DirectTrajectoryOptimization  v0.3
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DirectTrajectoryOptimization::ShootingConstraint< DIMENSIONS > Class Template Reference

Class handling the defects of a multiple shooting method. More...

#include <shooting_constraint.hpp>

Inheritance diagram for DirectTrajectoryOptimization::ShootingConstraint< DIMENSIONS >:
DirectTrajectoryOptimization::BaseClass::GenericConstraintsBase DirectTrajectoryOptimization::BaseClass::NumDiffDerivativesBase

Public Member Functions

 ShootingConstraint (const int &n_func, const int &n_vars, std::shared_ptr< DTOMultipleShooting< DIMENSIONS >> my_owner)
 Constructor of ShootingConstraint. More...
 
virtual Eigen::VectorXd Evalfx (const Eigen::VectorXd &in_vect) override
 To be overloaded by the derived class. More...
 
- Public Member Functions inherited from DirectTrajectoryOptimization::BaseClass::GenericConstraintsBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW GenericConstraintsBase (int num_eq, int num_var)
 Generic Constraint Constructor. More...
 
virtual void fx (const Eigen::VectorXd &in, Eigen::VectorXd &out) override
 Overload this method in the derived class to obtain numerical approximation of the gradient.
 
virtual Eigen::MatrixXd EvalFxJacobian (const Eigen::VectorXd &input)
 To be overloaded by the derived class in case NumDiff is not required. More...
 
Eigen::VectorXd GetConstraintsLowerBound ()
 Method to get the lower bound of the constraint. More...
 
Eigen::VectorXd GetConstraintsUpperBound ()
 Method to get the upper bound of the constraint. More...
 
void SetConstraintsLowerBound (const Eigen::VectorXd &g_lb_candidate)
 Method to set the lower bound of the constraint. More...
 
void setConstraintsUpperBound (const Eigen::VectorXd &g_ub_candidate)
 Method to set the upper bound of the constraint. More...
 
void initialize_num_diff ()
 Overload this method to define the local pointers. More...
 

Public Attributes

double ms_dt_ = 0.001
 
- Public Attributes inherited from DirectTrajectoryOptimization::BaseClass::NumDiffDerivativesBase
std::shared_ptr< FunctionOperator > numdifoperator
 
std::shared_ptr
< Eigen::NumericalDiff
< FunctionOperator > > 		numDiff
 

Detailed Description

template<class DIMENSIONS>
class DirectTrajectoryOptimization::ShootingConstraint< DIMENSIONS >

Class handling the defects of a multiple shooting method.

uses the mechanisms for numdiff provided by generic constraints base class

Constructor & Destructor Documentation

template<class DIMENSIONS >
DirectTrajectoryOptimization::ShootingConstraint< DIMENSIONS >::ShootingConstraint ( const int &  n_func,
const int &  n_vars,
std::shared_ptr< DTOMultipleShooting< DIMENSIONS >>  my_owner 
)
inline

Constructor of ShootingConstraint.

Parameters
[in]n_funcThe size of the vector of defects
[in]n_varsThe number of variables
[in]my_ownerPointer to the DTOMultipleShooting using this object

Member Function Documentation

template<class DIMENSIONS >
Eigen::VectorXd DirectTrajectoryOptimization::ShootingConstraint< DIMENSIONS >::Evalfx ( const Eigen::VectorXd &  input)
overridevirtual

To be overloaded by the derived class.

Constraint function to be evaluated

Implements DirectTrajectoryOptimization::BaseClass::GenericConstraintsBase.

Member Data Documentation

template<class DIMENSIONS >
double DirectTrajectoryOptimization::ShootingConstraint< DIMENSIONS >::ms_dt_ = 0.001

The integration step

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