#include <alpaqa/casadi/CasADiControlProblem.hpp>

Detailed Description

template<Config Conf>
class alpaqa::CasADiControlProblem< Conf >

Definition at line 18 of file CasADiControlProblem.hpp.

Collaboration diagram for CasADiControlProblem< Conf >:

Public Types
using	Box = alpaqa::Box< config_t >

Public Member Functions
	CasADiControlProblem (const std::string &so_name, length_t N)

	~CasADiControlProblem ()

	CasADiControlProblem (const CasADiControlProblem &)

CasADiControlProblem &	operator= (const CasADiControlProblem &)

	CasADiControlProblem (CasADiControlProblem &&) noexcept

CasADiControlProblem &	operator= (CasADiControlProblem &&) noexcept

void	load_numerical_data (const std::filesystem::path &filepath, char sep=',')
	Load the numerical problem data (bounds and parameters) from a CSV file.

void	get_U (Box &U) const

void	get_D (Box &D) const

void	get_D_N (Box &D_N) const

void	get_x_init (rvec x_init) const

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

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

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

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

void	eval_h_N (crvec x, rvec h) const

real_t	eval_l (index_t timestep, crvec h) const

real_t	eval_l_N (crvec h) const

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

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

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

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

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

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

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

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

length_t	get_R_work_size () const

length_t	get_S_work_size () const

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

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

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

void	eval_constr_N (crvec x, rvec c) const

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

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

void	check () const

length_t	get_N () const

length_t	get_nx () const

length_t	get_nu () const

length_t	get_nh () const

length_t	get_nh_N () const

length_t	get_nc () const

length_t	get_nc_N () const

void	eval_proj_diff_g (crvec z, rvec e) const

void	eval_proj_multipliers (rvec y, real_t M) const

Public Attributes
length_t	N

length_t	nx

length_t	nu

length_t	nh

length_t	nh_N

length_t	nc

length_t	nc_N

vec	x_init

vec	param

Box	U

Box	D

Box	D_N

vec	work

index_t	penalty_alm_split = 0
	Components of the constraint function with indices below this number are handled using a quadratic penalty method rather than using an augmented Lagrangian method.

index_t	penalty_alm_split_N = 0
	Same as penalty_alm_split, but for the terminal constraint.

Private Types
using	Functions = casadi_loader::CasADiControlFunctionsWithParam< Conf >

Private Attributes
util::copyable_unique_ptr< Functions >	impl

Member Typedef Documentation

◆ Box

using Box = alpaqa::Box<config_t>

Definition at line 21 of file CasADiControlProblem.hpp.

◆ Functions

using Functions = casadi_loader::CasADiControlFunctionsWithParam<Conf>

private

Definition at line 176 of file CasADiControlProblem.hpp.

Constructor & Destructor Documentation

◆ CasADiControlProblem() [1/3]

CasADiControlProblem	(	const std::string &	so_name,
		length_t	N
	)

Definition at line 59 of file CasADiControlProblem.tpp.

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◆ ~CasADiControlProblem()

~CasADiControlProblem ( )

default

◆ CasADiControlProblem() [2/3]

CasADiControlProblem ( const CasADiControlProblem< Conf > & )

default

◆ CasADiControlProblem() [3/3]

CasADiControlProblem ( CasADiControlProblem< Conf > && )

defaultnoexcept

Member Function Documentation

◆ operator=() [1/2]

CasADiControlProblem< Conf > & operator= ( const CasADiControlProblem< Conf > & )

default

◆ operator=() [2/2]

CasADiControlProblem< Conf > & operator= ( CasADiControlProblem< Conf > && )

defaultnoexcept

◆ load_numerical_data()

void load_numerical_data	(	const std::filesystem::path &	filepath,
		char	sep = `','`
	)

Load the numerical problem data (bounds and parameters) from a CSV file.

The file should contain 8 rows, with the following contents:

U lower bound [nu]
U upper bound [nu]
D lower bound [nc]
D upper bound [nc]
D_N lower bound [nc_N]
D_N upper bound [nc_N]
x_init [nx]
param [p]

Line endings are encoded using a single line feed (\n), and the column separator can be specified using the sep argument.

Definition at line 212 of file CasADiControlProblem.tpp.

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◆ get_U()

void get_U ( Box & U ) const

inline

Definition at line 60 of file CasADiControlProblem.hpp.

◆ get_D()

void get_D ( Box & D ) const

inline

Definition at line 61 of file CasADiControlProblem.hpp.

◆ get_D_N()

void get_D_N ( Box & D_N ) const

inline

Definition at line 62 of file CasADiControlProblem.hpp.

◆ get_x_init()

void get_x_init ( rvec x_init ) const

inline

Definition at line 63 of file CasADiControlProblem.hpp.

◆ eval_f()

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

Definition at line 258 of file CasADiControlProblem.tpp.

◆ eval_jac_f()

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

Definition at line 266 of file CasADiControlProblem.tpp.

◆ eval_grad_f_prod()

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

Definition at line 275 of file CasADiControlProblem.tpp.

◆ eval_h()

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

Definition at line 286 of file CasADiControlProblem.tpp.

◆ eval_h_N()

void eval_h_N	(	crvec	x,
		rvec	h
	)		const

Definition at line 294 of file CasADiControlProblem.tpp.

◆ eval_l()

auto eval_l	(	index_t	timestep,
		crvec	h
	)		const

Definition at line 300 of file CasADiControlProblem.tpp.

◆ eval_l_N()

auto eval_l_N ( crvec h ) const

Definition at line 307 of file CasADiControlProblem.tpp.

◆ eval_qr()

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

Definition at line 314 of file CasADiControlProblem.tpp.

◆ eval_q_N()

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

Definition at line 322 of file CasADiControlProblem.tpp.

◆ eval_add_Q()

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

Definition at line 329 of file CasADiControlProblem.tpp.

◆ eval_add_Q_N()

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

Definition at line 352 of file CasADiControlProblem.tpp.

◆ eval_add_R_masked()

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

Definition at line 375 of file CasADiControlProblem.tpp.

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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

Definition at line 406 of file CasADiControlProblem.tpp.

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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

Definition at line 437 of file CasADiControlProblem.tpp.

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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

Definition at line 466 of file CasADiControlProblem.tpp.

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◆ get_R_work_size()

auto get_R_work_size

Definition at line 495 of file CasADiControlProblem.tpp.

◆ get_S_work_size()

auto get_S_work_size

Definition at line 501 of file CasADiControlProblem.tpp.

◆ eval_constr()

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

Definition at line 507 of file CasADiControlProblem.tpp.

◆ eval_grad_constr_prod()

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

Definition at line 516 of file CasADiControlProblem.tpp.

◆ eval_add_gn_hess_constr()

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

Definition at line 526 of file CasADiControlProblem.tpp.

◆ eval_constr_N()

void eval_constr_N	(	crvec	x,
		rvec	c
	)		const

Definition at line 552 of file CasADiControlProblem.tpp.

◆ eval_grad_constr_prod_N()

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

Definition at line 561 of file CasADiControlProblem.tpp.

◆ eval_add_gn_hess_constr_N()

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

Definition at line 570 of file CasADiControlProblem.tpp.

◆ check()

void check ( ) const

inline

Definition at line 98 of file CasADiControlProblem.hpp.

◆ get_N()

length_t get_N ( ) const

inline

Definition at line 123 of file CasADiControlProblem.hpp.

◆ get_nx()

length_t get_nx ( ) const

inline

Definition at line 124 of file CasADiControlProblem.hpp.

◆ get_nu()

length_t get_nu ( ) const

inline

Definition at line 125 of file CasADiControlProblem.hpp.

◆ get_nh()

length_t get_nh ( ) const

inline

Definition at line 126 of file CasADiControlProblem.hpp.

◆ get_nh_N()

length_t get_nh_N ( ) const

inline

Definition at line 127 of file CasADiControlProblem.hpp.

◆ get_nc()

length_t get_nc ( ) const

inline

Definition at line 128 of file CasADiControlProblem.hpp.

◆ get_nc_N()

length_t get_nc_N ( ) const

inline

Definition at line 129 of file CasADiControlProblem.hpp.

◆ eval_proj_diff_g()

void eval_proj_diff_g	(	crvec	z,
		rvec	e
	)		const

inline

See also: TypeErasedControlProblem::eval_proj_diff_g

Definition at line 132 of file CasADiControlProblem.hpp.

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◆ eval_proj_multipliers()

void eval_proj_multipliers	(	rvec	y,
		real_t	M
	)		const

inline

See also: TypeErasedControlProblem::eval_proj_multipliers

Definition at line 140 of file CasADiControlProblem.hpp.

Member Data Documentation

◆ N

length_t N

Definition at line 22 of file CasADiControlProblem.hpp.

◆ nx

length_t nx

Definition at line 22 of file CasADiControlProblem.hpp.

◆ nu

length_t nu

Definition at line 22 of file CasADiControlProblem.hpp.

◆ nh

length_t nh

Definition at line 22 of file CasADiControlProblem.hpp.

◆ nh_N

length_t nh_N

Definition at line 22 of file CasADiControlProblem.hpp.

◆ nc

length_t nc

Definition at line 22 of file CasADiControlProblem.hpp.

◆ nc_N

length_t nc_N

Definition at line 22 of file CasADiControlProblem.hpp.

◆ x_init

vec x_init

Definition at line 23 of file CasADiControlProblem.hpp.

◆ param

vec param

Definition at line 24 of file CasADiControlProblem.hpp.

◆ U

Box U

Definition at line 25 of file CasADiControlProblem.hpp.

◆ D

Box D

Definition at line 25 of file CasADiControlProblem.hpp.

◆ D_N

Box D_N

Definition at line 25 of file CasADiControlProblem.hpp.

◆ work

vec work

mutable

Definition at line 26 of file CasADiControlProblem.hpp.

◆ penalty_alm_split

index_t penalty_alm_split = 0

Components of the constraint function with indices below this number are handled using a quadratic penalty method rather than using an augmented Lagrangian method.

Specifically, the Lagrange multipliers for these components (which determine the shifts in ALM) are kept at zero.

Definition at line 32 of file CasADiControlProblem.hpp.

◆ penalty_alm_split_N

index_t penalty_alm_split_N = 0

Same as penalty_alm_split, but for the terminal constraint.

Definition at line 34 of file CasADiControlProblem.hpp.

◆ impl

util::copyable_unique_ptr<Functions> impl

private

Definition at line 177 of file CasADiControlProblem.hpp.

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

src/interop/casadi/include/alpaqa/casadi/CasADiControlProblem.hpp
src/interop/casadi/include/alpaqa/implementation/casadi/CasADiControlProblem.tpp

Detailed Description

Public Types

Public Member Functions

Public Attributes

Private Types

Private Attributes

Member Typedef Documentation

◆ Box

◆ Functions

Constructor & Destructor Documentation

◆ CasADiControlProblem() [1/3]

◆ ~CasADiControlProblem()

◆ CasADiControlProblem() [2/3]

◆ CasADiControlProblem() [3/3]

Member Function Documentation

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ load_numerical_data()

◆ 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_grad_constr_prod()

◆ eval_add_gn_hess_constr()

◆ eval_constr_N()

◆ eval_grad_constr_prod_N()

◆ eval_add_gn_hess_constr_N()

◆ check()

◆ get_N()

◆ get_nx()

◆ get_nu()

◆ get_nh()

◆ get_nh_N()

◆ get_nc()

◆ get_nc_N()

◆ eval_proj_diff_g()

◆ eval_proj_multipliers()

Member Data Documentation

◆ N

◆ nx

◆ nu

◆ nh

◆ nh_N

◆ nc

◆ nc_N

◆ x_init

◆ param

◆ U

◆ D

◆ D_N

◆ work

◆ penalty_alm_split

◆ penalty_alm_split_N

◆ impl