#include <tparamdocp.h>
Inheritance diagram for gcop::TparamDocp< T, nx, nu, np, nz, _ntp >:
Collaboration diagram for gcop::TparamDocp< T, nx, nu, np, nz, _ntp >:
Public Member Functions | |
| TparamDocp (System< T, nx, nu, np, nz > &sys, Cost< T, nx, nu > &cost, Tparam< T, nx, nu, np, nz, _ntp > &tp, vector< double > &ts, vector< T > &xs, vector< Vectorcd > &us, Vectormd *p=0) | |
| virtual | ~TparamDocp () |
| void | Iterate () |
Public Attributes | |
| Tparam< T, nx, nu, np, nz, _ntp > & | tp |
| trajectory parametrization | |
template<typename T, int nx = Dynamic, int nu = Dynamic, int np = Dynamic, int nz = Dynamic, int _ntp = Dynamic>
class gcop::TparamDocp< T, nx, nu, np, nz, _ntp >
Constructor & Destructor Documentation
template<typename T , int nx = Dynamic, int nu = Dynamic, int np = Dynamic, int nz = Dynamic, int _ntp = Dynamic>
| gcop::TparamDocp< T, nx, nu, np, nz, _ntp >::TparamDocp | ( | System< T, nx, nu, np, nz > & | sys, |
| Cost< T, nx, nu > & | cost, | ||
| Tparam< T, nx, nu, np, nz, _ntp > & | tp, | ||
| vector< double > & | ts, | ||
| vector< T > & | xs, | ||
| vector< Vectorcd > & | us, | ||
| Vectormd * | p = 0 |
||
| ) |
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 tp trajectory paramtrization ts (N+1) sequence of discrete times xs (N+1) sequence of discrete states us (N) sequence of control inputs
template<typename T , int nx, int nu, int np, int nz, int _ntp>
| gcop::TparamDocp< T, nx, nu, np, nz, _ntp >::~TparamDocp | ( | ) | [virtual] |
Member Function Documentation
template<typename T , int nx = Dynamic, int nu = Dynamic, int np = Dynamic, int nz = Dynamic, int _ntp = Dynamic>
| void gcop::TparamDocp< T, nx, nu, np, nz, _ntp >::Iterate | ( | ) | [virtual] |
Perform one DOCP iteration.
Reimplemented from gcop::Docp< T, nx, nu, np, nz >.
Member Data Documentation
template<typename T , int nx = Dynamic, int nu = Dynamic, int np = Dynamic, int nz = Dynamic, int _ntp = Dynamic>
| Tparam<T, nx, nu, np, nz, _ntp>& gcop::TparamDocp< T, nx, nu, np, nz, _ntp >::tp |
trajectory parametrization
The documentation for this class was generated from the following file:
- lib/algos/tparamdocp.h
