Trajectory optimization problem. More...

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

Collaboration diagram for aligator::TrajOptProblemTpl< _Scalar >:

Public Types
using	Self = TrajOptProblemTpl

using	Scalar = _Scalar

using	StageModel = StageModelTpl<Scalar>

using	StageFunction = StageFunctionTpl<Scalar>

using	UnaryFunction = UnaryFunctionTpl<Scalar>

using	Data = TrajOptDataTpl<Scalar>

using	Manifold = ManifoldAbstractTpl<Scalar>

using	CostAbstract = CostAbstractTpl<Scalar>

using	ConstraintSet = ConstraintSetTpl<Scalar>

using	StateErrorResidual = StateErrorResidualTpl<Scalar>

using	StageConstraint = StageConstraintTpl<Scalar>

using	InitializationStrategy

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

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

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

	TrajOptProblemTpl (xyz::polymorphic< UnaryFunction > init_constraint, xyz::polymorphic< CostAbstract > term_cost)

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

bool	initCondIsStateError () const

void	addStage (const xyz::polymorphic< 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.

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

void	addTerminalConstraint (const xyz::polymorphic< StageFunction > &func, const xyz::polymorphic< ConstraintSet > &set)

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 xyz::polymorphic< StageModel > &model)
	Pop out the first StageModel and replace by the supplied one; updates the supplied problem data (TrajOptDataTpl) object.

bool	checkIntegrity () const

template<typename Callable>
void	setInitializationStrategy (Callable &&func)
	Set a function to initialize the state trajectory.

void	initializeSolution (std::vector< VectorXs > &xs, std::vector< VectorXs > &us) const
	Execute the initialization strategy to generate an initial candidate solution to the problem.

void	initializeSolution (std::vector< VectorXs > &xs, std::vector< VectorXs > &us, std::vector< VectorXs > &vs, std::vector< VectorXs > &lbdas) const
	Execute the initialization strategy to generate an initial candidate solution to the problem.

auto	initializeSolution () const
	Execute the initialization strategy to generate an initial candidate solution to the problem.

Public Attributes
xyz::polymorphic< UnaryFunction >	init_constraint_
	Initial condition.

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

xyz::polymorphic< CostAbstract >	term_cost_
	Terminal cost.

ConstraintStackTpl< Scalar >	term_cstrs_
	Terminal constraints.

VectorXs	unone_
	Dummy, "neutral" control value.

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

◆ Self

template<typename _Scalar>

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

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

◆ Scalar

template<typename _Scalar>

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

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

◆ StageModel

template<typename _Scalar>

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

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

◆ StageFunction

template<typename _Scalar>

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

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

◆ UnaryFunction

template<typename _Scalar>

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

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

◆ Data

template<typename _Scalar>

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

Definition at line 32 of file traj-opt-problem.hpp.

◆ Manifold

template<typename _Scalar>

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

Definition at line 33 of file traj-opt-problem.hpp.

◆ CostAbstract

template<typename _Scalar>

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

Definition at line 34 of file traj-opt-problem.hpp.

◆ ConstraintSet

template<typename _Scalar>

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

Definition at line 35 of file traj-opt-problem.hpp.

◆ StateErrorResidual

template<typename _Scalar>

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

Definition at line 36 of file traj-opt-problem.hpp.

◆ StageConstraint

template<typename _Scalar>

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

Definition at line 39 of file traj-opt-problem.hpp.

◆ InitializationStrategy

template<typename _Scalar>

using aligator::TrajOptProblemTpl< _Scalar >::InitializationStrategy

Initial value:

std::function<void(const Self &, std::vector<VectorXs> &)>

aligator::TrajOptProblemTpl::Self

TrajOptProblemTpl Self

Definition traj-opt-problem.hpp:24

Definition at line 41 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 134 of file traj-opt-problem.hpp.

◆ addStage()

template<typename _Scalar>

void aligator::TrajOptProblemTpl< _Scalar >::addStage ( const xyz::polymorphic< 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 143 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 152 of file traj-opt-problem.hpp.

◆ addTerminalConstraint() [1/2]

template<typename _Scalar>

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

Add a terminal constraint for the model.

◆ addTerminalConstraint() [2/2]

template<typename _Scalar>

void aligator::TrajOptProblemTpl< _Scalar >::addTerminalConstraint	(	const xyz::polymorphic< StageFunction > &	func,
		const xyz::polymorphic< ConstraintSet > &	set )

inline

Definition at line 162 of file traj-opt-problem.hpp.

◆ removeTerminalConstraints()

template<typename _Scalar>

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

inline

Remove all terminal constraints.

Definition at line 167 of file traj-opt-problem.hpp.

◆ numSteps()

template<typename _Scalar>

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

nodiscard

◆ 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 xyz::polymorphic< StageModel > & model )

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

◆ checkIntegrity()

template<typename _Scalar>

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

◆ setInitializationStrategy()

template<typename _Scalar>

template<typename Callable>

void aligator::TrajOptProblemTpl< _Scalar >::setInitializationStrategy ( Callable && func )

inline

Set a function to initialize the state trajectory.

The class constructor defaults the strategy function to xs_default_init.

Warning: Call this set before the solver's setup().

Template Parameters

Callable Functional type convertible to InitializationStrategy.

See also: initializeSolution()

Definition at line 203 of file traj-opt-problem.hpp.

◆ initializeSolution() [1/3]

template<typename _Scalar>

void aligator::TrajOptProblemTpl< _Scalar >::initializeSolution	(	std::vector< VectorXs > &	xs,
		std::vector< VectorXs > &	us ) const

inline

Execute the initialization strategy to generate an initial candidate solution to the problem.

See also: setInitializationStrategy()

Definition at line 212 of file traj-opt-problem.hpp.

◆ initializeSolution() [2/3]

template<typename _Scalar>

void aligator::TrajOptProblemTpl< _Scalar >::initializeSolution	(	std::vector< VectorXs > &	xs,
		std::vector< VectorXs > &	us,
		std::vector< VectorXs > &	vs,
		std::vector< VectorXs > &	lbdas ) const

inline

Execute the initialization strategy to generate an initial candidate solution to the problem.

See also: setInitializationStrategy()

Definition at line 219 of file traj-opt-problem.hpp.

◆ initializeSolution() [3/3]

template<typename _Scalar>

auto aligator::TrajOptProblemTpl< _Scalar >::initializeSolution ( ) const

inlinenodiscard

Execute the initialization strategy to generate an initial candidate solution to the problem.

See also: setInitializationStrategy()

Definition at line 240 of file traj-opt-problem.hpp.

Member Data Documentation

◆ init_constraint_

template<typename _Scalar>

xyz::polymorphic<UnaryFunction> aligator::TrajOptProblemTpl< _Scalar >::init_constraint_

Initial condition.

Definition at line 99 of file traj-opt-problem.hpp.

◆ stages_

template<typename _Scalar>

std::vector<xyz::polymorphic<StageModel> > aligator::TrajOptProblemTpl< _Scalar >::stages_

Stages of the control problem.

Definition at line 101 of file traj-opt-problem.hpp.

◆ term_cost_

template<typename _Scalar>

xyz::polymorphic<CostAbstract> aligator::TrajOptProblemTpl< _Scalar >::term_cost_

Terminal cost.

Definition at line 103 of file traj-opt-problem.hpp.

◆ term_cstrs_

template<typename _Scalar>

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

Terminal constraints.

Definition at line 105 of file traj-opt-problem.hpp.

◆ unone_

template<typename _Scalar>

VectorXs aligator::TrajOptProblemTpl< _Scalar >::unone_

Dummy, "neutral" control value.

Definition at line 107 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

Detailed Description

Member Typedef Documentation

◆ Self

◆ Scalar

◆ StageModel

◆ StageFunction

◆ UnaryFunction

◆ Data

◆ Manifold

◆ CostAbstract

◆ ConstraintSet

◆ StateErrorResidual

◆ StageConstraint

◆ InitializationStrategy

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ initCondIsStateError()

◆ addStage()

◆ getInitState()

◆ setInitState()

◆ addTerminalConstraint() [1/2]

◆ addTerminalConstraint() [2/2]

◆ removeTerminalConstraints()

◆ numSteps()

◆ evaluate()

◆ computeDerivatives()

◆ replaceStageCircular()

◆ checkIntegrity()

◆ setInitializationStrategy()

◆ initializeSolution() [1/3]

◆ initializeSolution() [2/3]

◆ initializeSolution() [3/3]

Member Data Documentation

◆ init_constraint_

◆ stages_

◆ term_cost_

◆ term_cstrs_

◆ unone_