direct_trajectory_optimization_problem.hpp

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// system
#include <Eigen/Core>
#include <unistd.h>
#include <vector>
#include <memory>
// dynamical_systems
#include <dynamical_systems/base/DynamicsBase.hpp>
#include <dynamical_systems/base/DerivativesBaseDS.hpp>
#include <method_interfaces/base_method_interface.hpp>
#include <method_interfaces/direct_transcription/direct_transcription.hpp>
#include <method_interfaces/multiple_shooting/multiple_shooting.hpp>
#include <solver_interfaces/base_solver_interface.hpp>

#ifdef COMPILE_IPOPT
#include <solver_interfaces/ipopt/ipopt.hpp>
#endif

#ifdef COMPILE_SNOPT
#include <solver_interfaces/snopt/snopt.hpp>
#endif

#ifndef INCLUDE_DIRECT_TRAJECTORY_OPTIMIZATION_PROBLEM_HPP_
#define INCLUDE_DIRECT_TRAJECTORY_OPTIMIZATION_PROBLEM_HPP_

namespace DirectTrajectoryOptimization {

namespace Methods {
typedef enum Method {
    DIRECT_TRANSCRIPTION = 0,   
    MULTIPLE_SHOOTING           
} method_t;
}

namespace Solvers {
typedef enum Solver {
    SNOPT_SOLVER = 0,   
    IPOPT_SOLVER        
} solver_t;
}

template <typename DIMENSIONS>
class DirectTrajectoryOptimizationProblem {

public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    typedef typename DIMENSIONS::state_vector_t state_vector_t;
    typedef typename DIMENSIONS::control_vector_t control_vector_t;
    typedef typename DIMENSIONS::state_vector_array_t state_vector_array_t;
    typedef typename DIMENSIONS::control_vector_array_t control_vector_array_t;

    static std::unique_ptr<DirectTrajectoryOptimizationProblem<DIMENSIONS> > CreateWithMultipleDynamics(
            std::vector<std::shared_ptr<DynamicsBase<DIMENSIONS> > > dynamics,
            std::vector<std::shared_ptr<DerivativesBaseDS<DIMENSIONS> > > derivatives,
            std::shared_ptr<BaseClass::CostFunctionBase<DIMENSIONS> > costFunction,
            std::vector<std::shared_ptr<BaseClass::ConstraintsBase<DIMENSIONS> > > constraints,
            Eigen::Vector2d duration, int numberOfNodes,
            Solvers::solver_t solverType, Methods::method_t methodType,
            bool solverVerbose, bool methodVerbose, bool feasiblePointOnly=false) {

        // generate the class instance
        std::unique_ptr<DirectTrajectoryOptimizationProblem<DIMENSIONS> > problem( new DirectTrajectoryOptimizationProblem<DIMENSIONS>() );

        // generate the method interface
        switch(methodType) {

        case Methods::DIRECT_TRANSCRIPTION:
            problem->_method = std::shared_ptr<DTOMethodInterface<DIMENSIONS> >( new DTODirectTranscription<DIMENSIONS>(
                                    dynamics, derivatives, costFunction, constraints,
                                    duration, numberOfNodes, methodVerbose));   // ToDo add back dircol selection
            break;

        case Methods::MULTIPLE_SHOOTING:

            problem->_method = std::shared_ptr<DTOMethodInterface<DIMENSIONS> >( new DTOMultipleShooting<DIMENSIONS>(
                                    dynamics, derivatives, costFunction, constraints,
                                    duration, numberOfNodes, methodVerbose));
            break;

        default:
            std::cout << "METHOD NOT Implemented" << std::endl;
            exit(EXIT_FAILURE);
        }

        // generate the solver interface
        switch(solverType) {

#ifdef COMPILE_SNOPT
        case Solvers::SNOPT_SOLVER:
            problem->_solver = std::shared_ptr<DTOSolverInterface<DIMENSIONS> > (new DTOSnoptInterface<DIMENSIONS>(
                    problem->_method, solverVerbose,feasiblePointOnly));
            break;
#endif

#ifdef COMPILE_IPOPT
        case Solvers::IPOPT_SOLVER:
            problem->_solver = std::shared_ptr<DTOSolverInterface<DIMENSIONS> > (new DTOIpoptInterface<DIMENSIONS>(
                    problem->_method, solverVerbose));
            break;
#endif

        default:
            std::cout << "SOLVER NOT Available" << std::endl;
            exit(EXIT_FAILURE);
        }

        return problem;
    }

    static std::unique_ptr<DirectTrajectoryOptimizationProblem<DIMENSIONS> > Create(
            std::shared_ptr<DynamicsBase<DIMENSIONS> > dynamics,
            std::shared_ptr<DerivativesBaseDS<DIMENSIONS> > derivatives,
            std::shared_ptr<BaseClass::CostFunctionBase<DIMENSIONS> > costFunction,
            std::shared_ptr<BaseClass::ConstraintsBase<DIMENSIONS> > constraints,
            Eigen::Vector2d duration, int numberOfNodes,
            Solvers::solver_t solverType, Methods::method_t methodType,
            bool solverVerbose, bool methodVerbose, bool feasiblePointOnly=false) {
        std::vector<std::shared_ptr<DynamicsBase<DIMENSIONS> > > dynamicsVector;
        std::vector<std::shared_ptr<DerivativesBaseDS<DIMENSIONS> > > derivativesVector;
        std::vector<std::shared_ptr<BaseClass::ConstraintsBase<DIMENSIONS> > > constraintsVector;

        dynamicsVector.push_back(dynamics);
        derivativesVector.push_back(derivatives);
        constraintsVector.push_back(constraints);

        return CreateWithMultipleDynamics(dynamicsVector, derivativesVector, costFunction, constraintsVector, duration,
                numberOfNodes, solverType, methodType, solverVerbose, methodVerbose,feasiblePointOnly);
    }

    ~DirectTrajectoryOptimizationProblem() {};

    void InitializeSolver(
            const std::string & problemName,
            const std::string & outputFile,
            const std::string & paramFile /*= "" */,
            const bool &computeJacobian) {
        _solver->InitializeSolver(problemName, outputFile, paramFile, computeJacobian);
    }

    void InitializeNLPvector(Eigen::VectorXd & x,
            const state_vector_array_t & state_initial,
            const control_vector_array_t & control_initial,
            const Eigen::VectorXd & h_initial) {

        _method->InitializeNLPvector(x, state_initial, control_initial, h_initial);
    }


    void SetInitialState(const state_vector_t & state){
        _method->SetInitialState(state);
    }

    void SetFinalState(const state_vector_t & state) {
        _method->SetFinalState(state);
    }

    void SetFinalVelocityZero(const Eigen::VectorXi & vel_indexes)
    {
        _method->SetFinalVelocityZero(vel_indexes);
    }

    void SetInitialControl(const control_vector_t & control) {
        _method->SetInitialControl(control);
    }

    void SetFinalControl(const control_vector_t & control) {
        _method->SetFinalControl(control);
    }

    void SetEvenTimeIncrements(const bool & opt) {
        _method->SetEvenTimeIncrements(opt);
    }

    void SetPercentageNodesPerDynamics(Eigen::VectorXd nodeSplit) {
        _method->SetPercentageNodesPerDynamics(nodeSplit);
    }

    void SetGuardFunction(std::vector<double (*)(state_vector_t&)> fcnVector) {
        _method->SetGuardFunction(fcnVector);
    }

    void Solve(bool warminit = false) {
        _solver->Solve(warminit);
    }

    void SetVerbosity(bool verbose) {
        _solver->SetVerbosity(verbose);
        _method->SetVerbosity(verbose);
    }

    void GetDTOSolution(
            state_vector_array_t &yTraj,
            control_vector_array_t &uTraj,
            Eigen::VectorXd &hTraj) {
        _solver->GetDTOSolution(yTraj, uTraj, hTraj);
    }

    void GetDTOSolution(
            state_vector_array_t &yTraj,
            control_vector_array_t &uTraj,
            Eigen::VectorXd &hTraj,
            std::vector<int> &phaseId){
        _solver->GetDTOSolution(yTraj, uTraj, hTraj, phaseId);
    }

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

      _solver->GetDTOSolution(yTraj, ydotTraj, uTraj, hTraj,phaseId);

    }

    void GetFVector(Eigen::VectorXd &fVec) {
        _solver->GetFVector(fVec);
    }

    int ChangeNumberOfPoints() {
        return(_method->ChangeNumberOfpoints());
    }

    void SetStateBounds(const state_vector_t & lb, const state_vector_t & ub) {
        _method->SetStateBounds(lb,ub);
    }

    void SetStateBounds(const state_vector_array_t & lb, const state_vector_array_t & ub){
        _method->SetStateBounds(lb,ub);
    }

    void SetControlBounds(const control_vector_t & lb, const control_vector_t & ub) {
        _method->SetControlBounds(lb,ub);
    }

    void SetControlBounds(const control_vector_array_t & lb, const control_vector_array_t & ub) {
        _method->SetControlBounds(lb,ub);
    }

    void SetFreeFinalState(int state_number) {
        _method->SetFreeFinalState(state_number);
    }

    void SetTimeIncrementsBounds(const double & h_min, const double & h_max) {
        _method->setTimeIncrementsBounds(h_min,h_max);
    }

    void SetDircolMethod(const int & dcm)
    {
        _method->SetDircolMethod(dcm);
    }

    std::shared_ptr<DTOMethodInterface<DIMENSIONS> > _method; 
    std::shared_ptr<DTOSolverInterface<DIMENSIONS> > _solver; 
private:

    DirectTrajectoryOptimizationProblem() {};
};

} // namespace DirectTrajectoryOptimization
#endif /* INCLUDE_DIRECT_TRAJECTORY_OPTIMIZATION_PROBLEM_HPP_ */