janus::DirectCollocation Class Reference

Direct collocation transcription. More...

#include <Collocation.hpp>

Inheritance diagram for janus::DirectCollocation:

Collaboration diagram for janus::DirectCollocation:

Public Member Functions
	DirectCollocation (Opti &opti)
	Construct with a reference to the optimization environment.
std::tuple< SymbolicMatrix, SymbolicMatrix, NumericVector >	setup (int n_states, int n_controls, double t0, double tf, const CollocationOptions &opts={})
	Set up the collocation problem with fixed final time.
std::tuple< SymbolicMatrix, SymbolicMatrix, NumericVector >	setup (int n_states, int n_controls, double t0, const SymbolicScalar &tf, const CollocationOptions &opts={})
	Set up the collocation problem with variable final time.
SymbolicScalar	quadrature (const SymbolicVector &integrand) const
	Composite quadrature for an integrand sampled at collocation nodes.
int	n_intervals () const
	Get the number of collocation intervals.
Public Member Functions inherited from janus::TranscriptionBase< DirectCollocation >
	TranscriptionBase (Opti &opti)
	Construct with a reference to the optimization environment.
void	set_initial_state (const NumericVector &x0)
	Pin all initial states to specified values.
void	set_final_state (const NumericVector &xf)
	Pin all final states to specified values.
void	set_dynamics (Func &&dynamics)
	Register the dynamics function xdot = f(x, u, t).
const SymbolicMatrix &	states () const
	Get the state decision variable matrix.
const SymbolicMatrix &	controls () const
	Get the control decision variable matrix.
const NumericVector &	time_grid () const
	Get the normalized time grid.
int	n_nodes () const
	Get the number of discretization nodes.
int	n_states () const
	Get the number of state variables per node.
int	n_controls () const
	Get the number of control variables per node.
void	add_dynamics_constraints ()
	Add dynamics constraints to the optimization problem.
void	add_defect_constraints ()
	Alias for add_dynamics_constraints().
void	add_continuity_constraints ()
	Alias for add_dynamics_constraints().

Friends
class	TranscriptionBase< DirectCollocation >

Additional Inherited Members
Protected Member Functions inherited from janus::TranscriptionBase< DirectCollocation >
SymbolicScalar	get_duration () const
SymbolicScalar	get_time_at_node (int k) const
SymbolicVector	get_state_at_node (int k) const
SymbolicVector	get_control_at_node (int k) const
Protected Attributes inherited from janus::TranscriptionBase< DirectCollocation >
Opti &	opti_
int	n_states_
int	n_controls_
int	n_nodes_
double	t0_
double	tf_fixed_
SymbolicScalar	tf_symbolic_
bool	tf_is_variable_
bool	setup_complete_
bool	dynamics_set_
bool	dynamics_constraints_added_
NumericVector	tau_
SymbolicMatrix	states_
SymbolicMatrix	controls_
std::function< SymbolicVector(const SymbolicVector &, const SymbolicVector &, const SymbolicScalar &)>	dynamics_

Detailed Description

Direct collocation transcription.

See also

TranscriptionBase for shared interface

CollocationOptions for configuration

Constructor & Destructor Documentation

DirectCollocation()

janus::DirectCollocation::DirectCollocation ( Opti & opti )

inlineexplicit

Construct with a reference to the optimization environment.

Parameters

opti	Opti instance

Member Function Documentation

n_intervals()

int janus::DirectCollocation::n_intervals ( ) const

inline

Get the number of collocation intervals.

Returns

n_nodes - 1

quadrature()

SymbolicScalar janus::DirectCollocation::quadrature ( const SymbolicVector & integrand ) const

inline

Composite quadrature for an integrand sampled at collocation nodes.

Trapezoidal scheme uses composite trapezoidal weights. Hermite-Simpson uses composite Simpson when possible (even number of intervals), otherwise falls back to trapezoidal.

Parameters

integrand

symbolic vector of integrand values at each node

Returns

symbolic scalar approximation of the definite integral

setup() [1/2]

std::tuple< SymbolicMatrix, SymbolicMatrix, NumericVector > janus::DirectCollocation::setup ( int n_states, int n_controls, double t0, const SymbolicScalar & tf, const CollocationOptions & opts = {} )

inline

Set up the collocation problem with variable final time.

Parameters

n_states	number of state variables
n_controls	number of control variables
t0	initial time
tf	symbolic final time (decision variable)
opts	collocation options

Returns

tuple of (states, controls, time_grid)

setup() [2/2]

std::tuple< SymbolicMatrix, SymbolicMatrix, NumericVector > janus::DirectCollocation::setup ( int n_states, int n_controls, double t0, double tf, const CollocationOptions & opts = {} )

inline

Set up the collocation problem with fixed final time.

Parameters

n_states	number of state variables
n_controls	number of control variables
t0	initial time
tf	final time
opts	collocation options

Returns

tuple of (states, controls, time_grid)

Friends And Related Symbol Documentation

TranscriptionBase< DirectCollocation >

friend class TranscriptionBase< DirectCollocation >

friend

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

• include/janus/optimization/Collocation.hpp