Class interfacing SNOPT NLP with DTO Problem. More...

#include <snopt.hpp>

Inheritance diagram for DirectTrajectoryOptimization::DTOSnoptInterface< DIMENSIONS >:

Public Member Functions
	DTOSnoptInterface (std::shared_ptr< DTOMethodInterface< DIMENSIONS > > method, bool snopt_verbose, bool feasible_point_only)
	Constructor. More...

virtual void	InitializeSolver (const std::string &problem_name, const std::string &output_file, const std::string &param_file="", const bool &computeJacobian=false) override
	DTO initializes the solver using this method. More...

virtual void	Solve (bool warminit=false) override
	DTO request the solver to proceed with the NLP. More...

void	SetupSolverParameters () override
	Setting up solver parameters. More...

virtual void	GetDTOSolution (state_vector_array_t &yTraj, control_vector_array_t &uTraj, Eigen::VectorXd &hTraj) override
	Method to get the current values of the solution. More...

virtual void	GetDTOSolution (state_vector_array_t &y_trajectory, control_vector_array_t &u_trajectory, Eigen::VectorXd &h_trajectory, std::vector< int > &phaseId) override
	Method to get the current values of the solution. More...

virtual void	GetDTOSolution (state_vector_array_t &yTraj, state_vector_array_t &ydotTraj, control_vector_array_t &uTraj, Eigen::VectorXd &hTraj, std::vector< int > &phaseId) override
	Method to get the current values of the solution. More...

virtual void	GetFVector (Eigen::VectorXd &fVec) override
	Returns the vector of NLP-constraints. More...

void	GetSolverSolutionVariables (Eigen::VectorXi &_x_state, Eigen::VectorXd &_x_mul, Eigen::VectorXi &_f_state, Eigen::VectorXd &_f_mul) override
	Method to get final values of internal solver variables. More...

void	InitializeDecisionVariablesFromTrajectory (const state_vector_array_t &y_sol, const control_vector_array_t &u_sol, const Eigen::VectorXd &h_sol) override
	Initial solution point for the solver. More...

void	WarmSolverInitialization (const Eigen::VectorXi &x_state, const Eigen::VectorXd &x_mul, const Eigen::VectorXi &f_state, const Eigen::VectorXd &f_mul) override
	Warm Initialization of NLP Solver. More...

Public Member Functions inherited from DirectTrajectoryOptimization::DTOSolverInterface< DIMENSIONS >
void	SetVerbosity (bool verb)
	Set verbosity of the solver. More...

Public Attributes
std::shared_ptr < DTOMethodInterface < DIMENSIONS > >	_method

std::shared_ptr< snoptProblemA >	nlp_solver

Static Public Attributes
static std::shared_ptr < DTOSnoptInterface < DIMENSIONS > >	interface_pointer

Additional Inherited Members
Protected Member Functions inherited from DirectTrajectoryOptimization::DTOSolverInterface< DIMENSIONS >
	DTOSolverInterface ()
	Construct an instance of the DTOSolverInterface class. More...

Detailed Description

template<class DIMENSIONS>
class DirectTrajectoryOptimization::DTOSnoptInterface< DIMENSIONS >

Class interfacing SNOPT NLP with DTO Problem.

It handles parameter and variables initialization

Constructor & Destructor Documentation

template<class DIMENSIONS >

DirectTrajectoryOptimization::DTOSnoptInterface< DIMENSIONS >::DTOSnoptInterface	(	std::shared_ptr< DTOMethodInterface< DIMENSIONS > >	method,
		bool	snopt_verbose,
		bool	feasible_point_only
	)

inline

Constructor.

Parameters

[in]	method	The pointer to the method
[in]	snopt_verbose	The flag indicating verbosity of the solver
[in]	feasible_point_only	The flag indicating the type of optimization

Member Function Documentation

template<class DIMENSIONS >

void DirectTrajectoryOptimization::DTOSnoptInterface< DIMENSIONS >::GetDTOSolution	(	state_vector_array_t &	yTraj,
		control_vector_array_t &	uTraj,
		Eigen::VectorXd &	hTraj
	)

overridevirtual

Method to get the current values of the solution.

this point is not necessarily feasible or optimal

Parameters

[out]	yTraj	The state space trajectory
[out]	uTraj	The control trajectory
[out]	hTraj	The time increments between the discretization points

Implements DirectTrajectoryOptimization::DTOSolverInterface< DIMENSIONS >.

template<class DIMENSIONS >

void DirectTrajectoryOptimization::DTOSnoptInterface< DIMENSIONS >::GetDTOSolution	(	state_vector_array_t &	yTraj,
		control_vector_array_t &	uTraj,
		Eigen::VectorXd &	hTraj,
		std::vector< int > &	phaseId
	)

overridevirtual

Method to get the current values of the solution.

overloaded to also return the phase ID for each node

Parameters

[out]	yTraj	The state space trajectory
[out]	uTraj	The control trajectory
[out]	hTraj	The time increments between the discretization points
[out]	phaseId	The vector of phases ID's of the corresponding nodes

Implements DirectTrajectoryOptimization::DTOSolverInterface< DIMENSIONS >.

template<class DIMENSIONS >

void DirectTrajectoryOptimization::DTOSnoptInterface< DIMENSIONS >::GetDTOSolution	(	state_vector_array_t &	yTraj,
		state_vector_array_t &	ydotTraj,
		control_vector_array_t &	uTraj,
		Eigen::VectorXd &	hTraj,
		std::vector< int > &	phaseId
	)

overridevirtual

Method to get the current values of the solution.

overloaded to also return the state derivatives

Parameters

[out]	yTraj	The state space trajectory
[out]	ydotTraj	The state derivative trajectory
[out]	uTraj	The control trajectory
[out]	hTraj	The time increments between the discretization points
[out]	phaseId	The vector of phases ID's of the corresponding nodes

Reimplemented from DirectTrajectoryOptimization::DTOSolverInterface< DIMENSIONS >.

template<class DIMENSIONS >

virtual void DirectTrajectoryOptimization::DTOSnoptInterface< DIMENSIONS >::GetFVector ( Eigen::VectorXd & fVec )

inlineoverridevirtual

Returns the vector of NLP-constraints.

Parameters

[out] fVec The vector of NLP-constraints

Implements DirectTrajectoryOptimization::DTOSolverInterface< DIMENSIONS >.

template<class DIMENSIONS >

void DirectTrajectoryOptimization::DTOSnoptInterface< DIMENSIONS >::GetSolverSolutionVariables	(	Eigen::VectorXi &	_x_state,
		Eigen::VectorXd &	_x_mul,
		Eigen::VectorXi &	_f_state,
		Eigen::VectorXd &	_f_mul
	)

overridevirtual

Method to get final values of internal solver variables.

the meaning of the state variables is solver dependent

Parameters

[out]	_x_state	The vector of integers indicating the final state of all decision variables
[out]	_x_mul	The vector of Lagrange multipliers corresponding to all decision variables
[out]	_f_state	The vector of integers indicating the final state of the vector of NLP-constraints
[out]	_f_mul	The vector of Lagrange multipliers corresponding to the vector of NLP-constraints

Reimplemented from DirectTrajectoryOptimization::DTOSolverInterface< DIMENSIONS >.

template<class DIMENSIONS >

void DirectTrajectoryOptimization::DTOSnoptInterface< DIMENSIONS >::InitializeDecisionVariablesFromTrajectory	(	const state_vector_array_t &	y_sol,
		const control_vector_array_t &	u_sol,
		const Eigen::VectorXd &	h_sol
	)

overridevirtual

Initial solution point for the solver.

Set the decision variables to the values given by a trajectory

Parameters

[in]	y_sol	vector of states describing the trajectory
[in]	u_sol	vector of controls describing the trajectory
[in]	h_sol	vector of time increments between discretization points

Implements DirectTrajectoryOptimization::DTOSolverInterface< DIMENSIONS >.

template<class DIMENSIONS >

void DirectTrajectoryOptimization::DTOSnoptInterface< DIMENSIONS >::InitializeSolver	(	const std::string &	problemName,
		const std::string &	outputFile,
		const std::string &	paramFile = `""`,
		const bool &	computeJacobian = `false`
	)

overridevirtual

DTO initializes the solver using this method.

Parameters

[in]	problemName	The name of the problem provided by user
[in]	outputFile	The name of the outputfile provided by user
[in]	paramFile	The name of the parameters file (solver dependent)
[in]	computeJacobian	The flag to use solver numerical differentiation

Implements DirectTrajectoryOptimization::DTOSolverInterface< DIMENSIONS >.

template<class DIMENSIONS >

void DirectTrajectoryOptimization::DTOSnoptInterface< DIMENSIONS >::SetupSolverParameters ( )

overridevirtual

Setting up solver parameters.

set solver specific parameters

Implements DirectTrajectoryOptimization::DTOSolverInterface< DIMENSIONS >.

template<class DIMENSIONS >

void DirectTrajectoryOptimization::DTOSnoptInterface< DIMENSIONS >::Solve ( bool warminit = false )

overridevirtual

DTO request the solver to proceed with the NLP.

Parameters

[in] warminit The flag indicating the type of optimization

Implements DirectTrajectoryOptimization::DTOSolverInterface< DIMENSIONS >.

template<class DIMENSIONS >

void DirectTrajectoryOptimization::DTOSnoptInterface< DIMENSIONS >::WarmSolverInitialization	(	const Eigen::VectorXi &	x_state,
		const Eigen::VectorXd &	x_mul,
		const Eigen::VectorXi &	f_state,
		const Eigen::VectorXd &	f_mul
	)

overridevirtual

Warm Initialization of NLP Solver.

set solver variables given by previous solution

Parameters

[in]	x_state	Index for SNOPT decision variables
[in]	x_mul	Lagrange multipliers of decision variables
[in]	f_state	Index for SNOPT vector of constraints
[in]	f_mul	Lagrange multipliers of the constraints

Reimplemented from DirectTrajectoryOptimization::DTOSolverInterface< DIMENSIONS >.

Member Data Documentation

template<class DIMENSIONS >

std::shared_ptr<DTOMethodInterface<DIMENSIONS> > DirectTrajectoryOptimization::DTOSnoptInterface< DIMENSIONS >::_method

Pointer to the DTOMethodInterface

template<class DIMENSIONS >

std::shared_ptr< DTOSnoptInterface< DIMENSIONS > > DirectTrajectoryOptimization::DTOSnoptInterface< DIMENSIONS >::interface_pointer

static

Pointer to the constraint function

template<class DIMENSIONS >

std::shared_ptr<snoptProblemA> DirectTrajectoryOptimization::DTOSnoptInterface< DIMENSIONS >::nlp_solver

SnoptA problem

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

/home/depardo/catkin_ws/src/direct_trajectoryoptimization/include/solver_interfaces/snopt/snopt.hpp

Public Member Functions

Public Attributes

Static Public Attributes

Additional Inherited Members

Detailed Description

template<class DIMENSIONS> class DirectTrajectoryOptimization::DTOSnoptInterface< DIMENSIONS >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class DIMENSIONS>
class DirectTrajectoryOptimization::DTOSnoptInterface< DIMENSIONS >