Shared CRTP base for transcription methods. More...

#include <TranscriptionBase.hpp>

Collaboration diagram for janus::TranscriptionBase< Derived >:

Public Member Functions
	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_initial_state (int idx, double value)
	Pin a single initial state component.
void	set_final_state (const NumericVector &xf)
	Pin all final states to specified values.
void	set_final_state (int idx, double value)
	Pin a single final state component.
template<typename Func>
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().

Protected Member Functions
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
Opti &	opti_
int	n_states_ = 0
int	n_controls_ = 0
int	n_nodes_ = 0
double	t0_ = 0.0
double	tf_fixed_ = 1.0
SymbolicScalar	tf_symbolic_
bool	tf_is_variable_ = false
bool	setup_complete_ = false
bool	dynamics_set_ = false
bool	dynamics_constraints_added_ = false
NumericVector	tau_
SymbolicMatrix	states_
SymbolicMatrix	controls_
std::function< SymbolicVector(const SymbolicVector &, const SymbolicVector &, const SymbolicScalar &)>	dynamics_

Detailed Description

template<typename Derived>
class janus::TranscriptionBase< Derived >

Shared CRTP base for transcription methods.

Template Parameters

Derived CRTP derived class (e.g. DirectCollocation, Pseudospectral)

See also: DirectCollocation for direct collocation transcription; Pseudospectral for pseudospectral transcription; MultipleShooting for multiple shooting transcription; BirkhoffPseudospectral for Birkhoff pseudospectral transcription

Constructor & Destructor Documentation

◆ TranscriptionBase()

template<typename Derived>

janus::TranscriptionBase< Derived >::TranscriptionBase ( Opti & opti )

inlineexplicit

Construct with a reference to the optimization environment.

Parameters

opti	Opti instance to add variables and constraints to

Member Function Documentation

◆ add_continuity_constraints()

template<typename Derived>

void janus::TranscriptionBase< Derived >::add_continuity_constraints ( )

inline

Alias for add_dynamics_constraints().

◆ add_defect_constraints()

template<typename Derived>

void janus::TranscriptionBase< Derived >::add_defect_constraints ( )

inline

Alias for add_dynamics_constraints().

◆ add_dynamics_constraints()

template<typename Derived>

void janus::TranscriptionBase< Derived >::add_dynamics_constraints ( )

inline

Add dynamics constraints to the optimization problem.

◆ controls()

template<typename Derived>

const SymbolicMatrix & janus::TranscriptionBase< Derived >::controls ( ) const

inline

Get the control decision variable matrix.

Returns: matrix of size (n_nodes x n_controls) or (n_intervals x n_controls)

◆ get_control_at_node()

template<typename Derived>

SymbolicVector janus::TranscriptionBase< Derived >::get_control_at_node ( int k ) const

inlineprotected

◆ get_duration()

template<typename Derived>

SymbolicScalar janus::TranscriptionBase< Derived >::get_duration ( ) const

inlineprotected

◆ get_state_at_node()

template<typename Derived>

SymbolicVector janus::TranscriptionBase< Derived >::get_state_at_node ( int k ) const

inlineprotected

◆ get_time_at_node()

template<typename Derived>

SymbolicScalar janus::TranscriptionBase< Derived >::get_time_at_node ( int k ) const

inlineprotected

◆ n_controls()

template<typename Derived>

int janus::TranscriptionBase< Derived >::n_controls ( ) const

inline

Get the number of control variables per node.

Returns: control dimension

◆ n_nodes()

template<typename Derived>

int janus::TranscriptionBase< Derived >::n_nodes ( ) const

inline

Get the number of discretization nodes.

Returns: node count

◆ n_states()

template<typename Derived>

int janus::TranscriptionBase< Derived >::n_states ( ) const

inline

Get the number of state variables per node.

Returns: state dimension

◆ set_dynamics()

template<typename Derived>

template<typename Func>

void janus::TranscriptionBase< Derived >::set_dynamics ( Func && dynamics )

inline

Register the dynamics function xdot = f(x, u, t).

Template Parameters

Func	callable with signature SymbolicVector(const SymbolicVector&, const SymbolicVector&, const SymbolicScalar&)

Parameters

dynamics dynamics function

◆ set_final_state() [1/2]

template<typename Derived>

void janus::TranscriptionBase< Derived >::set_final_state ( const NumericVector & xf )

inline

Pin all final states to specified values.

Parameters

xf	state vector at the final time

◆ set_final_state() [2/2]

template<typename Derived>

void janus::TranscriptionBase< Derived >::set_final_state	(	int	idx,
		double	value )

inline

Pin a single final state component.

Parameters

idx	state index
value	fixed value for that state

◆ set_initial_state() [1/2]

template<typename Derived>

void janus::TranscriptionBase< Derived >::set_initial_state ( const NumericVector & x0 )

inline

Pin all initial states to specified values.

Parameters

x0	state vector at the initial time

◆ set_initial_state() [2/2]

template<typename Derived>

void janus::TranscriptionBase< Derived >::set_initial_state	(	int	idx,
		double	value )

inline

Pin a single initial state component.

Parameters

idx	state index
value	fixed value for that state

◆ states()

template<typename Derived>

const SymbolicMatrix & janus::TranscriptionBase< Derived >::states ( ) const

inline

Get the state decision variable matrix.

Returns: matrix of size (n_nodes x n_states)

◆ time_grid()

template<typename Derived>

const NumericVector & janus::TranscriptionBase< Derived >::time_grid ( ) const

inline

Get the normalized time grid.

Returns: vector of node times in [0, 1]

Member Data Documentation

◆ controls_

template<typename Derived>

SymbolicMatrix janus::TranscriptionBase< Derived >::controls_

protected

◆ dynamics_

template<typename Derived>

std::function<SymbolicVector(const SymbolicVector &, const SymbolicVector &, const SymbolicScalar &)> janus::TranscriptionBase< Derived >::dynamics_

protected

◆ dynamics_constraints_added_

template<typename Derived>

bool janus::TranscriptionBase< Derived >::dynamics_constraints_added_ = false

protected

◆ dynamics_set_

template<typename Derived>

bool janus::TranscriptionBase< Derived >::dynamics_set_ = false

protected

◆ n_controls_

template<typename Derived>

int janus::TranscriptionBase< Derived >::n_controls_ = 0

protected

◆ n_nodes_

template<typename Derived>

int janus::TranscriptionBase< Derived >::n_nodes_ = 0

protected

◆ n_states_

template<typename Derived>

int janus::TranscriptionBase< Derived >::n_states_ = 0

protected

◆ opti_

template<typename Derived>

Opti& janus::TranscriptionBase< Derived >::opti_

protected

◆ setup_complete_

template<typename Derived>

bool janus::TranscriptionBase< Derived >::setup_complete_ = false

protected

◆ states_

template<typename Derived>

SymbolicMatrix janus::TranscriptionBase< Derived >::states_

protected

◆ t0_

template<typename Derived>

double janus::TranscriptionBase< Derived >::t0_ = 0.0

protected

◆ tau_

template<typename Derived>

NumericVector janus::TranscriptionBase< Derived >::tau_

protected

◆ tf_fixed_

template<typename Derived>

double janus::TranscriptionBase< Derived >::tf_fixed_ = 1.0

protected

◆ tf_is_variable_

template<typename Derived>

bool janus::TranscriptionBase< Derived >::tf_is_variable_ = false

protected

◆ tf_symbolic_

template<typename Derived>

SymbolicScalar janus::TranscriptionBase< Derived >::tf_symbolic_

protected

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

include/janus/optimization/TranscriptionBase.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TranscriptionBase()

Member Function Documentation

◆ add_continuity_constraints()

◆ add_defect_constraints()

◆ add_dynamics_constraints()

◆ controls()

◆ get_control_at_node()

◆ get_duration()

◆ get_state_at_node()

◆ get_time_at_node()

◆ n_controls()

◆ n_nodes()

◆ n_states()

◆ set_dynamics()

◆ set_final_state() [1/2]

◆ set_final_state() [2/2]

◆ set_initial_state() [1/2]

◆ set_initial_state() [2/2]

◆ states()

◆ time_grid()

Member Data Documentation

◆ controls_

◆ dynamics_

◆ dynamics_constraints_added_

◆ dynamics_set_

◆ n_controls_

◆ n_nodes_

◆ n_states_

◆ opti_

◆ setup_complete_

◆ states_

◆ t0_

◆ tau_

◆ tf_fixed_

◆ tf_is_variable_

◆ tf_symbolic_