SpringMassParams Struct Reference

#include <cyqlone/qpalm/example-problems/spring-mass.hpp>

Detailed Description

Examples

benchmarks/cyqpalm/spring-mass.cpp.

Definition at line 11 of file spring-mass.hpp.

Public Types
enum	ActuatorPlacement { IndividualActuators , RandomActuators , RandomPairsOfActuators , WangBoydActuators }

Static Public Member Functions
static SpringMassParams	wang_boyd_2008 (index_t n_masses, index_t N_horiz=30, uint64_t seed=0)
static SpringMassParams	wang_boyd_2008_width (index_t n_masses, index_t N_horiz=30, uint64_t seed=0, double steady_state_spring_length=0.1)
static SpringMassParams	domahidi_2012 (index_t n_masses, index_t N_horiz, uint64_t seed=0)
static SpringMassParams	active_state_constr (index_t n_masses=18, index_t N_horiz=256, uint64_t seed=0)

Public Attributes
real_t	friction = 0
	friction coefficient
real_t	k_spring = 1
	spring constant between masses
real_t	F_max = 0.5
	maximum actuator force
real_t	p_max = 4
	maximum displacement of each mass
real_t	p_min = -p_max
	minimum displacement of each mass
real_t	p_min_f = p_min
	minimum displacement of each mass for the final stage
real_t	p_max_f = p_max
	maximum displacement of each mass for the final stage
real_t	v_max = 0
	maximum velocity of each mass (zero = no limit)
real_t	v_max_f = v_max
	maximum velocity of each mass for the final stage
real_t	width = 1
	width of the setup (distance between the walls)
index_t	N_horiz = 32
	number of discretization steps
real_t	T_horiz = 15
	time horizon
real_t	q_vel = 1
	scaling factor for cost terms for the velocity
real_t	q_pos = 1
	scaling factor for cost terms for the position
real_t	q_vel_f = q_vel
	scaling factor for terminal cost term for the velocity
real_t	q_pos_f = q_pos
	scaling factor for terminal cost term for the position
real_t	r_act = 1
	scaling factor for cost terms for the actuators
std::vector< real_t >	masses {1, 1, 1, 1, 1, 1}
index_t	n_actuators = static_cast<index_t>(masses.size()) - 1
	number of actuators
enum cyqlone::qpalm::problems::SpringMassParams::ActuatorPlacement	actuator_placement = IndividualActuators
uint64_t	seed = 0
	random seed for actuator placement

Member Enumeration Documentation

ActuatorPlacement

enum cyqlone::qpalm::problems::SpringMassParams::ActuatorPlacement

Enumerator
IndividualActuators
RandomActuators
RandomPairsOfActuators
WangBoydActuators

Definition at line 31 of file spring-mass.hpp.

Member Function Documentation

wang_boyd_2008()

SpringMassParams cyqlone::qpalm::problems::SpringMassParams::wang_boyd_2008 ( index_t n_masses, index_t N_horiz = 30, uint64_t seed = 0 )

inlinestatic

Examples

benchmarks/cyqpalm/spring-mass.cpp.

Definition at line 39 of file spring-mass.hpp.

wang_boyd_2008_width()

SpringMassParams cyqlone::qpalm::problems::SpringMassParams::wang_boyd_2008_width ( index_t n_masses, index_t N_horiz = 30, uint64_t seed = 0, double steady_state_spring_length = 0.1 )

inlinestatic

Examples

benchmarks/cyqpalm/spring-mass.cpp.

Definition at line 65 of file spring-mass.hpp.

domahidi_2012()

SpringMassParams cyqlone::qpalm::problems::SpringMassParams::domahidi_2012 ( index_t n_masses, index_t N_horiz, uint64_t seed = 0 )

inlinestatic

Examples

benchmarks/cyqpalm/spring-mass.cpp.

Definition at line 73 of file spring-mass.hpp.

active_state_constr()

SpringMassParams cyqlone::qpalm::problems::SpringMassParams::active_state_constr ( index_t n_masses = 18, index_t N_horiz = 256, uint64_t seed = 0 )

inlinestatic

Examples

benchmarks/cyqpalm/spring-mass.cpp.

Definition at line 96 of file spring-mass.hpp.

Member Data Documentation

friction

real_t cyqlone::qpalm::problems::SpringMassParams::friction = 0

friction coefficient

Definition at line 12 of file spring-mass.hpp.

k_spring

real_t cyqlone::qpalm::problems::SpringMassParams::k_spring = 1

spring constant between masses

Definition at line 13 of file spring-mass.hpp.

F_max

real_t cyqlone::qpalm::problems::SpringMassParams::F_max = 0.5

maximum actuator force

Definition at line 14 of file spring-mass.hpp.

p_max

real_t cyqlone::qpalm::problems::SpringMassParams::p_max = 4

maximum displacement of each mass

Examples

benchmarks/cyqpalm/spring-mass.cpp.

Definition at line 15 of file spring-mass.hpp.

p_min

real_t cyqlone::qpalm::problems::SpringMassParams::p_min = -p_max

minimum displacement of each mass

Definition at line 16 of file spring-mass.hpp.

p_min_f

real_t cyqlone::qpalm::problems::SpringMassParams::p_min_f = p_min

minimum displacement of each mass for the final stage

Definition at line 17 of file spring-mass.hpp.

p_max_f

real_t cyqlone::qpalm::problems::SpringMassParams::p_max_f = p_max

maximum displacement of each mass for the final stage

Definition at line 18 of file spring-mass.hpp.

v_max

real_t cyqlone::qpalm::problems::SpringMassParams::v_max = 0

maximum velocity of each mass (zero = no limit)

Definition at line 19 of file spring-mass.hpp.

v_max_f

real_t cyqlone::qpalm::problems::SpringMassParams::v_max_f = v_max

maximum velocity of each mass for the final stage

Definition at line 20 of file spring-mass.hpp.

width

real_t cyqlone::qpalm::problems::SpringMassParams::width = 1

width of the setup (distance between the walls)

Definition at line 21 of file spring-mass.hpp.

N_horiz

index_t cyqlone::qpalm::problems::SpringMassParams::N_horiz = 32

number of discretization steps

Definition at line 22 of file spring-mass.hpp.

T_horiz

real_t cyqlone::qpalm::problems::SpringMassParams::T_horiz = 15

time horizon

Definition at line 23 of file spring-mass.hpp.

q_vel

real_t cyqlone::qpalm::problems::SpringMassParams::q_vel = 1

scaling factor for cost terms for the velocity

Definition at line 24 of file spring-mass.hpp.

q_pos

real_t cyqlone::qpalm::problems::SpringMassParams::q_pos = 1

scaling factor for cost terms for the position

Definition at line 25 of file spring-mass.hpp.

q_vel_f

real_t cyqlone::qpalm::problems::SpringMassParams::q_vel_f = q_vel

scaling factor for terminal cost term for the velocity

Definition at line 26 of file spring-mass.hpp.

q_pos_f

real_t cyqlone::qpalm::problems::SpringMassParams::q_pos_f = q_pos

scaling factor for terminal cost term for the position

Definition at line 27 of file spring-mass.hpp.

r_act

real_t cyqlone::qpalm::problems::SpringMassParams::r_act = 1

scaling factor for cost terms for the actuators

Definition at line 28 of file spring-mass.hpp.

masses

std::vector<real_t> cyqlone::qpalm::problems::SpringMassParams::masses {1, 1, 1, 1, 1, 1}

Examples

benchmarks/cyqpalm/spring-mass.cpp.

Definition at line 29 of file spring-mass.hpp.

n_actuators

index_t cyqlone::qpalm::problems::SpringMassParams::n_actuators = static_cast<index_t>(masses.size()) - 1

number of actuators

Definition at line 30 of file spring-mass.hpp.

actuator_placement

enum cyqlone::qpalm::problems::SpringMassParams::ActuatorPlacement cyqlone::qpalm::problems::SpringMassParams::actuator_placement = IndividualActuators

seed

uint64_t cyqlone::qpalm::problems::SpringMassParams::seed = 0

random seed for actuator placement

Examples

benchmarks/cyqpalm/spring-mass.cpp.

Definition at line 37 of file spring-mass.hpp.

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

• src/example-problems/include/cyqlone/qpalm/example-problems/spring-mass.hpp