janus::MultipleShooting Class Reference

Multiple shooting transcription. More...

#include <MultiShooting.hpp>

Inheritance diagram for janus::MultipleShooting:

Collaboration diagram for janus::MultipleShooting:

Public Member Functions
	MultipleShooting (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 MultiShootingOptions &opts={})
	Set up the shooting problem with fixed final time.
std::tuple< SymbolicMatrix, SymbolicMatrix, NumericVector >	setup (int n_states, int n_controls, double t0, const SymbolicScalar &tf, const MultiShootingOptions &opts={})
	Set up the shooting problem with variable final time.
int	n_intervals () const
	Get the number of shooting intervals.
Public Member Functions inherited from janus::TranscriptionBase< MultipleShooting >
	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< MultipleShooting >

Additional Inherited Members
Protected Member Functions inherited from janus::TranscriptionBase< MultipleShooting >
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< MultipleShooting >
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

Multiple shooting transcription.

See also

TranscriptionBase for shared interface

MultiShootingOptions for configuration

Constructor & Destructor Documentation

MultipleShooting()

janus::MultipleShooting::MultipleShooting ( Opti & opti )

inlineexplicit

Construct with a reference to the optimization environment.

Parameters

opti	Opti instance

Member Function Documentation

n_intervals()

int janus::MultipleShooting::n_intervals ( ) const

inline

Get the number of shooting intervals.

Returns

interval count

setup() [1/2]

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

inline

Set up the shooting 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	shooting options

Returns

tuple of (states, controls, time_grid)

setup() [2/2]

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

inline

Set up the shooting 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	shooting options

Returns

tuple of (states, controls, time_grid)

Friends And Related Symbol Documentation

TranscriptionBase< MultipleShooting >

friend class TranscriptionBase< MultipleShooting >

friend

---

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

• include/janus/optimization/MultiShooting.hpp