The constraints. More...
std::shared_ptr< STOCostFunction >	sto_cost = nullptr
	The STO cost function. More...
std::shared_ptr< STOConstraints >	sto_constraints = nullptr
	The STO constraints. More...
std::shared_ptr< ContactSequence >	contact_sequence = nullptr
double	T = 0.0
int	N = 0
int	reserved_num_discrete_events = 0

Friends
std::ostream &	operator<< (std::ostream &os, const OCP &ocp)

Detailed Description

The optimal control problem.

Constructor & Destructor Documentation

OCP() [1/6]

robotoc::OCP::OCP	(	const Robot &	robot,
		const std::shared_ptr< CostFunction > &	cost,
		const std::shared_ptr< Constraints > &	constraints,
		const std::shared_ptr< STOCostFunction > &	sto_cost,
		const std::shared_ptr< STOConstraints > &	sto_constraints,
		const std::shared_ptr< ContactSequence > &	contact_sequence,
		const double	T,
		const int	N,
		const int	reserved_num_discrete_events = 0
	)

Construct the optiaml control problem.

Parameters

[in]	robot	Robot model.
[in]	cost	Shared ptr to the cost function.
[in]	constraints	Shared ptr to the constraints.
[in]	sto_cost	Shared ptr to the STO cost function.
[in]	sto_constraints	Shared ptr to the STO constraints.
[in]	contact_sequence	Shared ptr to the contact sequence.
[in]	T	Length of the horzion. Must be positive.
[in]	N	Number of the discretization grids of the horizon. Must be positive.
[in]	reserved_num_discrete_events	Reserved size of the discrete-event data. Must be non-negative. Default is 0.

OCP() [2/6]

robotoc::OCP::OCP	(	const Robot &	robot,
		const std::shared_ptr< CostFunction > &	cost,
		const std::shared_ptr< Constraints > &	constraints,
		const std::shared_ptr< ContactSequence > &	contact_sequence,
		const double	T,
		const int	N,
		const int	reserved_num_discrete_events = 0
	)

Construct the optiaml control problem.

Parameters

[in]	robot	Robot model.
[in]	cost	Shared ptr to the cost function.
[in]	constraints	Shared ptr to the constraints.
[in]	contact_sequence	Shared ptr to the contact sequence.
[in]	T	Length of the horzion. Must be positive.
[in]	N	Number of the discretization grids of the horizon. Must be positive.
[in]	reserved_num_discrete_events	Reserved size of the discrete-event data. Must be non-negative. Default is 0.

OCP() [3/6]

robotoc::OCP::OCP	(	const Robot &	robot,
		const std::shared_ptr< CostFunction > &	cost,
		const std::shared_ptr< Constraints > &	constraints,
		const double	T,
		const int	N
	)

Construct the optiaml control problem.

Parameters

[in]	robot	Robot model.
[in]	cost	Shared ptr to the cost function.
[in]	constraints	Shared ptr to the constraints.
[in]	T	Length of the horzion. Must be positive.
[in]	N	Number of the discretization grids of the horizon. Must be positive.

OCP() [4/6]

robotoc::OCP::OCP

(

)

Default constructor.

~OCP()

robotoc::OCP::~OCP ( )

default

Default destructor.

OCP() [5/6]

robotoc::OCP::OCP ( const OCP &  )

default

Default copy constructor.

OCP() [6/6]

robotoc::OCP::OCP ( OCP &&  )

defaultnoexcept

Default move constructor.

Member Function Documentation

disp()

void robotoc::OCP::disp

(

std::ostream &

os

)

const

operator=() [1/2]

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

default

Default copy assign operator.

operator=() [2/2]

OCP & robotoc::OCP::operator= ( OCP &&  )

defaultnoexcept

Default move assign operator.

Friends And Related Function Documentation

operator<<

std::ostream & operator<< ( std::ostream &  os, const OCP &  ocp  )

friend

Member Data Documentation

constraints

std::shared_ptr<Constraints> robotoc::OCP::constraints = nullptr

The constraints.

contact_sequence

std::shared_ptr<ContactSequence> robotoc::OCP::contact_sequence = nullptr

Returns

The contact sequence.

cost

std::shared_ptr<CostFunction> robotoc::OCP::cost = nullptr

The cost function.

N

int robotoc::OCP::N = 0

Returns

Number of the discretization grids of the horizon.

reserved_num_discrete_events

int robotoc::OCP::reserved_num_discrete_events = 0

Returns

Reserved size of the discrete-event data.

robot

Robot robotoc::OCP::robot

The robot model.

sto_constraints

std::shared_ptr<STOConstraints> robotoc::OCP::sto_constraints = nullptr

The STO constraints.

sto_cost

std::shared_ptr<STOCostFunction> robotoc::OCP::sto_cost = nullptr

The STO cost function.

T

double robotoc::OCP::T = 0.0

Returns

The length of the horizon.

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

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