#include <gndocp.h>
Inheritance diagram for gcop::GnDocp< T, _nx, _nu, _np, _ng, _ntp >:
Collaboration diagram for gcop::GnDocp< T, _nx, _nu, _np, _ng, _ntp >:
Public Member Functions | |
| GnDocp (System< T, _nx, _nu, _np > &sys, LqCost< T, _nx, _nu, _np, _ng > &cost, Tparam< T, _nx, _nu, _np, _ntp > &tparam, vector< double > &ts, vector< T > &xs, vector< Vectorcd > &us, Vectormd *p=0, bool update=true) | |
| virtual | ~GnDocp () |
| void | Iterate () |
| GnDocp (System< T, _nx, _nu, _np > &sys, LqCost< T, _nx, _nu, _np, _ng > &cost, Tparam< T, _nx, _nu, _np, _ntp > &tparam, vector< double > &ts, vector< T > &xs, vector< Vectorcd > &us, Vectormd *p=0, bool update=true) | |
| virtual | ~GnDocp () |
| void | Iterate () |
Public Attributes | |
| Tparam< T, _nx, _nu, _np, _ntp > & | tparam |
| int | info |
| double | fnorm |
| double | covfac |
| int | inputs |
| int | values |
| double | numdiff_stepsize |
| The step size for perturbations. | |
| VectorXd | s |
| optimization vector | |
| GnCost< T, _nx, _nu, _np, _ng, _ntp > * | functor |
| NumericalDiff< GnCost< T, _nx, _nu, _np, _ng, _ntp > , NumericalDiffMode::Central > * | numDiff |
| LevenbergMarquardt < NumericalDiff< GnCost< T, _nx, _nu, _np, _ng, _ntp > , NumericalDiffMode::Central > > * | lm |
| SampleNumericalDiff< GnCost< T, _nx, _nu, _np, _ng, _ntp > > * | numDiff |
| LevenbergMarquardt < SampleNumericalDiff< GnCost < T, _nx, _nu, _np, _ng, _ntp > > > * | lm |
template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>
class gcop::GnDocp< T, _nx, _nu, _np, _ng, _ntp >
Constructor & Destructor Documentation
template<typename T , int _nx, int _nu, int _np, int _ng, int _ntp>
| gcop::GnDocp< T, _nx, _nu, _np, _ng, _ntp >::GnDocp | ( | System< T, _nx, _nu, _np > & | sys, |
| LqCost< T, _nx, _nu, _np, _ng > & | cost, | ||
| Tparam< T, _nx, _nu, _np, _ntp > & | tparam, | ||
| vector< double > & | ts, | ||
| vector< T > & | xs, | ||
| vector< Vectorcd > & | us, | ||
| Vectormd * | p = 0, |
||
| bool | update = true |
||
| ) |
Create an optimal control problem using a system, a cost, and a trajectory given by a sequence of times, states, and controls. The times ts must be given, the initial state xs[0] must be set, and the controls us will be used as an initial guess for the optimization.
After initialization, every call to Iterate() will optimize the controls us and states xs and modify them accordingly. Problems involving time-optimization will also modify the sequence of times ts.
- Parameters:
-
sys system cost cost tparam trajectory parametrization ts (N+1) sequence of discrete times xs (N+1) sequence of discrete states us (N) sequence of control inputs p static parameter vector ng update whether to update trajectory xs using initial state xs[0] and inputs us. This is necessary only if xs was not already generated from us.
References gcop::Docp< T, _nx, _nu, _np >::nofevaluations, gcop::Tparam< T, nx, nu, np, _ntp, Tc >::ntp, gcop::Tparam< T, nx, nu, np, _ntp, Tc >::To(), gcop::Docp< T, _nx, _nu, _np >::Update(), and gcop::Docp< T, _nx, _nu, _np >::us.
template<typename T , int _nx, int _nu, int _np, int _ng, int _ntp>
| gcop::GnDocp< T, _nx, _nu, _np, _ng, _ntp >::~GnDocp | ( | ) | [virtual] |
template<typename T , int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>
| gcop::GnDocp< T, _nx, _nu, _np, _ng, _ntp >::GnDocp | ( | System< T, _nx, _nu, _np > & | sys, |
| LqCost< T, _nx, _nu, _np, _ng > & | cost, | ||
| Tparam< T, _nx, _nu, _np, _ntp > & | tparam, | ||
| vector< double > & | ts, | ||
| vector< T > & | xs, | ||
| vector< Vectorcd > & | us, | ||
| Vectormd * | p = 0, |
||
| bool | update = true |
||
| ) |
Create an optimal control problem using a system, a cost, and a trajectory given by a sequence of times, states, and controls. The times ts must be given, the initial state xs[0] must be set, and the controls us will be used as an initial guess for the optimization.
After initialization, every call to Iterate() will optimize the controls us and states xs and modify them accordingly. Problems involving time-optimization will also modify the sequence of times ts.
- Parameters:
-
sys system cost cost tparam trajectory parametrization ts (N+1) sequence of discrete times xs (N+1) sequence of discrete states us (N) sequence of control inputs p static parameter vector ng update whether to update trajectory xs using initial state xs[0] and inputs us. This is necessary only if xs was not already generated from us.
template<typename T , int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>
| virtual gcop::GnDocp< T, _nx, _nu, _np, _ng, _ntp >::~GnDocp | ( | ) | [virtual] |
Member Function Documentation
template<typename T , int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>
| void gcop::GnDocp< T, _nx, _nu, _np, _ng, _ntp >::Iterate | ( | ) | [virtual] |
Perform one DOCP iteration. Internally calls: are updated.
Reimplemented from gcop::Docp< T, _nx, _nu, _np >.
template<typename T , int _nx, int _nu, int _np, int _ng, int _ntp>
| void gcop::GnDocp< T, _nx, _nu, _np, _ng, _ntp >::Iterate | ( | ) | [virtual] |
Perform one DOCP iteration. Internally calls: are updated.
Reimplemented from gcop::Docp< T, _nx, _nu, _np >.
References gcop::GnCost< T, _nx, _nu, _np, _ng, _ntp >::docp.
Member Data Documentation
template<typename T , int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>
| double gcop::GnDocp< T, _nx, _nu, _np, _ng, _ntp >::covfac |
template<typename T , int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>
| double gcop::GnDocp< T, _nx, _nu, _np, _ng, _ntp >::fnorm |
template<typename T , int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>
| GnCost< T, _nx, _nu, _np, _ng, _ntp > * gcop::GnDocp< T, _nx, _nu, _np, _ng, _ntp >::functor |
template<typename T , int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>
| int gcop::GnDocp< T, _nx, _nu, _np, _ng, _ntp >::info |
template<typename T , int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>
| int gcop::GnDocp< T, _nx, _nu, _np, _ng, _ntp >::inputs |
template<typename T , int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>
| LevenbergMarquardt<SampleNumericalDiff<GnCost<T, _nx, _nu, _np, _ng, _ntp> > >* gcop::GnDocp< T, _nx, _nu, _np, _ng, _ntp >::lm |
template<typename T , int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>
| LevenbergMarquardt<NumericalDiff<GnCost<T, _nx, _nu, _np, _ng, _ntp>, NumericalDiffMode::Central> >* gcop::GnDocp< T, _nx, _nu, _np, _ng, _ntp >::lm |
template<typename T , int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>
| SampleNumericalDiff<GnCost<T, _nx, _nu, _np, _ng, _ntp> >* gcop::GnDocp< T, _nx, _nu, _np, _ng, _ntp >::numDiff |
template<typename T , int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>
| NumericalDiff<GnCost<T, _nx, _nu, _np, _ng, _ntp>, NumericalDiffMode::Central>* gcop::GnDocp< T, _nx, _nu, _np, _ng, _ntp >::numDiff |
template<typename T , int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>
| double gcop::GnDocp< T, _nx, _nu, _np, _ng, _ntp >::numdiff_stepsize |
The step size for perturbations.
template<typename T , int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>
| VectorXd gcop::GnDocp< T, _nx, _nu, _np, _ng, _ntp >::s |
optimization vector
template<typename T , int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>
| Tparam< T, _nx, _nu, _np, _ntp > & gcop::GnDocp< T, _nx, _nu, _np, _ng, _ntp >::tparam |
template<typename T , int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>
| int gcop::GnDocp< T, _nx, _nu, _np, _ng, _ntp >::values |
The documentation for this class was generated from the following files:
- lib/algos/gndocp.h
- lib/algos/gndocpv2.h
