#include <alpaqa/include/alpaqa/problem/ocproblem.hpp>

Detailed Description

template<Config Conf = DefaultConfig, class Allocator = std::allocator<std::byte>>
class alpaqa::TypeErasedControlProblem< Conf, Allocator >

Nonlinear optimal control problem with finite horizon \( N \).

\[ \newcommand\U{U} \newcommand\D{D} \newcommand\nnu{{n_u}} \newcommand\nnx{{n_x}} \newcommand\nny{{n_y}} \newcommand\xinit{x_\text{init}} \begin{equation}\label{eq:OCP} \tag{OCP}\hspace{-0.8em} \begin{aligned} &\minimize_{u,x} && \sum_{k=0}^{N-1} \ell_k\big(h_k(x^k, u^k)\big) + \ell_N\big(h_N(x^N)\big)\hspace{-0.8em} \\ &\subjto && u^k \in \U \\ &&& c_k(x^k) \in \D \\ &&& c_N(x^N) \in \D_N \\ &&& x^0 = \xinit \\ &&& x^{k+1} = f(x^k, u^k) \quad\quad (0 \le k \lt N) \end{aligned} \end{equation} \]

The function \( f : \R^\nnx \times \R^\nnu \to \R^\nnx \) models the discrete-time, nonlinear dynamics of the system, which starts from an initial state \( \xinit \). The functions \( h_k : \R^\nnx \times \R^\nnu \to \R^{n_h} \) for \( 0 \le k \lt N \) and \( h_N : \R^\nnx \to \R^{n_h^N} \) can be used to represent the (possibly time-varying) output mapping of the system, and the convex functions \( \ell_k : \R^{n_h} \to \R \) and \( \ell_N : \R^{n_h^N} \to \R \) define the stage costs and the terminal cost respectively. Stage constraints and terminal constraints are represented by the functions \( c_k : \R^{n_x} \to \R^{n_c} \) and \( c_N : \R^{n_x} \to \R^{n_c^N} \), and the boxes \( D \) and \( D_N \).

Additional functions for computing Gauss-Newton approximations of the cost Hessian are included as well:

\[ \begin{aligned} q^k &\defeq \tp{\jac_{h_k}^x\!(\barxuk)} \nabla \ell_k(\hhbar^k) \\ r^k &\defeq \tp{\jac_{h_k}^u\!(\barxuk)} \nabla \ell_k(\hhbar^k) \\ \Lambda_k &\defeq \partial^2 \ell_k(\hhbar^k) \\ Q_k &\defeq \tp{\jac_{h_k}^x\!(\barxuk)} \Lambda_k\, \jac_{h_k}^x\!(\barxuk) \\ S_k &\defeq \tp{\jac_{h_k}^u\!(\barxuk)} \Lambda_k\, \jac_{h_k}^x\!(\barxuk) \\ R_k &\defeq \tp{\jac_{h_k}^u\!(\barxuk)} \Lambda_k\, \jac_{h_k}^u\!(\barxuk). \\ \end{aligned} \]

See [3] for more details.

Definition at line 241 of file ocproblem.hpp.

Inheritance diagram for TypeErasedControlProblem< Conf, Allocator >:

Collaboration diagram for TypeErasedControlProblem< Conf, Allocator >:

Problem dimensions
length_t	get_N () const
	Horizon length.

length_t	get_nu () const
	Number of inputs.

length_t	get_nx () const
	Number of states.

length_t	get_nh () const
	Number of outputs.

length_t	get_nh_N () const

length_t	get_nc () const
	Number of constraints.

length_t	get_nc_N () const

Dim	get_dim () const
	All dimensions.

length_t	get_n () const
	Total number of variables.

length_t	get_m () const
	Total number of constraints.

Projections onto constraint sets
void	eval_proj_diff_g (crvec z, rvec e) const
	[Required] Function that evaluates the difference between the given point \( z \) and its projection onto the constraint set \( D \).

void	eval_proj_multipliers (rvec y, real_t M) const
	[Required] Function that projects the Lagrange multipliers for ALM.

Constraint sets
void	get_U (Box &U) const
	Input box constraints \( U \).

void	get_D (Box &D) const
	Stage box constraints \( D \).

void	get_D_N (Box &D) const
	Terminal box constraints \( D_N \).

Dynamics and initial state
void	get_x_init (rvec x_init) const
	Initial state \( x_\text{init} \).

void	eval_f (index_t timestep, crvec x, crvec u, rvec fxu) const
	Discrete-time dynamics \( x^{k+1} = f_k(x^k, u^k) \).

void	eval_jac_f (index_t timestep, crvec x, crvec u, rmat J_fxu) const
	Jacobian of discrete-time dynamics \( \jac_f(x^k, u^k) \).

void	eval_grad_f_prod (index_t timestep, crvec x, crvec u, crvec p, rvec grad_fxu_p) const
	Gradient-vector product of discrete-time dynamics \( \nabla f(x^k, u^k)\,p \).

Output mapping
void	eval_h (index_t timestep, crvec x, crvec u, rvec h) const
	Stage output mapping \( h_k(x^k, u^k) \).

void	eval_h_N (crvec x, rvec h) const
	Terminal output mapping \( h_N(x^N) \).

Stage and terminal cost
real_t	eval_l (index_t timestep, crvec h) const
	Stage cost \( \ell_k(\hbar^k) \).

real_t	eval_l_N (crvec h) const
	Terminal cost \( \ell_N(\hbar^N) \).

Gauss-Newton approximations
void	eval_qr (index_t timestep, crvec xu, crvec h, rvec qr) const
	Cost gradients w.r.t.

void	eval_q_N (crvec x, crvec h, rvec q) const
	Terminal cost gradient w.r.t.

void	eval_add_Q (index_t timestep, crvec xu, crvec h, rmat Q) const
	Cost Hessian w.r.t.

void	eval_add_Q_N (crvec x, crvec h, rmat Q) const
	Terminal cost Hessian w.r.t.

void	eval_add_R_masked (index_t timestep, crvec xu, crvec h, crindexvec mask, rmat R, rvec work) const
	Cost Hessian w.r.t.

void	eval_add_S_masked (index_t timestep, crvec xu, crvec h, crindexvec mask, rmat S, rvec work) const
	Cost Hessian w.r.t.

void	eval_add_R_prod_masked (index_t timestep, crvec xu, crvec h, crindexvec mask_J, crindexvec mask_K, crvec v, rvec out, rvec work) const
	\( out \leftarrow out + R[\mathcal J, \mathcal K]\,v[\mathcal K] \).

void	eval_add_S_prod_masked (index_t timestep, crvec xu, crvec h, crindexvec mask_K, crvec v, rvec out, rvec work) const
	\( out \leftarrow out + \tp{S[\mathcal K, \cdot]}\, v[\mathcal K] \).

length_t	get_R_work_size () const
	Size of the workspace required by eval_add_R_masked() and eval_add_R_prod_masked().

length_t	get_S_work_size () const
	Size of the workspace required by eval_add_S_masked() and eval_add_S_prod_masked().

Constraints
void	eval_constr (index_t timestep, crvec x, rvec c) const
	Stage constraints \( c_k(x^k) \).

void	eval_constr_N (crvec x, rvec c) const
	Terminal constraints \( c_N(x^N) \).

void	eval_grad_constr_prod (index_t timestep, crvec x, crvec p, rvec grad_cx_p) const
	Gradient-vector product of stage constraints \( \nabla c_k(x^k)\, p \).

void	eval_grad_constr_prod_N (crvec x, crvec p, rvec grad_cx_p) const
	Gradient-vector product of terminal constraints \( \nabla c_N(x^N)\, p \).

void	eval_add_gn_hess_constr (index_t timestep, crvec x, crvec M, rmat out) const
	Gauss-Newton Hessian of stage constraints \( \tp{\jac_{c_k}}(x^k)\, \operatorname{diag}(M)\; \jac_{c_k}(x^k) \).

void	eval_add_gn_hess_constr_N (crvec x, crvec M, rmat out) const
	Gauss-Newton Hessian of terminal constraints \( \tp{\jac_{c_N}}(x^N)\, \operatorname{diag}(M)\; \jac_{c_N}(x^N) \).

Checks
void	check () const
	Check that the problem formulation is well-defined, the dimensions match, etc.

Querying specialized implementations
bool	provides_get_D () const

bool	provides_get_D_N () const

bool	provides_eval_h () const

bool	provides_eval_h_N () const

bool	provides_eval_add_Q_N () const

bool	provides_eval_add_R_prod_masked () const

bool	provides_eval_add_S_prod_masked () const

bool	provides_get_R_work_size () const

bool	provides_get_S_work_size () const

bool	provides_eval_constr () const

bool	provides_eval_constr_N () const

bool	provides_eval_grad_constr_prod () const

bool	provides_eval_grad_constr_prod_N () const

bool	provides_eval_add_gn_hess_constr () const

bool	provides_eval_add_gn_hess_constr_N () const

Public Types
using	VTable = ControlProblemVTable< config_t >

using	allocator_type = Allocator

using	Box = typename VTable::Box

using	Dim = OCPDim< config_t >

using	TypeErased = util::TypeErased< VTable, allocator_type >

Public Member Functions
	TypeErased () noexcept(noexcept(allocator_type()))=default
	Default constructor.

template<class Alloc >
	TypeErased (std::allocator_arg_t, const Alloc &alloc)
	Default constructor (allocator aware).

	TypeErased (const TypeErased &other)
	Copy constructor.

	TypeErased (const TypeErased &other, allocator_type alloc)
	Copy constructor (allocator aware).

	TypeErased (TypeErased &&other) noexcept
	Move constructor.

	TypeErased (TypeErased &&other, const allocator_type &alloc) noexcept
	Move constructor (allocator aware).

template<class T , class Alloc >
	TypeErased (std::allocator_arg_t, const Alloc &alloc, T &&d)
	Main constructor that type-erases the given argument.

template<class T , class Alloc , class... Args>
	TypeErased (std::allocator_arg_t, const Alloc &alloc, te_in_place_t< T >, Args &&...args)
	Main constructor that type-erases the object constructed from the given argument.

template<class T > requires no_child_of_ours<T>
	TypeErased (T &&d)

template<class T , class... Args>
	TypeErased (te_in_place_t< T >, Args &&...args)
	Main constructor that type-erases the object constructed from the given argument.

	operator bool () const noexcept
	Check if this wrapper wraps an object.

allocator_type	get_allocator () const noexcept
	Get a copy of the allocator.

const std::type_info &	type () const noexcept
	Query the contained type.

template<class T >
T &	as () &
	Convert the type-erased object to the given type.

template<class T >
const T &	as () const &
	Convert the type-erased object to the given type.

template<class T >
const T &&	as () &&
	Convert the type-erased object to the given type.

Static Public Member Functions
template<class T , class... Args>
static TypeErasedControlProblem	make (Args &&...args)

template<class Ret , class T , class Alloc , class... Args> requires std::is_base_of_v<TypeErased, Ret>
static Ret	make (std::allocator_arg_t tag, const Alloc &alloc, Args &&...args)
	Construct a type-erased wrapper of type Ret for an object of type T, initialized in-place with the given arguments.

Static Public Attributes
static constexpr size_t	small_buffer_size = SmallBufferSize

Protected Member Functions
template<class Ret , class... FArgs, class... Args>
decltype(auto)	call (Ret(f)(const void , FArgs...), Args &&...args) const
	Call the vtable function `f` with the given arguments `args`, implicitly passing the self pointer and vtable reference if necessary.

template<class Ret , class... FArgs, class... Args>
decltype(auto)	call (Ret(f)(void , FArgs...), Args &&...args)
	Call the vtable function `f` with the given arguments `args`, implicitly passing the self pointer and vtable reference if necessary.

template<class Ret >
decltype(auto)	call (Ret(f)(const void )) const
	Call the vtable function `f` with the given arguments `args`, implicitly passing the self pointer and vtable reference if necessary.

template<class Ret >
decltype(auto)	call (Ret(f)(void ))
	Call the vtable function `f` with the given arguments `args`, implicitly passing the self pointer and vtable reference if necessary.

template<class Ret >
decltype(auto)	call (Ret(f)(const void , const VTable &)) const
	Call the vtable function `f` with the given arguments `args`, implicitly passing the self pointer and vtable reference if necessary.

template<class Ret >
decltype(auto)	call (Ret(f)(void , const VTable &))
	Call the vtable function `f` with the given arguments `args`, implicitly passing the self pointer and vtable reference if necessary.

template<class T , class... Args>
void	construct_inplace (Args &&...args)
	Ensure storage and construct the type-erased object of type T in-place.

template<class Ret >
decltype(auto)	call (Ret(f)(const void , const VTable &)) const
	Call the vtable function `f` with the given arguments `args`, implicitly passing the self pointer and vtable reference if necessary.

template<class Ret >
decltype(auto)	call (Ret(f)(void , const VTable &))
	Call the vtable function `f` with the given arguments `args`, implicitly passing the self pointer and vtable reference if necessary.

Protected Attributes
void *	self
	Pointer to the stored object.

VTable	vtable

size_t	size = invalid_size
	Size required to store the object.

Static Protected Attributes
static constexpr size_t	invalid_size

Private Types
using	allocator_traits = std::allocator_traits< allocator_type >

using	buffer_type = std::array< std::byte, small_buffer_size >

Private Member Functions
Deallocator	allocate (size_t size)
	Ensure that storage is available, either by using the small buffer if it is large enough, or by calling the allocator.

void	deallocate ()
	Deallocate the memory without invoking the destructor.

void	cleanup ()
	Destroy the type-erased object (if not empty), and deallocate the memory if necessary.

template<bool CopyAllocator>
void	do_copy_assign (const TypeErased &other)

Private Attributes
buffer_type	small_buffer

allocator_type	allocator

Static Private Attributes
template<class T >
static constexpr auto	no_child_of_ours
	True if `T` is not a child class of TypeErased.

Member Typedef Documentation

◆ VTable

using VTable = ControlProblemVTable<config_t>

Definition at line 244 of file ocproblem.hpp.

◆ allocator_type

using allocator_type = Allocator

Definition at line 245 of file ocproblem.hpp.

◆ Box

using Box = typename VTable::Box

Definition at line 246 of file ocproblem.hpp.

◆ Dim

using Dim = OCPDim<config_t>

Definition at line 247 of file ocproblem.hpp.

◆ TypeErased

using TypeErased = util::TypeErased<VTable, allocator_type>

Definition at line 248 of file ocproblem.hpp.

◆ allocator_traits

using allocator_traits = std::allocator_traits<allocator_type>

privateinherited

Definition at line 200 of file type-erasure.hpp.

◆ buffer_type

using buffer_type = std::array<std::byte, small_buffer_size>

privateinherited

Definition at line 201 of file type-erasure.hpp.

Member Function Documentation

◆ make() [1/2]

static TypeErasedControlProblem make ( Args &&... args )

inlinestatic

Definition at line 258 of file ocproblem.hpp.

◆ get_N()

length_t get_N ( ) const

inline

Horizon length.

Definition at line 266 of file ocproblem.hpp.

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◆ get_nu()

length_t get_nu ( ) const

inline

Number of inputs.

Definition at line 268 of file ocproblem.hpp.

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◆ get_nx()

length_t get_nx ( ) const

inline

Number of states.

Definition at line 270 of file ocproblem.hpp.

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◆ get_nh()

length_t get_nh ( ) const

inline

Number of outputs.

Definition at line 272 of file ocproblem.hpp.

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◆ get_nh_N()

length_t get_nh_N ( ) const

inline

Definition at line 273 of file ocproblem.hpp.

◆ get_nc()

length_t get_nc ( ) const

inline

Number of constraints.

Definition at line 275 of file ocproblem.hpp.

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◆ get_nc_N()

length_t get_nc_N ( ) const

inline

Definition at line 276 of file ocproblem.hpp.

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◆ get_dim()

Dim get_dim ( ) const

inline

All dimensions.

Definition at line 278 of file ocproblem.hpp.

◆ get_n()

length_t get_n ( ) const

inline

Total number of variables.

Definition at line 290 of file ocproblem.hpp.

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◆ get_m()

length_t get_m ( ) const

inline

Total number of constraints.

Definition at line 292 of file ocproblem.hpp.

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◆ eval_proj_diff_g()

void eval_proj_diff_g	(	crvec	z,
		rvec	e
	)		const

inline

[Required] Function that evaluates the difference between the given point \( z \) and its projection onto the constraint set \( D \).

Parameters

[in]	z	Slack variable, \( z \in \R^m \)
[out]	e	The difference relative to its projection, \( e = z - \Pi_D(z) \in \R^m \)

Note: z and e can refer to the same vector.

Definition at line 523 of file ocproblem.hpp.

◆ eval_proj_multipliers()

void eval_proj_multipliers	(	rvec	y,
		real_t	M
	)		const

inline

[Required] Function that projects the Lagrange multipliers for ALM.

Parameters

[in,out]	y	Multipliers, \( y \leftarrow \Pi_Y(y) \in \R^m \)
[in]	M	The radius/size of the set \( Y \). See ALMParams::max_multiplier.

Definition at line 524 of file ocproblem.hpp.

◆ get_U()

void get_U ( Box & U ) const

inline

Input box constraints \( U \).

Definition at line 525 of file ocproblem.hpp.

◆ get_D()

void get_D ( Box & D ) const

inline

Stage box constraints \( D \).

Definition at line 526 of file ocproblem.hpp.

◆ get_D_N()

void get_D_N ( Box & D ) const

inline

Terminal box constraints \( D_N \).

Definition at line 527 of file ocproblem.hpp.

◆ get_x_init()

void get_x_init ( rvec x_init ) const

inline

Initial state \( x_\text{init} \).

Definition at line 528 of file ocproblem.hpp.

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◆ eval_f()

void eval_f	(	index_t	timestep,
		crvec	x,
		crvec	u,
		rvec	fxu
	)		const

inline

Discrete-time dynamics \( x^{k+1} = f_k(x^k, u^k) \).

Definition at line 529 of file ocproblem.hpp.

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◆ eval_jac_f()

void eval_jac_f	(	index_t	timestep,
		crvec	x,
		crvec	u,
		rmat	J_fxu
	)		const

inline

Jacobian of discrete-time dynamics \( \jac_f(x^k, u^k) \).

Definition at line 530 of file ocproblem.hpp.

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◆ eval_grad_f_prod()

void eval_grad_f_prod	(	index_t	timestep,
		crvec	x,
		crvec	u,
		crvec	p,
		rvec	grad_fxu_p
	)		const

inline

Gradient-vector product of discrete-time dynamics \( \nabla f(x^k, u^k)\,p \).

Definition at line 531 of file ocproblem.hpp.

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◆ eval_h()

void eval_h	(	index_t	timestep,
		crvec	x,
		crvec	u,
		rvec	h
	)		const

inline

Stage output mapping \( h_k(x^k, u^k) \).

Definition at line 532 of file ocproblem.hpp.

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◆ eval_h_N()

void eval_h_N	(	crvec	x,
		rvec	h
	)		const

inline

Terminal output mapping \( h_N(x^N) \).

Definition at line 533 of file ocproblem.hpp.

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◆ eval_l()

auto eval_l	(	index_t	timestep,
		crvec	h
	)		const

inline

Stage cost \( \ell_k(\hbar^k) \).

Definition at line 534 of file ocproblem.hpp.

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◆ eval_l_N()

auto eval_l_N ( crvec h ) const

inline

Terminal cost \( \ell_N(\hbar^N) \).

Definition at line 535 of file ocproblem.hpp.

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◆ eval_qr()

void eval_qr	(	index_t	timestep,
		crvec	xu,
		crvec	h,
		rvec	qr
	)		const

inline

Cost gradients w.r.t.

states and inputs \( q^k = \tp{\jac_{h_k}^x\!(\barxuk)} \nabla \ell_k(\hbar^k) \) and \( r^k = \tp{\jac_{h_k}^u\!(\barxuk)} \nabla \ell_k(\hbar^k) \).

Definition at line 536 of file ocproblem.hpp.

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◆ eval_q_N()

void eval_q_N	(	crvec	x,
		crvec	h,
		rvec	q
	)		const

inline

Terminal cost gradient w.r.t.

states \( q^N = \tp{\jac_{h_N}(\bar x^N)} \nabla \ell_k(\hbar^N) \).

Definition at line 537 of file ocproblem.hpp.

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◆ eval_add_Q()

void eval_add_Q	(	index_t	timestep,
		crvec	xu,
		crvec	h,
		rmat	Q
	)		const

inline

Cost Hessian w.r.t.

states \( Q_k = \tp{\jac_{h_k}^x\!(\barxuk)} \partial^2\ell_k(\hbar^k)\, \jac_{h_k}^x\!(\barxuk) \), added to the given matrix Q. \( Q \leftarrow Q + Q_k \).

Definition at line 538 of file ocproblem.hpp.

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◆ eval_add_Q_N()

void eval_add_Q_N	(	crvec	x,
		crvec	h,
		rmat	Q
	)		const

inline

Terminal cost Hessian w.r.t.

states \( Q_N = \tp{\jac_{h_N}(\bar x^N)} \partial^2\ell_N(\hbar^N)\, \jac_{h_N}(\bar x^N) \), added to the given matrix Q. \( Q \leftarrow Q + Q_N \).

Definition at line 539 of file ocproblem.hpp.

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◆ eval_add_R_masked()

void eval_add_R_masked	(	index_t	timestep,
		crvec	xu,
		crvec	h,
		crindexvec	mask,
		rmat	R,
		rvec	work
	)		const

inline

Cost Hessian w.r.t.

inputs \( R_k = \tp{\jac_{h_k}^u\!(\barxuk)} \partial^2\ell_k(\hbar^k)\, \jac_{h_k}^u\!(\barxuk) \), keeping only rows and columns in the mask \( \mathcal J \), added to the given matrix R. \( R \leftarrow R + R_k[\mathcal J, \mathcal J] \). The size of work should be get_R_work_size().

Definition at line 540 of file ocproblem.hpp.

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◆ eval_add_S_masked()

void eval_add_S_masked	(	index_t	timestep,
		crvec	xu,
		crvec	h,
		crindexvec	mask,
		rmat	S,
		rvec	work
	)		const

inline

Cost Hessian w.r.t.

inputs and states \( S_k = \tp{\jac_{h_k}^u\!(\barxuk)} \partial^2\ell_k(\hbar^k)\, \jac_{h_k}^x\!(\barxuk) \), keeping only rows in the mask \( \mathcal J \), added to the given matrix S. \( S \leftarrow S + S_k[\mathcal J, \cdot] \). The size of work should be get_S_work_size().

Definition at line 541 of file ocproblem.hpp.

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◆ eval_add_R_prod_masked()

void eval_add_R_prod_masked	(	index_t	timestep,
		crvec	xu,
		crvec	h,
		crindexvec	mask_J,
		crindexvec	mask_K,
		crvec	v,
		rvec	out,
		rvec	work
	)		const

inline

\( out \leftarrow out + R[\mathcal J, \mathcal K]\,v[\mathcal K] \).

Work should contain the contents written to it by a prior call to eval_add_R_masked() in the same point.

Definition at line 542 of file ocproblem.hpp.

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◆ eval_add_S_prod_masked()

void eval_add_S_prod_masked	(	index_t	timestep,
		crvec	xu,
		crvec	h,
		crindexvec	mask_K,
		crvec	v,
		rvec	out,
		rvec	work
	)		const

inline

\( out \leftarrow out + \tp{S[\mathcal K, \cdot]}\, v[\mathcal K] \).

Work should contain the contents written to it by a prior call to eval_add_S_masked() in the same point.

Definition at line 543 of file ocproblem.hpp.

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◆ get_R_work_size()

auto get_R_work_size

inline

Size of the workspace required by eval_add_R_masked() and eval_add_R_prod_masked().

Definition at line 544 of file ocproblem.hpp.

◆ get_S_work_size()

auto get_S_work_size

inline

Size of the workspace required by eval_add_S_masked() and eval_add_S_prod_masked().

Definition at line 545 of file ocproblem.hpp.

◆ eval_constr()

void eval_constr	(	index_t	timestep,
		crvec	x,
		rvec	c
	)		const

inline

Stage constraints \( c_k(x^k) \).

Definition at line 546 of file ocproblem.hpp.

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◆ eval_constr_N()

void eval_constr_N	(	crvec	x,
		rvec	c
	)		const

inline

Terminal constraints \( c_N(x^N) \).

Definition at line 547 of file ocproblem.hpp.

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◆ eval_grad_constr_prod()

void eval_grad_constr_prod	(	index_t	timestep,
		crvec	x,
		crvec	p,
		rvec	grad_cx_p
	)		const

inline

Gradient-vector product of stage constraints \( \nabla c_k(x^k)\, p \).

Definition at line 548 of file ocproblem.hpp.

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◆ eval_grad_constr_prod_N()

void eval_grad_constr_prod_N	(	crvec	x,
		crvec	p,
		rvec	grad_cx_p
	)		const

inline

Gradient-vector product of terminal constraints \( \nabla c_N(x^N)\, p \).

Definition at line 549 of file ocproblem.hpp.

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◆ eval_add_gn_hess_constr()

void eval_add_gn_hess_constr	(	index_t	timestep,
		crvec	x,
		crvec	M,
		rmat	out
	)		const

inline

Gauss-Newton Hessian of stage constraints \( \tp{\jac_{c_k}}(x^k)\, \operatorname{diag}(M)\; \jac_{c_k}(x^k) \).

Definition at line 550 of file ocproblem.hpp.

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◆ eval_add_gn_hess_constr_N()

void eval_add_gn_hess_constr_N	(	crvec	x,
		crvec	M,
		rmat	out
	)		const

inline

Gauss-Newton Hessian of terminal constraints \( \tp{\jac_{c_N}}(x^N)\, \operatorname{diag}(M)\; \jac_{c_N}(x^N) \).

Definition at line 551 of file ocproblem.hpp.

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◆ check()

void check

inline

Check that the problem formulation is well-defined, the dimensions match, etc.

Throws an exception if this is not the case.

Definition at line 552 of file ocproblem.hpp.

◆ provides_get_D()

bool provides_get_D ( ) const

inline

Definition at line 453 of file ocproblem.hpp.

◆ provides_get_D_N()

bool provides_get_D_N ( ) const

inline

Definition at line 454 of file ocproblem.hpp.

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◆ provides_eval_h()

bool provides_eval_h ( ) const

inline

Definition at line 455 of file ocproblem.hpp.

◆ provides_eval_h_N()

bool provides_eval_h_N ( ) const

inline

Definition at line 456 of file ocproblem.hpp.

◆ provides_eval_add_Q_N()

bool provides_eval_add_Q_N ( ) const

inline

Definition at line 457 of file ocproblem.hpp.

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◆ provides_eval_add_R_prod_masked()

bool provides_eval_add_R_prod_masked ( ) const

inline

Definition at line 458 of file ocproblem.hpp.

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◆ provides_eval_add_S_prod_masked()

bool provides_eval_add_S_prod_masked ( ) const

inline

Definition at line 459 of file ocproblem.hpp.

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◆ provides_get_R_work_size()

bool provides_get_R_work_size ( ) const

inline

Definition at line 460 of file ocproblem.hpp.

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◆ provides_get_S_work_size()

bool provides_get_S_work_size ( ) const

inline

Definition at line 461 of file ocproblem.hpp.

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◆ provides_eval_constr()

bool provides_eval_constr ( ) const

inline

Definition at line 462 of file ocproblem.hpp.

◆ provides_eval_constr_N()

bool provides_eval_constr_N ( ) const

inline

Definition at line 463 of file ocproblem.hpp.

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◆ provides_eval_grad_constr_prod()

bool provides_eval_grad_constr_prod ( ) const

inline

Definition at line 464 of file ocproblem.hpp.

◆ provides_eval_grad_constr_prod_N()

bool provides_eval_grad_constr_prod_N ( ) const

inline

Definition at line 465 of file ocproblem.hpp.

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◆ provides_eval_add_gn_hess_constr()

bool provides_eval_add_gn_hess_constr ( ) const

inline

Definition at line 466 of file ocproblem.hpp.

◆ provides_eval_add_gn_hess_constr_N()

bool provides_eval_add_gn_hess_constr_N ( ) const

inline

Definition at line 467 of file ocproblem.hpp.

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◆ TypeErased() [1/10]

TypeErased ( )

defaultnoexcept

Default constructor.

◆ TypeErased() [2/10]

TypeErased	(	std::allocator_arg_t	,
		const Alloc &	alloc
	)

inline

Default constructor (allocator aware).

Definition at line 225 of file type-erasure.hpp.

◆ TypeErased() [3/10]

TypeErased ( const TypeErased & other )

inline

Copy constructor.

Definition at line 227 of file type-erasure.hpp.

◆ TypeErased() [4/10]

TypeErased	(	const TypeErased &	other,
		allocator_type	alloc
	)

inline

Copy constructor (allocator aware).

Definition at line 233 of file type-erasure.hpp.

◆ TypeErased() [5/10]

TypeErased ( TypeErased && other )

inlinenoexcept

Move constructor.

Definition at line 249 of file type-erasure.hpp.

◆ TypeErased() [6/10]

TypeErased	(	TypeErased &&	other,
		const allocator_type &	alloc
	)

inlinenoexcept

Move constructor (allocator aware).

Definition at line 267 of file type-erasure.hpp.

◆ TypeErased() [7/10]

TypeErased	(	std::allocator_arg_t	,
		const Alloc &	alloc,
		T &&	d
	)

inlineexplicit

Main constructor that type-erases the given argument.

Definition at line 352 of file type-erasure.hpp.

◆ TypeErased() [8/10]

TypeErased	(	std::allocator_arg_t	,
		const Alloc &	alloc,
		te_in_place_t< T >	,
		Args &&...	args
	)

inlineexplicit

Main constructor that type-erases the object constructed from the given argument.

Definition at line 359 of file type-erasure.hpp.

◆ TypeErased() [9/10]

TypeErased ( T && d )

inlineexplicit

Requirement prevents this constructor from taking precedence over the copy and move constructors.

Definition at line 369 of file type-erasure.hpp.

◆ TypeErased() [10/10]

TypeErased	(	te_in_place_t< T >	,
		Args &&...	args
	)

inlineexplicit

Main constructor that type-erases the object constructed from the given argument.

Definition at line 375 of file type-erasure.hpp.

◆ call() [1/8]

decltype(auto) call	(	Ret()(const void , FArgs...)	f,
		Args &&...	args
	)		const

inlineprotected

Call the vtable function f with the given arguments args, implicitly passing the self pointer and vtable reference if necessary.

Definition at line 514 of file type-erasure.hpp.

◆ call() [2/8]

decltype(auto) call	(	Ret()(void , FArgs...)	f,
		Args &&...	args
	)

inlineprotected

Call the vtable function f with the given arguments args, implicitly passing the self pointer and vtable reference if necessary.

Definition at line 526 of file type-erasure.hpp.

◆ call() [3/8]

decltype(auto) call ( Ret(*)(const void *) f ) const

inlineprotected

Call the vtable function f with the given arguments args, implicitly passing the self pointer and vtable reference if necessary.

Definition at line 538 of file type-erasure.hpp.

◆ call() [4/8]

decltype(auto) call ( Ret(*)(void *) f )

inlineprotected

Call the vtable function f with the given arguments args, implicitly passing the self pointer and vtable reference if necessary.

Definition at line 545 of file type-erasure.hpp.

◆ call() [5/8]

decltype(auto) call ( Ret(*)(const void *, const VTable &) f ) const

inlineprotected

Call the vtable function f with the given arguments args, implicitly passing the self pointer and vtable reference if necessary.

Definition at line 552 of file type-erasure.hpp.

◆ call() [6/8]

decltype(auto) call ( Ret(*)(void *, const VTable &) f )

inlineprotected

Call the vtable function f with the given arguments args, implicitly passing the self pointer and vtable reference if necessary.

Definition at line 560 of file type-erasure.hpp.

◆ make() [2/2]

static Ret make	(	std::allocator_arg_t	tag,
		const Alloc &	alloc,
		Args &&...	args
	)

inlinestaticinherited

Construct a type-erased wrapper of type Ret for an object of type T, initialized in-place with the given arguments.

Definition at line 383 of file type-erasure.hpp.

◆ operator bool()

operator bool ( ) const

inlineexplicitnoexceptinherited

Check if this wrapper wraps an object.

False for default-constructed objects.

Definition at line 400 of file type-erasure.hpp.

◆ get_allocator()

allocator_type get_allocator ( ) const

inlinenoexceptinherited

Get a copy of the allocator.

Definition at line 403 of file type-erasure.hpp.

◆ type()

const std::type_info & type ( ) const

inlinenoexceptinherited

Query the contained type.

Definition at line 406 of file type-erasure.hpp.

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◆ as() [1/3]

T & as ( ) &

inlineinherited

Convert the type-erased object to the given type.

The type is checked in debug builds only, use with caution.

Definition at line 413 of file type-erasure.hpp.

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◆ as() [2/3]

const T & as ( ) const &

inlineinherited

Convert the type-erased object to the given type.

The type is checked in debug builds only, use with caution.

Definition at line 420 of file type-erasure.hpp.

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◆ as() [3/3]

const T && as ( ) &&

inlineinherited

Convert the type-erased object to the given type.

The type is checked in debug builds only, use with caution.

Definition at line 427 of file type-erasure.hpp.

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◆ allocate()

Deallocator allocate ( size_t size )

inlineprivateinherited

Ensure that storage is available, either by using the small buffer if it is large enough, or by calling the allocator.

Returns a RAII wrapper that deallocates the storage unless released.

Definition at line 450 of file type-erasure.hpp.

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◆ deallocate()

void deallocate ( )

inlineprivateinherited

Deallocate the memory without invoking the destructor.

Definition at line 460 of file type-erasure.hpp.

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◆ cleanup()

void cleanup ( )

inlineprivateinherited

Destroy the type-erased object (if not empty), and deallocate the memory if necessary.

Definition at line 470 of file type-erasure.hpp.

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◆ do_copy_assign()

void do_copy_assign ( const TypeErased< VTable, Allocator, SmallBufferSize > & other )

inlineprivateinherited

Definition at line 478 of file type-erasure.hpp.

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◆ construct_inplace()

void construct_inplace ( Args &&... args )

inlineprotectedinherited

Ensure storage and construct the type-erased object of type T in-place.

Definition at line 498 of file type-erasure.hpp.

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◆ call() [7/8]

decltype(auto) call ( Ret(*)(const void *, const VTable &) f ) const

inlineprotectedinherited

Call the vtable function f with the given arguments args, implicitly passing the self pointer and vtable reference if necessary.

Definition at line 552 of file type-erasure.hpp.

◆ call() [8/8]

decltype(auto) call ( Ret(*)(void *, const VTable &) f )

inlineprotectedinherited

Call the vtable function f with the given arguments args, implicitly passing the self pointer and vtable reference if necessary.

Definition at line 560 of file type-erasure.hpp.

Member Data Documentation

◆ self

void* self

protected

Pointer to the stored object.

Definition at line 215 of file type-erasure.hpp.

◆ vtable

VTable vtable

protected

Definition at line 218 of file type-erasure.hpp.

◆ small_buffer_size

constexpr size_t small_buffer_size = SmallBufferSize

staticconstexprinherited

Definition at line 196 of file type-erasure.hpp.

◆ small_buffer

buffer_type small_buffer

privateinherited

Definition at line 202 of file type-erasure.hpp.

◆ allocator

allocator_type allocator

privateinherited

Definition at line 203 of file type-erasure.hpp.

◆ no_child_of_ours

constexpr auto no_child_of_ours

staticconstexprprivateinherited

Initial value:

=

!std::is_base_of_v<TypeErased, std::remove_cvref_t<T>>

True if T is not a child class of TypeErased.

Definition at line 208 of file type-erasure.hpp.

◆ invalid_size

constexpr size_t invalid_size

staticconstexprprotectedinherited

Initial value:

=

static_cast<size_t>(0xDEADBEEFDEADBEEF)

Definition at line 212 of file type-erasure.hpp.

◆ size

size_t size = invalid_size

protectedinherited

Size required to store the object.

Definition at line 217 of file type-erasure.hpp.

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

ocproblem.hpp

Detailed Description

Problem dimensions

Projections onto constraint sets

Constraint sets

Dynamics and initial state

Output mapping

Stage and terminal cost

Gauss-Newton approximations

Constraints

Checks

Querying specialized implementations

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Member Typedef Documentation

◆ VTable

◆ allocator_type

◆ Box

◆ Dim

◆ TypeErased

◆ allocator_traits

◆ buffer_type

Member Function Documentation

◆ make() [1/2]

◆ get_N()

◆ get_nu()

◆ get_nx()

◆ get_nh()

◆ get_nh_N()

◆ get_nc()

◆ get_nc_N()

◆ get_dim()

◆ get_n()

◆ get_m()

◆ eval_proj_diff_g()

◆ eval_proj_multipliers()

◆ get_U()

◆ get_D()

◆ get_D_N()

◆ get_x_init()

◆ eval_f()

◆ eval_jac_f()

◆ eval_grad_f_prod()

◆ eval_h()

◆ eval_h_N()

◆ eval_l()

◆ eval_l_N()

◆ eval_qr()

◆ eval_q_N()

◆ eval_add_Q()

◆ eval_add_Q_N()

◆ eval_add_R_masked()

◆ eval_add_S_masked()

◆ eval_add_R_prod_masked()

◆ eval_add_S_prod_masked()

◆ get_R_work_size()

◆ get_S_work_size()

◆ eval_constr()

◆ eval_constr_N()

◆ eval_grad_constr_prod()

◆ eval_grad_constr_prod_N()

◆ eval_add_gn_hess_constr()

◆ eval_add_gn_hess_constr_N()

◆ check()

◆ provides_get_D()

◆ provides_get_D_N()

◆ provides_eval_h()

◆ provides_eval_h_N()

◆ provides_eval_add_Q_N()

◆ provides_eval_add_R_prod_masked()

◆ provides_eval_add_S_prod_masked()

◆ provides_get_R_work_size()