Zero-horizon OCP solver to initialize the solution of the MPC solvers. More...

#include <zero_horizon_ocp_solver.hpp>

Public Types
using	ZeroHorizonNLP_ = detail::ZeroHorizonNLP< OCP >

using	NewtonGMRES_ = detail::NewtonGMRES< ZeroHorizonNLP_ >

using	MatrixFreeGMRES_ = detail::MatrixFreeGMRES< NewtonGMRES_, kmax >

Public Member Functions
	ZeroHorizonOCPSolver (const OCP &ocp, const SolverSettings &settings)
	Constructs the zero-horizon OCP solver. More...

	ZeroHorizonOCPSolver ()=default
	Default constructor. More...

	~ZeroHorizonOCPSolver ()=default
	Default destructor. More...

template<typename VectorType >
void	set_u (const VectorType &u)
	Sets the control input vector. More...

template<typename VectorType >
void	set_uc (const VectorType &uc)
	Sets the control input vector and Lagrange multiplier with respect to the equality constraints. More...

template<typename VectorType >
void	set_dummy (const MatrixBase< VectorType > &dummy)
	Sets the dummy input vector with respect to the control input bounds constraint. More...

template<typename VectorType >
void	set_mu (const MatrixBase< VectorType > &mu)
	Sets the Lagrange multiplier with respect to the control input bounds constraint. More...

void	init_dummy_mu ()
	Initializes the dummy input vectors and Lagrange multipliers with respect to the control input bounds constraint. More...

const Vector< nu > &	uopt () const
	Getter of the optimal solution. More...

const Vector< nuc > &	ucopt () const
	Getter of the optimal solution. More...

const Vector< nub > &	dummyopt () const
	Getter of the optimal solution. More...

const Vector< nub > &	muopt () const
	Getter of the optimal solution. More...

const Vector< nx > &	lmdopt () const
	Getter of the optimal solution. More...

Scalar	optError () const
	Gets the l2-norm of the current optimality errors. More...

template<typename VectorType >
Scalar	optError (const Scalar t, const MatrixBase< VectorType > &x)
	Computes and gets the l2-norm of the current optimality errors. More...

template<typename VectorType >
void	solve (const Scalar t, const MatrixBase< VectorType > &x)
	Solves the zero-horizon optimal control problem by Newton-GMRES method. More...

TimingProfile	getProfile () const
	Get timing result as TimingProfile. More...

void	disp (std::ostream &os) const

Static Public Attributes
static constexpr int	nx = OCP::nx
	Dimension of the state. More...

static constexpr int	nu = OCP::nu
	Dimension of the control input. More...

static constexpr int	nc = OCP::nc
	Dimension of the equality constraints. More...

static constexpr int	nuc = nu + nc
	Dimension of the concatenation of the control input and equality constraints. More...

static constexpr int	nub = OCP::nub
	Dimension of the bound constraints on the control input. More...

static constexpr int	dim = nuc + 2 * nub
	Dimension of the linear problem solved by the GMRES solver. More...

Friends
std::ostream &	operator<< (std::ostream &os, const ZeroHorizonOCPSolver &solver)

Detailed Description

template<class OCP, int kmax>
class cgmres::ZeroHorizonOCPSolver< OCP, kmax >

Zero-horizon OCP solver to initialize the solution of the MPC solvers.

Template Parameters

OCP	A definition of the optimal control problem (OCP).
kmax	Maximum number of the GMRES iterations. Must be positive.

Member Typedef Documentation

◆ MatrixFreeGMRES_

template<class OCP , int kmax>

using cgmres::ZeroHorizonOCPSolver< OCP, kmax >::MatrixFreeGMRES_ = detail::MatrixFreeGMRES<NewtonGMRES_, kmax>

◆ NewtonGMRES_

template<class OCP , int kmax>

using cgmres::ZeroHorizonOCPSolver< OCP, kmax >::NewtonGMRES_ = detail::NewtonGMRES<ZeroHorizonNLP_>

◆ ZeroHorizonNLP_

template<class OCP , int kmax>

using cgmres::ZeroHorizonOCPSolver< OCP, kmax >::ZeroHorizonNLP_ = detail::ZeroHorizonNLP<OCP>

Constructor & Destructor Documentation

◆ ZeroHorizonOCPSolver() [1/2]

template<class OCP , int kmax>

cgmres::ZeroHorizonOCPSolver< OCP, kmax >::ZeroHorizonOCPSolver	(	const OCP &	ocp,
		const SolverSettings &	settings
	)

inline

Constructs the zero-horizon OCP solver.

Parameters

[in]	ocp	A definition of the optimal control problem (OCP).
[in]	settings	Solver settings.

◆ ZeroHorizonOCPSolver() [2/2]

template<class OCP , int kmax>

cgmres::ZeroHorizonOCPSolver< OCP, kmax >::ZeroHorizonOCPSolver ( )

default

Default constructor.

◆ ~ZeroHorizonOCPSolver()

template<class OCP , int kmax>

cgmres::ZeroHorizonOCPSolver< OCP, kmax >::~ZeroHorizonOCPSolver ( )

default

Default destructor.

Member Function Documentation

◆ disp()

template<class OCP , int kmax>

void cgmres::ZeroHorizonOCPSolver< OCP, kmax >::disp ( std::ostream & os ) const

inline

◆ dummyopt()

template<class OCP , int kmax>

const Vector< nub > & cgmres::ZeroHorizonOCPSolver< OCP, kmax >::dummyopt ( ) const

inline

Getter of the optimal solution.

Returns: const reference to the optimal dummy input vectors with respect to the control input bounds constraint.

◆ getProfile()

template<class OCP , int kmax>

TimingProfile cgmres::ZeroHorizonOCPSolver< OCP, kmax >::getProfile ( ) const

inline

Get timing result as TimingProfile.

Returns: Timing profile.

◆ init_dummy_mu()

template<class OCP , int kmax>

void cgmres::ZeroHorizonOCPSolver< OCP, kmax >::init_dummy_mu ( )

inline

Initializes the dummy input vectors and Lagrange multipliers with respect to the control input bounds constraint.

◆ lmdopt()

template<class OCP , int kmax>

const Vector< nx > & cgmres::ZeroHorizonOCPSolver< OCP, kmax >::lmdopt ( ) const

inline

Getter of the optimal solution.

Returns: const reference to the optimal costate vector.

◆ muopt()

template<class OCP , int kmax>

const Vector< nub > & cgmres::ZeroHorizonOCPSolver< OCP, kmax >::muopt ( ) const

inline

Getter of the optimal solution.

Returns: const reference to the Lagrange multipliers with respect to the control input bounds constraint.

◆ optError() [1/2]

template<class OCP , int kmax>

Scalar cgmres::ZeroHorizonOCPSolver< OCP, kmax >::optError ( ) const

inline

Gets the l2-norm of the current optimality errors.

Returns: The l2-norm of the current optimality errors.

◆ optError() [2/2]

template<class OCP , int kmax>

template<typename VectorType >

Scalar cgmres::ZeroHorizonOCPSolver< OCP, kmax >::optError	(	const Scalar	t,
		const MatrixBase< VectorType > &	x
	)

inline

Computes and gets the l2-norm of the current optimality errors.

Parameters

[in]	t	Time.
[in]	x	State. Size must be ZeroHorizonOCPSolver::nx.

Returns: The l2-norm of the current optimality errors.

◆ set_dummy()

template<class OCP , int kmax>

template<typename VectorType >

void cgmres::ZeroHorizonOCPSolver< OCP, kmax >::set_dummy ( const MatrixBase< VectorType > & dummy )

inline

Sets the dummy input vector with respect to the control input bounds constraint.

Parameters

[in] dummy The dummy input vector. Size must be ZeroHorizonOCPSolver::nub.

◆ set_mu()

template<class OCP , int kmax>

template<typename VectorType >

void cgmres::ZeroHorizonOCPSolver< OCP, kmax >::set_mu ( const MatrixBase< VectorType > & mu )

inline

Sets the Lagrange multiplier with respect to the control input bounds constraint.

Parameters

[in] mu The Lagrange multiplier. Size must be ZeroHorizonOCPSolver::nub.

◆ set_u()

template<class OCP , int kmax>

template<typename VectorType >

void cgmres::ZeroHorizonOCPSolver< OCP, kmax >::set_u ( const VectorType & u )

inline

Sets the control input vector.

Parameters

[in] u The control input vector. Size must be ZeroHorizonOCPSolver::nu.

◆ set_uc()

template<class OCP , int kmax>

template<typename VectorType >

void cgmres::ZeroHorizonOCPSolver< OCP, kmax >::set_uc ( const VectorType & uc )

inline

Sets the control input vector and Lagrange multiplier with respect to the equality constraints.

Parameters

[in] uc Concatenatin of the control input vector and Lagrange multiplier with respect to the equality constraints. Size must be ZeroHorizonOCPSolver::nuc.

◆ solve()

template<class OCP , int kmax>

template<typename VectorType >

void cgmres::ZeroHorizonOCPSolver< OCP, kmax >::solve	(	const Scalar	t,
		const MatrixBase< VectorType > &	x
	)

inline

Solves the zero-horizon optimal control problem by Newton-GMRES method.

Parameters

[in]	t	Time.
[in]	x	State. Size must be ZeroHorizonOCPSolver::nx.

◆ ucopt()

template<class OCP , int kmax>

const Vector< nuc > & cgmres::ZeroHorizonOCPSolver< OCP, kmax >::ucopt ( ) const

inline

Getter of the optimal solution.

Returns: const reference to the optimal concatenatins of the control input vector and Lagrange multiplier with respect to the equality constraints.

◆ uopt()

template<class OCP , int kmax>

const Vector< nu > & cgmres::ZeroHorizonOCPSolver< OCP, kmax >::uopt ( ) const

inline

Getter of the optimal solution.

Returns: const reference to the optimal control input vector.

Friends And Related Function Documentation

◆ operator<<

template<class OCP , int kmax>

std::ostream & operator<<	(	std::ostream &	os,
		const ZeroHorizonOCPSolver< OCP, kmax > &	solver
	)

staticconstexpr

Dimension of the state.

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

/github/workspace/include/cgmres/zero_horizon_ocp_solver.hpp

Public Types

Public Member Functions

Static Public Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ MatrixFreeGMRES_

◆ NewtonGMRES_

◆ ZeroHorizonNLP_

Constructor & Destructor Documentation

◆ ZeroHorizonOCPSolver() [1/2]

◆ ZeroHorizonOCPSolver() [2/2]

◆ ~ZeroHorizonOCPSolver()

Member Function Documentation

◆ disp()

◆ dummyopt()

◆ getProfile()

◆ init_dummy_mu()

◆ lmdopt()

◆ muopt()

◆ optError() [1/2]

◆ optError() [2/2]

◆ set_dummy()

◆ set_mu()

◆ set_u()

◆ set_uc()

◆ solve()

◆ ucopt()

◆ uopt()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ dim

◆ nc

◆ nu

◆ nub

◆ nuc

◆ nx