Trajectory optimization problem. More...

#include <aligator/core/traj-opt-problem.hpp>

Collaboration diagram for aligator::TrajOptProblemTpl< _Scalar >:

Public Types
using	Scalar = _Scalar

using	StageModel = StageModelTpl<Scalar>

using	UnaryFunction = UnaryFunctionTpl<Scalar>

using	Data = TrajOptDataTpl<Scalar>

using	Manifold = ManifoldAbstractTpl<Scalar>

using	CostAbstract = CostAbstractTpl<Scalar>

using	ConstraintType = StageConstraintTpl<Scalar>

using	StateErrorResidual = StateErrorResidualTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	TrajOptProblemTpl (shared_ptr< UnaryFunction > init_constraint, const std::vector< shared_ptr< StageModel > > &stages, shared_ptr< CostAbstract > term_cost)

	TrajOptProblemTpl (const ConstVectorRef &x0, const std::vector< shared_ptr< StageModel > > &stages, shared_ptr< CostAbstract > term_cost)
	Constructor for an initial value problem.

	TrajOptProblemTpl (shared_ptr< UnaryFunction > init_constraint, shared_ptr< CostAbstract > term_cost)

	TrajOptProblemTpl (const ConstVectorRef &x0, const int nu, shared_ptr< Manifold > space, shared_ptr< CostAbstract > term_cost)
	Constructor for an initial value problem.

bool	initCondIsStateError () const

void	addStage (const shared_ptr< StageModel > &stage)
	Add a stage to the control problem.

ConstVectorRef	getInitState () const
	Get initial state constraint.

void	setInitState (const ConstVectorRef &x0)
	Set initial state constraint.

void	addTerminalConstraint (const ConstraintType &cstr)
	Add a terminal constraint for the model.

void	removeTerminalConstraints ()
	Remove all terminal constraints.

std::size_t	numSteps () const

Scalar	evaluate (const std::vector< VectorXs > &xs, const std::vector< VectorXs > &us, Data &prob_data, std::size_t num_threads=1) const
	Rollout the problem costs, constraints, dynamics, stage per stage.

void	computeDerivatives (const std::vector< VectorXs > &xs, const std::vector< VectorXs > &us, Data &prob_data, std::size_t num_threads=1, bool compute_second_order=true) const
	Rollout the problem derivatives, stage per stage.

void	replaceStageCircular (const shared_ptr< StageModel > &model)
	Pop out the first StageModel and replace by the supplied one; updates the supplied problem data (TrajOptDataTpl) object.

Scalar	computeTrajectoryCost (const Data &problem_data) const
	Helper for computing the trajectory cost (from pre-computed problem data).

void	checkIntegrity () const

Public Attributes
shared_ptr< UnaryFunction >	init_condition_
	Initial condition.

std::vector< shared_ptr< StageModel > >	stages_
	Stages of the control problem.

shared_ptr< CostAbstract >	term_cost_
	Terminal cost.

ConstraintStackTpl< Scalar >	term_cstrs_
	Terminal constraints.

VectorXs	unone_
	Dummy, "neutral" control value.

Protected Member Functions
void	checkStages () const
	Check if all stages are non-null.

Protected Attributes
StateErrorResidual *	init_state_error_
	Pointer to underlying state error residual.

Detailed Description

template<typename _Scalar>
struct aligator::TrajOptProblemTpl< _Scalar >

Trajectory optimization problem.

Template Parameters

Scalar the scalar type.

The problem can be written as a nonlinear program:

\[ \begin{aligned} \min_{\bmx,\bmu}~& \sum_{i=0}^{N-1} \ell_i(x_i, u_i) + \ell_N(x_N) \\ \subjectto & \varphi(x_i, u_i, x_{i+1}) = 0, \ 0 \leq i < N \\ & g(x_i, u_i) \in \calC_i \end{aligned} \]

Definition at line 23 of file traj-opt-problem.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar >

using aligator::TrajOptProblemTpl< _Scalar >::Scalar = _Scalar

Definition at line 24 of file traj-opt-problem.hpp.

◆ StageModel

template<typename _Scalar >

using aligator::TrajOptProblemTpl< _Scalar >::StageModel = StageModelTpl<Scalar>

Definition at line 25 of file traj-opt-problem.hpp.

◆ UnaryFunction

template<typename _Scalar >

using aligator::TrajOptProblemTpl< _Scalar >::UnaryFunction = UnaryFunctionTpl<Scalar>

Definition at line 26 of file traj-opt-problem.hpp.

◆ Data

template<typename _Scalar >

using aligator::TrajOptProblemTpl< _Scalar >::Data = TrajOptDataTpl<Scalar>

Definition at line 27 of file traj-opt-problem.hpp.

◆ Manifold

template<typename _Scalar >

using aligator::TrajOptProblemTpl< _Scalar >::Manifold = ManifoldAbstractTpl<Scalar>

Definition at line 28 of file traj-opt-problem.hpp.

◆ CostAbstract

template<typename _Scalar >

using aligator::TrajOptProblemTpl< _Scalar >::CostAbstract = CostAbstractTpl<Scalar>

Definition at line 29 of file traj-opt-problem.hpp.

◆ ConstraintType

template<typename _Scalar >

using aligator::TrajOptProblemTpl< _Scalar >::ConstraintType = StageConstraintTpl<Scalar>

Definition at line 30 of file traj-opt-problem.hpp.

◆ StateErrorResidual

template<typename _Scalar >

using aligator::TrajOptProblemTpl< _Scalar >::StateErrorResidual = StateErrorResidualTpl<Scalar>

Definition at line 31 of file traj-opt-problem.hpp.

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar >

aligator::TrajOptProblemTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ initCondIsStateError()

template<typename _Scalar >

bool aligator::TrajOptProblemTpl< _Scalar >::initCondIsStateError ( ) const

inline

Definition at line 125 of file traj-opt-problem.hpp.

◆ addStage()

template<typename _Scalar >

void aligator::TrajOptProblemTpl< _Scalar >::addStage ( const shared_ptr< StageModel > & stage )

Add a stage to the control problem.

◆ getInitState()

template<typename _Scalar >

ConstVectorRef aligator::TrajOptProblemTpl< _Scalar >::getInitState ( ) const

inline

Get initial state constraint.

Definition at line 131 of file traj-opt-problem.hpp.

◆ setInitState()

template<typename _Scalar >

void aligator::TrajOptProblemTpl< _Scalar >::setInitState ( const ConstVectorRef & x0 )

inline

Set initial state constraint.

Definition at line 140 of file traj-opt-problem.hpp.

◆ addTerminalConstraint()

template<typename _Scalar >

void aligator::TrajOptProblemTpl< _Scalar >::addTerminalConstraint ( const ConstraintType & cstr )

Add a terminal constraint for the model.

◆ removeTerminalConstraints()

template<typename _Scalar >

void aligator::TrajOptProblemTpl< _Scalar >::removeTerminalConstraints ( )

inline

Remove all terminal constraints.

Definition at line 151 of file traj-opt-problem.hpp.

◆ numSteps()

template<typename _Scalar >

std::size_t aligator::TrajOptProblemTpl< _Scalar >::numSteps ( ) const

◆ evaluate()

template<typename _Scalar >

Scalar aligator::TrajOptProblemTpl< _Scalar >::evaluate	(	const std::vector< VectorXs > &	xs,
		const std::vector< VectorXs > &	us,
		Data &	prob_data,
		std::size_t	num_threads = 1 ) const

Rollout the problem costs, constraints, dynamics, stage per stage.

◆ computeDerivatives()

template<typename _Scalar >

void aligator::TrajOptProblemTpl< _Scalar >::computeDerivatives	(	const std::vector< VectorXs > &	xs,
		const std::vector< VectorXs > &	us,
		Data &	prob_data,
		std::size_t	num_threads = 1,
		bool	compute_second_order = true ) const

Rollout the problem derivatives, stage per stage.

Parameters

xs	State sequence
us	Control sequence
prob_data	Problem data
num_threads	Number of threads to use
compute_second_order	Whether to compute second-order derivatives

◆ replaceStageCircular()

template<typename _Scalar >

void aligator::TrajOptProblemTpl< _Scalar >::replaceStageCircular ( const shared_ptr< StageModel > & model )

Pop out the first StageModel and replace by the supplied one; updates the supplied problem data (TrajOptDataTpl) object.

◆ computeTrajectoryCost()

template<typename _Scalar >

Scalar aligator::TrajOptProblemTpl< _Scalar >::computeTrajectoryCost ( const Data & problem_data ) const

Helper for computing the trajectory cost (from pre-computed problem data).

Warning: Call TrajOptProblemTpl::evaluate() first!

◆ checkIntegrity()

template<typename _Scalar >

void aligator::TrajOptProblemTpl< _Scalar >::checkIntegrity ( ) const

inline

Definition at line 183 of file traj-opt-problem.hpp.

◆ checkStages()

template<typename _Scalar >

void aligator::TrajOptProblemTpl< _Scalar >::checkStages ( ) const

protected

Check if all stages are non-null.

Member Data Documentation

◆ init_condition_

template<typename _Scalar >

shared_ptr<UnaryFunction> aligator::TrajOptProblemTpl< _Scalar >::init_condition_

Initial condition.

Definition at line 90 of file traj-opt-problem.hpp.

◆ stages_

template<typename _Scalar >

std::vector<shared_ptr<StageModel> > aligator::TrajOptProblemTpl< _Scalar >::stages_

Stages of the control problem.

Definition at line 92 of file traj-opt-problem.hpp.

◆ term_cost_

template<typename _Scalar >

shared_ptr<CostAbstract> aligator::TrajOptProblemTpl< _Scalar >::term_cost_

Terminal cost.

Definition at line 94 of file traj-opt-problem.hpp.

◆ term_cstrs_

template<typename _Scalar >

ConstraintStackTpl<Scalar> aligator::TrajOptProblemTpl< _Scalar >::term_cstrs_

Terminal constraints.

Definition at line 96 of file traj-opt-problem.hpp.

◆ unone_

template<typename _Scalar >

VectorXs aligator::TrajOptProblemTpl< _Scalar >::unone_

Dummy, "neutral" control value.

Definition at line 98 of file traj-opt-problem.hpp.

◆ init_state_error_

template<typename _Scalar >

StateErrorResidual* aligator::TrajOptProblemTpl< _Scalar >::init_state_error_

protected

Pointer to underlying state error residual.

Definition at line 193 of file traj-opt-problem.hpp.

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

include/aligator/core/traj-opt-problem.hpp

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ StageModel

◆ UnaryFunction

◆ Data

◆ Manifold

◆ CostAbstract

◆ ConstraintType

◆ StateErrorResidual

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ initCondIsStateError()

◆ addStage()

◆ getInitState()

◆ setInitState()

◆ addTerminalConstraint()

◆ removeTerminalConstraints()

◆ numSteps()

◆ evaluate()

◆ computeDerivatives()

◆ replaceStageCircular()

◆ computeTrajectoryCost()

◆ checkIntegrity()

◆ checkStages()

Member Data Documentation

◆ init_condition_

◆ stages_

◆ term_cost_

◆ term_cstrs_

◆ unone_

◆ init_state_error_