ocs2_core

Detailed Description

Namespaces
	ocs2::cppad_sparsity
	ocs2::integrator_type
	ocs2::loopshaping_property_tree
	ocs2::benchmark
	ocs2::LinearAlgebra
	ocs2::LinearInterpolation
	ocs2::loadData
	ocs2::log
	ocs2::lookup
	ocs2::numerics
	ocs2::ModelData

Classes
class	ocs2::CppAdInterface
class	ocs2::ConstraintBase
class	ocs2::ConstraintBaseAD
class	ocs2::ConstraintCollection< CONSTRAINT >
class	ocs2::LinearConstraint
class	ocs2::PenaltyBase
class	ocs2::RelaxedBarrierPenalty
class	ocs2::StateConstraint
class	ocs2::StateInputConstraint
class	ocs2::ControllerAdjustmentBase
class	ocs2::ControllerBase
class	ocs2::FeedforwardController
class	ocs2::LinearController
class	ocs2::StateBasedLinearController
class	ocs2::TrajectorySpreadingControllerAdjustment
class	ocs2::CostCollection< COST >
class	ocs2::CostDesiredTrajectories
class	ocs2::CostFunctionBase
class	ocs2::CostFunctionBaseAD
class	ocs2::CostFunctionLinearCombination
class	ocs2::QuadraticCostFunction
class	ocs2::QuadraticGaussNewtonCostBaseAD
class	ocs2::QuadraticStateCost
class	ocs2::QuadraticStateInputCost
class	ocs2::RelaxedBarrierCost
class	ocs2::StateCost
class	ocs2::StateInputCost
class	ocs2::ControlledSystemBase
class	ocs2::LinearSystemDynamics
class	ocs2::SystemDynamicsBase
class	ocs2::SystemDynamicsBaseAD
class	ocs2::SystemDynamicsLinearizer
class	ocs2::TransferFunctionBase
class	ocs2::OperatingPoints
class	ocs2::SystemOperatingTrajectoriesBase
class	ocs2::Integrator< Stepper >
class	ocs2::IntegratorBase
class	ocs2::Observer
class	ocs2::OdeBase
class	ocs2::OdeFunc
class	ocs2::RungeKuttaDormandPrince5
class	ocs2::StateTriggeredEventHandler
class	ocs2::SystemEventHandler
struct	ocs2::ModeSchedule
class	ocs2::LoopshapingConstraint
class	ocs2::LoopshapingConstraintEliminatePattern
class	ocs2::LoopshapingConstraintInputPattern
class	ocs2::LoopshapingConstraintOutputPattern
class	ocs2::LoopshapingCost
class	ocs2::LoopshapingCostEliminatePattern
class	ocs2::LoopshapingCostInputPattern
class	ocs2::LoopshapingCostOutputPattern
class	ocs2::LoopshapingDynamics
class	ocs2::LoopshapingDynamicsEliminatePattern
class	ocs2::LoopshapingDynamicsInputPattern
class	ocs2::LoopshapingDynamicsOutputPattern
class	ocs2::LoopshapingFilterDynamics
class	ocs2::LoopshapingDefinition
class	ocs2::Filter
class	ocs2::LoopshapingOperatingPoint
class	ocs2::LinearFunction< STATE_DIM, DIM1, DIM2, SCALAR >
class	ocs2::LTI_Equations< DIM1, DIM2, SCALAR >
class	ocs2::LockedPtr< T >
class	ocs2::LockedConstPtr< T >
class	ocs2::Synchronized< T >
class	ocs2::TaskBase
class	ocs2::Task< Functor >
class	ocs2::ThreadPool
struct	ocs2::ModelDataBase
class	ocs2::OCS2NumericTraits< T >
class	ocs2::PenaltyFunctionBase
class	ocs2::QuadraticPenaltyFunction
class	ocs2::RelaxedBarrierPenaltyFunction
class	ocs2::SmoothAbsolutePenaltyFunction
class	ocs2::SquaredHingePenaltyFunction
class	ocs2::SoftConstraintPenalty
class	ocs2::StateInputSoftConstraint
class	ocs2::StateSoftConstraint
struct	ocs2::ScalarFunctionQuadraticApproximation
struct	ocs2::VectorFunctionLinearApproximation
struct	ocs2::VectorFunctionQuadraticApproximation

Typedefs
using	ocs2::ad_base_t = CppAD::cg::CG< scalar_t >
using	ocs2::ad_scalar_t = CppAD::AD< ad_base_t >
using	ocs2::ad_vector_t = Eigen::Matrix< ad_scalar_t, Eigen::Dynamic, 1 >
using	ocs2::ad_matrix_t = Eigen::Matrix< ad_scalar_t, Eigen::Dynamic, Eigen::Dynamic >
template<typename T >
using	ocs2::EnableIfStateConstraint_t = typename std::enable_if< std::is_same< T, StateConstraint >::value, bool >::type
template<typename T >
using	ocs2::EnableIfStateInputConstraint_t = typename std::enable_if< std::is_same< T, StateInputConstraint >::value, bool >::type
template<typename T >
using	ocs2::EnableIfStateCost_t = typename std::enable_if< std::is_same< T, StateCost >::value, bool >::type
template<typename T >
using	ocs2::EnableIfStateInputCost_t = typename std::enable_if< std::is_same< T, StateInputCost >::value, bool >::type
using	ocs2::IntegratorEuler = Integrator< euler_t >
using	ocs2::IntegratorModifiedMidpoint = Integrator< modified_midpoint_t >
using	ocs2::IntegratorRK4 = Integrator< runge_kutta_4_t >
using	ocs2::IntegratorRK5Variable = Integrator< dense_runge_kutta5_t >
using	ocs2::ODE45 = Integrator< runge_kutta_dopri5_t >
template<size_t STEPS>
using	ocs2::IntegratorAdamsBashforth = Integrator< adams_bashforth_uncontrolled_t< STEPS > >
using	ocs2::IntegratorBulirschStoer = Integrator< bulirsch_stoer_t >
using	ocs2::euler_t = boost::numeric::odeint::euler< vector_t, scalar_t, vector_t, scalar_t, boost::numeric::odeint::vector_space_algebra >
using	ocs2::modified_midpoint_t = boost::numeric::odeint::modified_midpoint< vector_t, scalar_t, vector_t, scalar_t, boost::numeric::odeint::vector_space_algebra >
using	ocs2::runge_kutta_4_t = boost::numeric::odeint::runge_kutta4< vector_t, scalar_t, vector_t, scalar_t, boost::numeric::odeint::vector_space_algebra >
using	ocs2::runge_kutta_dopri5_t = boost::numeric::odeint::runge_kutta_dopri5< vector_t, scalar_t, vector_t, scalar_t, boost::numeric::odeint::vector_space_algebra >
using	ocs2::dense_runge_kutta5_t = boost::numeric::odeint::dense_output_runge_kutta< boost::numeric::odeint::controlled_runge_kutta< runge_kutta_dopri5_t > >
using	ocs2::bulirsch_stoer_t = boost::numeric::odeint::bulirsch_stoer< vector_t, scalar_t, vector_t, scalar_t, boost::numeric::odeint::vector_space_algebra >
template<size_t STEPS>
using	ocs2::adams_bashforth_uncontrolled_t = boost::numeric::odeint::adams_bashforth< STEPS, vector_t, scalar_t, vector_t, scalar_t, boost::numeric::odeint::vector_space_algebra >
using	ocs2::size_array_t = std::vector< size_t >
using	ocs2::size_array2_t = std::vector< size_array_t >
using	ocs2::scalar_t = double
using	ocs2::scalar_array_t = std::vector< scalar_t >
using	ocs2::scalar_array2_t = std::vector< scalar_array_t >
using	ocs2::scalar_array3_t = std::vector< scalar_array2_t >
using	ocs2::vector_t = Eigen::Matrix< scalar_t, Eigen::Dynamic, 1 >
using	ocs2::vector_array_t = std::vector< vector_t >
using	ocs2::vector_array2_t = std::vector< vector_array_t >
using	ocs2::vector_array3_t = std::vector< vector_array2_t >
using	ocs2::row_vector_t = Eigen::Matrix< scalar_t, 1, Eigen::Dynamic >
using	ocs2::matrix_t = Eigen::Matrix< scalar_t, Eigen::Dynamic, Eigen::Dynamic >
using	ocs2::matrix_array_t = std::vector< matrix_t >
using	ocs2::matrix_array2_t = std::vector< matrix_array_t >
using	ocs2::matrix_array3_t = std::vector< matrix_array2_t >
using	ocs2::eigen_scalar_t = Eigen::Matrix< scalar_t, 1, 1 >
using	ocs2::eigen_scalar_array_t = std::vector< eigen_scalar_t >
using	ocs2::eigen_scalar_array2_t = std::vector< eigen_scalar_array_t >
using	ocs2::eigen_scalar_array3_t = std::vector< eigen_scalar_array2_t >

Enumerations
enum	ocs2::ControllerType {   ocs2::ControllerType::UNKNOWN,   ocs2::ControllerType::FEEDFORWARD,   ocs2::ControllerType::LINEAR,   ocs2::ControllerType::NEURAL_NETWORK }
enum	ocs2::IntegratorType {   ocs2::IntegratorType::EULER,   ocs2::IntegratorType::ODE45,   ocs2::IntegratorType::ODE45_OCS2,   ocs2::IntegratorType::ADAMS_BASHFORTH,   ocs2::IntegratorType::BULIRSCH_STOER,   ocs2::IntegratorType::MODIFIED_MIDPOINT,   ocs2::IntegratorType::RK4,   ocs2::IntegratorType::RK5_VARIABLE,   ocs2::IntegratorType::ADAMS_BASHFORTH_MOULTON }
	The IntegratorType enum Enum used in selecting a specific integrator. More...
enum	ocs2::sys_event_id {   ocs2::killIntegration = -1,   ocs2::maxCall = -2 }
enum	ocs2::LoopshapingType {   ocs2::LoopshapingType::outputpattern,   ocs2::LoopshapingType::inputpattern,   ocs2::LoopshapingType::eliminatepattern }
enum	ocs2::ConstraintOrder {   ocs2::ConstraintOrder::Linear,   ocs2::ConstraintOrder::Quadratic }

Functions
matrix_t	ocs2::finiteDifferenceDerivative (std::function< vector_t(const vector_t &)> f, const vector_t &x0, scalar_t eps=Eigen::NumTraits< scalar_t >::epsilon(), bool doubleSidedDerivative=true)
matrix_t	ocs2::finiteDifferenceDerivativeState (ControlledSystemBase &system, scalar_t t, const vector_t &x, const vector_t &u, scalar_t eps=Eigen::NumTraits< scalar_t >::epsilon(), bool doubleSidedDerivative=true, bool isSecondOrderSystem=false)
matrix_t	ocs2::finiteDifferenceDerivativeInput (ControlledSystemBase &system, scalar_t t, const vector_t &x, const vector_t &u, scalar_t eps=Eigen::NumTraits< scalar_t >::epsilon(), bool doubleSidedDerivative=true, bool isSecondOrderSystem=false)
void	ocs2::swap (FeedforwardController &a, FeedforwardController &b) noexcept
std::ostream &	ocs2::operator<< (std::ostream &out, const FeedforwardController &controller)
void	ocs2::swap (LinearController &a, LinearController &b) noexcept
std::ostream &	ocs2::operator<< (std::ostream &out, const LinearController &controller)
std::ostream &	ocs2::operator<< (std::ostream &out, const CostDesiredTrajectories &traj)
void	ocs2::tf2ss (vector_t numCoefficients, vector_t denCoefficients, matrix_t &A, matrix_t &B, matrix_t &C, matrix_t &D, scalar_t timeDelay=0.0, bool balance=true)
std::unique_ptr< IntegratorBase >	ocs2::newIntegrator (IntegratorType integratorType, const std::shared_ptr< SystemEventHandler > &eventHandlerPtr=nullptr)
template<typename SCALAR_T >
SCALAR_T	ocs2::trapezoidalIntegration (const std::vector< SCALAR_T > &timeTrajectory, const std::vector< SCALAR_T > &valueTrajectory)
void	ocs2::swap (ModeSchedule &lh, ModeSchedule &rh)
std::ostream &	ocs2::operator<< (std::ostream &stream, const ModeSchedule &modeSchedule)
template<typename Container >
std::string	ocs2::toDelimitedString (const Container &container, const std::string &delimiter=", ")
void	ocs2::setThreadPriority (const int priority, std::thread &thread)
template<typename... SV>
auto	ocs2::synchronizeLock (SV &... sv) -> std::tuple< decltype(sv.adoptLock())... >
std::ostream &	ocs2::operator<< (std::ostream &out, const ModelDataBase &data)
std::ostream &	ocs2::operator<< (std::ostream &out, const ScalarFunctionQuadraticApproximation &f)
std::ostream &	ocs2::operator<< (std::ostream &out, const VectorFunctionLinearApproximation &f)
std::ostream &	ocs2::operator<< (std::ostream &out, const VectorFunctionQuadraticApproximation &f)
void	ocs2::Integrator< Stepper >::runIntegrateConst (system_func_t system, observer_func_t observer, const vector_t &initialState, scalar_t startTime, scalar_t finalTime, scalar_t dt) override
void	ocs2::Integrator< Stepper >::runIntegrateAdaptive (system_func_t system, observer_func_t observer, const vector_t &initialState, scalar_t startTime, scalar_t finalTime, scalar_t dtInitial, scalar_t AbsTol, scalar_t RelTol) override
void	ocs2::Integrator< Stepper >::runIntegrateTimes (system_func_t system, observer_func_t observer, const vector_t &initialState, typename scalar_array_t::const_iterator beginTimeItr, typename scalar_array_t::const_iterator endTimeItr, scalar_t dtInitial, scalar_t AbsTol, scalar_t RelTol) override
template<typename S >
std::enable_if< std::is_same< S, runge_kutta_dopri5_t >::value, void >::type	ocs2::Integrator< Stepper >::integrateAdaptiveSpecialized (system_func_t system, observer_func_t observer, vector_t &initialState, scalar_t startTime, scalar_t finalTime, scalar_t dtInitial, scalar_t AbsTol, scalar_t RelTol)
template<typename S = Stepper>
std::enable_if< std::is_same< S, runge_kutta_dopri5_t >::value, void >::type	ocs2::Integrator< Stepper >::integrateTimesSpecialized (system_func_t system, observer_func_t observer, vector_t &initialState, typename scalar_array_t::const_iterator beginTimeItr, typename scalar_array_t::const_iterator endTimeItr, scalar_t dtInitial, scalar_t AbsTol, scalar_t RelTol)
template<typename S = Stepper>
std::enable_if< std::is_same< S, runge_kutta_dopri5_t >::value, void >::type	ocs2::Integrator< Stepper >::initializeStepper (vector_t &initialState, scalar_t t, scalar_t dt)
template<typename Functor >
std::future< typename std::result_of< Functor(int)>::type >	ocs2::ThreadPool::run (Functor taskFunction)
template<typename Functor >
std::future< typename std::result_of< Functor(int)>::type >	ocs2::ThreadPool::run (Functor taskFunction, int &thisTaskId)
template<typename Functor >
std::future< typename std::result_of< Functor(int)>::type >	ocs2::ThreadPool::runAfter (int runAfterId, Functor taskFunction)
template<typename Functor >
std::future< typename std::result_of< Functor(int)>::type >	ocs2::ThreadPool::runAfter (int runAfterId, Functor taskFunction, int &thisTaskId)

Typedef Documentation

ad_base_t

using ocs2::ad_base_t = typedef CppAD::cg::CG<scalar_t>

Scalar type.

ad_matrix_t

using ocs2::ad_matrix_t = typedef Eigen::Matrix<ad_scalar_t, Eigen::Dynamic, Eigen::Dynamic>

ad_scalar_t

using ocs2::ad_scalar_t = typedef CppAD::AD<ad_base_t>

ad_vector_t

using ocs2::ad_vector_t = typedef Eigen::Matrix<ad_scalar_t, Eigen::Dynamic, 1>

Dynamic-size vector type.

adams_bashforth_uncontrolled_t

template<size_t STEPS>

using ocs2::adams_bashforth_uncontrolled_t = typedef boost::numeric::odeint::adams_bashforth<STEPS, vector_t, scalar_t, vector_t, scalar_t, boost::numeric::odeint::vector_space_algebra>

Adams_Bashforth stepper

bulirsch_stoer_t

using ocs2::bulirsch_stoer_t = typedef boost::numeric::odeint::bulirsch_stoer<vector_t, scalar_t, vector_t, scalar_t, boost::numeric::odeint::vector_space_algebra>

Bulirsch_Stoer stepper

dense_runge_kutta5_t

using ocs2::dense_runge_kutta5_t = typedef boost::numeric::odeint::dense_output_runge_kutta<boost::numeric::odeint::controlled_runge_kutta<runge_kutta_dopri5_t> >

Dense_output Runge_Kutta stepper

eigen_scalar_array2_t

using ocs2::eigen_scalar_array2_t = typedef std::vector<eigen_scalar_array_t>

Array of eigen scalar trajectory type.

eigen_scalar_array3_t

using ocs2::eigen_scalar_array3_t = typedef std::vector<eigen_scalar_array2_t>

Array of arrays of eigen scalar trajectory type.

eigen_scalar_array_t

using ocs2::eigen_scalar_array_t = typedef std::vector<eigen_scalar_t>

Eigen scalar trajectory type.

eigen_scalar_t

using ocs2::eigen_scalar_t = typedef Eigen::Matrix<scalar_t, 1, 1>

Eigen scalar type.

EnableIfStateConstraint_t

template<typename T >

using ocs2::EnableIfStateConstraint_t = typedef typename std::enable_if<std::is_same<T, StateConstraint>::value, bool>::type

EnableIfStateCost_t

template<typename T >

using ocs2::EnableIfStateCost_t = typedef typename std::enable_if<std::is_same<T, StateCost>::value, bool>::type

EnableIfStateInputConstraint_t

template<typename T >

using ocs2::EnableIfStateInputConstraint_t = typedef typename std::enable_if<std::is_same<T, StateInputConstraint>::value, bool>::type

EnableIfStateInputCost_t

template<typename T >

using ocs2::EnableIfStateInputCost_t = typedef typename std::enable_if<std::is_same<T, StateInputCost>::value, bool>::type

euler_t

using ocs2::euler_t = typedef boost::numeric::odeint::euler<vector_t, scalar_t, vector_t, scalar_t, boost::numeric::odeint::vector_space_algebra>

Euler stepper

IntegratorAdamsBashforth

template<size_t STEPS>

using ocs2::IntegratorAdamsBashforth = typedef Integrator<adams_bashforth_uncontrolled_t<STEPS> >

Adams-Bashforth integrator.

IntegratorBulirschStoer

using ocs2::IntegratorBulirschStoer = typedef Integrator<bulirsch_stoer_t>

Bulirsch-Stoer integrator.

IntegratorEuler

using ocs2::IntegratorEuler = typedef Integrator<euler_t>

Euler integrator.

IntegratorModifiedMidpoint

using ocs2::IntegratorModifiedMidpoint = typedef Integrator<modified_midpoint_t>

Modified midpoint integrator.

IntegratorRK4

using ocs2::IntegratorRK4 = typedef Integrator<runge_kutta_4_t>

RK4 integrator.

IntegratorRK5Variable

using ocs2::IntegratorRK5Variable = typedef Integrator<dense_runge_kutta5_t>

RK5 variable integrator.

matrix_array2_t

using ocs2::matrix_array2_t = typedef std::vector<matrix_array_t>

Array of dynamic matrix's trajectory type.

matrix_array3_t

using ocs2::matrix_array3_t = typedef std::vector<matrix_array2_t>

Array of arrays of dynamic matrix trajectory type.

matrix_array_t

using ocs2::matrix_array_t = typedef std::vector<matrix_t>

Dynamic matrix's trajectory type.

matrix_t

using ocs2::matrix_t = typedef Eigen::Matrix<scalar_t, Eigen::Dynamic, Eigen::Dynamic>

Dynamic-size matrix type.

modified_midpoint_t

using ocs2::modified_midpoint_t = typedef boost::numeric::odeint::modified_midpoint<vector_t, scalar_t, vector_t, scalar_t, boost::numeric::odeint::vector_space_algebra>

Modified_Midpoint stepper

ODE45

using ocs2::ODE45 = typedef Integrator<runge_kutta_dopri5_t>

ode45 integrator.

row_vector_t

using ocs2::row_vector_t = typedef Eigen::Matrix<scalar_t, 1, Eigen::Dynamic>

Dynamic-size row vector type.

runge_kutta_4_t

using ocs2::runge_kutta_4_t = typedef boost::numeric::odeint::runge_kutta4<vector_t, scalar_t, vector_t, scalar_t, boost::numeric::odeint::vector_space_algebra>

4th order Runge_Kutta stepper

runge_kutta_dopri5_t

using ocs2::runge_kutta_dopri5_t = typedef boost::numeric::odeint::runge_kutta_dopri5<vector_t, scalar_t, vector_t, scalar_t, boost::numeric::odeint::vector_space_algebra>

5th order Runge_Kutta_Dopri stepper

scalar_array2_t

using ocs2::scalar_array2_t = typedef std::vector<scalar_array_t>

Array of scalar trajectory type.

scalar_array3_t

using ocs2::scalar_array3_t = typedef std::vector<scalar_array2_t>

Array of arrays of scalar trajectory type.

scalar_array_t

using ocs2::scalar_array_t = typedef std::vector<scalar_t>

Scalar trajectory type.

scalar_t

using ocs2::scalar_t = typedef double

Scalar type.

size_array2_t

using ocs2::size_array2_t = typedef std::vector<size_array_t>

Array of size_t trajectory type.

size_array_t

using ocs2::size_array_t = typedef std::vector<size_t>

size_t trajectory type.

vector_array2_t

using ocs2::vector_array2_t = typedef std::vector<vector_array_t>

Array of dynamic vector's trajectory type.

vector_array3_t

using ocs2::vector_array3_t = typedef std::vector<vector_array2_t>

Array of arrays of dynamic vector trajectory type.

vector_array_t

using ocs2::vector_array_t = typedef std::vector<vector_t>

Dynamic vector's trajectory type.

vector_t

using ocs2::vector_t = typedef Eigen::Matrix<scalar_t, Eigen::Dynamic, 1>

Dynamic-size vector type.

Enumeration Type Documentation

ConstraintOrder

enum ocs2::ConstraintOrder

strong

Enumerator
Linear
Quadratic

ControllerType

enum ocs2::ControllerType

strong

Enum class for specifying controller type

Enumerator
UNKNOWN
FEEDFORWARD
LINEAR
NEURAL_NETWORK

IntegratorType

enum ocs2::IntegratorType

strong

The IntegratorType enum Enum used in selecting a specific integrator.

Enumerator
EULER
ODE45
ODE45_OCS2
ADAMS_BASHFORTH
BULIRSCH_STOER
MODIFIED_MIDPOINT
RK4
RK5_VARIABLE
ADAMS_BASHFORTH_MOULTON

LoopshapingType

enum ocs2::LoopshapingType

strong

Enumerator
outputpattern
inputpattern
eliminatepattern

sys_event_id

enum ocs2::sys_event_id

System event ID. all values are negative.

Enumerator
killIntegration	killIntegration: kill integration due to an external signal.
maxCall	maximum number of function calls.

Function Documentation

finiteDifferenceDerivative()

matrix_t ocs2::finiteDifferenceDerivative	(	std::function< vector_t(const vector_t &)>	f,
		const vector_t &	x0,
		scalar_t	eps = Eigen::NumTraits< scalar_t >::epsilon(),
		bool	doubleSidedDerivative = true
	)

finiteDifferenceDerivativeInput()

matrix_t ocs2::finiteDifferenceDerivativeInput	(	ControlledSystemBase &	system,
		scalar_t	t,
		const vector_t &	x,
		const vector_t &	u,
		scalar_t	eps = Eigen::NumTraits< scalar_t >::epsilon(),
		bool	doubleSidedDerivative = true,
		bool	isSecondOrderSystem = false
	)

finiteDifferenceDerivativeState()

matrix_t ocs2::finiteDifferenceDerivativeState	(	ControlledSystemBase &	system,
		scalar_t	t,
		const vector_t &	x,
		const vector_t &	u,
		scalar_t	eps = Eigen::NumTraits< scalar_t >::epsilon(),
		bool	doubleSidedDerivative = true,
		bool	isSecondOrderSystem = false
	)

initializeStepper()

template<class Stepper >

template<typename S >

std::enable_if<!(std::is_same< S, runge_kutta_dopri5_t >::value), void >::type ocs2::Integrator< Stepper >::initializeStepper ( vector_t &  initialState, scalar_t  t, scalar_t  dt  )

inlineprivate

Functionality to reset stepper. If we integrate with ODE45, we don't need to reset the stepper, hence specialize empty function

Template Parameters

S	stepper type.

Parameters

[in]	initialState	Initial state.
[in]	t	Time.
[in]	dt	Time step.

do nothing, runge_kutta_5_t does not have a init method

integrateAdaptiveSpecialized()

template<class Stepper >

template<typename S >

std::enable_if<!std::is_same< S, runge_kutta_dopri5_t >::value, void >::type ocs2::Integrator< Stepper >::integrateAdaptiveSpecialized ( system_func_t  system, observer_func_t  observer, vector_t &  initialState, scalar_t  startTime, scalar_t  finalTime, scalar_t  dtInitial, scalar_t  AbsTol, scalar_t  RelTol  )

inlineprivate

Integrate adaptive specialized.

Template Parameters

S	stepper type.

Parameters

[in]	system	System function
[in]	observer	Observer callback
[in]	initialState	Initial state.
[in]	startTime	Initial time.
[in]	finalTime	Final time.
[in]	dtInitial	Initial time step.
[in]	AbsTol	The absolute tolerance error for ode solver.
[in]	RelTol	The relative tolerance error for ode solver.

integrateTimesSpecialized()

template<class Stepper >

template<typename S >

std::enable_if<!std::is_same< S, runge_kutta_dopri5_t >::value, void >::type ocs2::Integrator< Stepper >::integrateTimesSpecialized ( system_func_t  system, observer_func_t  observer, vector_t &  initialState, typename scalar_array_t::const_iterator  beginTimeItr, typename scalar_array_t::const_iterator  endTimeItr, scalar_t  dtInitial, scalar_t  AbsTol, scalar_t  RelTol  )

inlineprivate

Integrate times specialized function

Template Parameters

S	stepper type.

Parameters

[in]	system	System function
[in]	observer	Observer callback
[in]	initialState	Initial state.
[in]	beginTimeItr	The iterator to the beginning of the time stamp trajectory.
[in]	endTimeItr	The iterator to the end of the time stamp trajectory.
[in]	dtInitial	Initial time step.
[in]	AbsTol	The absolute tolerance error for ode solver.
[in]	RelTol	The relative tolerance error for ode solver.

newIntegrator()

std::unique_ptr<IntegratorBase> ocs2::newIntegrator	(	IntegratorType	integratorType,
		const std::shared_ptr< SystemEventHandler > &	eventHandlerPtr = nullptr
	)

Create Integrator of given type.

Parameters

[in]	integratorType	The integrator type.
[in]	eventHandler	The integration event function.

operator<<() [1/8]

std::ostream& ocs2::operator<<	(	std::ostream &	stream,
		const ModeSchedule &	modeSchedule
	)

operator<<() [2/8]

std::ostream& ocs2::operator<<	(	std::ostream &	out,
		const CostDesiredTrajectories &	traj
	)

operator<<() [3/8]

std::ostream& ocs2::operator<<	(	std::ostream &	out,
		const ModelDataBase &	data
	)

operator<<() [4/8]

std::ostream& ocs2::operator<<	(	std::ostream &	out,
		const FeedforwardController &	controller
	)

operator<<() [5/8]

std::ostream& ocs2::operator<<	(	std::ostream &	out,
		const LinearController &	controller
	)

operator<<() [6/8]

std::ostream& ocs2::operator<<	(	std::ostream &	out,
		const ScalarFunctionQuadraticApproximation &	f
	)

operator<<() [7/8]

std::ostream& ocs2::operator<<	(	std::ostream &	out,
		const VectorFunctionLinearApproximation &	f
	)

operator<<() [8/8]

std::ostream& ocs2::operator<<	(	std::ostream &	out,
		const VectorFunctionQuadraticApproximation &	f
	)

run() [1/2]

template<typename Functor >

std::future< typename std::result_of< Functor(int)>::type > ocs2::ThreadPool::run	(	Functor	taskFunction,
		int &	thisTaskId
	)

Run a task in another thread

Parameters

[in]	taskFunction	task function to run in the pool
[out]	thisTaskId	ID of the new task.

Returns

future object with taskFunction retrun value

run() [2/2]

template<typename Functor >

std::future< typename std::result_of< Functor(int)>::type > ocs2::ThreadPool::run

(

Functor

taskFunction

)

runAfter() [1/2]

template<typename Functor >

std::future< typename std::result_of< Functor(int)>::type > ocs2::ThreadPool::runAfter	(	int	runAfterId,
		Functor	taskFunction,
		int &	thisTaskId
	)

Run a task that depends on antother task

Parameters

[in]	taskFunction	task function to run in the pool.
[in]	runAfterId	new task is delayed until task with given ID has finished.
[out]	thisTaskId	new task ID.

Returns

future object with taskFunction retrun value

runAfter() [2/2]

template<typename Functor >

std::future< typename std::result_of< Functor(int)>::type > ocs2::ThreadPool::runAfter	(	int	runAfterId,
		Functor	taskFunction
	)

runIntegrateAdaptive()

template<class Stepper >

void ocs2::Integrator< Stepper >::runIntegrateAdaptive ( system_func_t  system, observer_func_t  observer, const vector_t &  initialState, scalar_t  startTime, scalar_t  finalTime, scalar_t  dtInitial, scalar_t  AbsTol, scalar_t  RelTol  )

inlineoverrideprivate

Adaptive time integration based on start time and final time.

Parameters

[in]	system	System function
[in]	observer	Observer callback
[in]	initialState	Initial state.
[in]	startTime	Initial time.
[in]	finalTime	Final time.
[in]	dtInitial	Initial time step.
[in]	AbsTol	The absolute tolerance error for ode solver.
[in]	RelTol	The relative tolerance error for ode solver.

runIntegrateConst()

template<class Stepper >

void ocs2::Integrator< Stepper >::runIntegrateConst ( system_func_t  system, observer_func_t  observer, const vector_t &  initialState, scalar_t  startTime, scalar_t  finalTime, scalar_t  dt  )

inlineoverrideprivate

Equidistant integration based on initial and final time as well as step length.

Parameters

[in]	system	System function
[in]	observer	Observer callback
[in]	initialState	Initial state.
[in]	startTime	Initial time.
[in]	finalTime	Final time.
[in]	dt	Time step.

runIntegrateTimes()

template<class Stepper >

void ocs2::Integrator< Stepper >::runIntegrateTimes ( system_func_t  system, observer_func_t  observer, const vector_t &  initialState, typename scalar_array_t::const_iterator  beginTimeItr, typename scalar_array_t::const_iterator  endTimeItr, scalar_t  dtInitial, scalar_t  AbsTol, scalar_t  RelTol  )

inlineoverrideprivate

Output integration based on a given time trajectory.

Parameters

[in]	system	System function
[in]	observer	Observer callback
[in]	initialState	Initial state.
[in]	beginTimeItr	The iterator to the beginning of the time stamp trajectory.
[in]	endTimeItr	The iterator to the end of the time stamp trajectory.
[in]	dtInitial	Initial time step.
[in]	AbsTol	The absolute tolerance error for ode solver.
[in]	RelTol	The relative tolerance error for ode solver.

setThreadPriority()

void ocs2::setThreadPriority ( const int  priority, std::thread &  thread  )

inline

Sets the priority of the input thread.

Parameters

priority	The priority of the thread from 0 (lowest) to 99 (highest)
thread	A reference to the tread.

swap() [1/3]

void ocs2::swap	(	ModeSchedule &	lh,
		ModeSchedule &	rh
	)

swap() [2/3]

void ocs2::swap ( FeedforwardController &  a, FeedforwardController &  b  )

noexcept

swap() [3/3]

void ocs2::swap ( LinearController &  a, LinearController &  b  )

noexcept

synchronizeLock()

template<typename... SV>

auto ocs2::synchronizeLock

(

SV &...

sv

)

-> std::tuple<decltype(sv.adoptLock())...>

Helper function to lock multiple synchronized<T> objects simultaneously, preventing deadlocks.

Returns

a tuple of LockedPtr<T> / LockedConstPtr<T>.

tf2ss()

void ocs2::tf2ss ( vector_t  numCoefficients, vector_t  denCoefficients, matrix_t &  A, matrix_t &  B, matrix_t &  C, matrix_t &  D, scalar_t  timeDelay = 0.0, bool  balance = true  )

inline

toDelimitedString()

template<typename Container >

std::string ocs2::toDelimitedString	(	const Container &	container,
		const std::string &	delimiter = ", "
	)

Loops over the elements in a container and creates a delimited string

trapezoidalIntegration()

template<typename SCALAR_T >

SCALAR_T ocs2::trapezoidalIntegration	(	const std::vector< SCALAR_T > &	timeTrajectory,
		const std::vector< SCALAR_T > &	valueTrajectory
	)