Detailed Description

Namespaces
	ocs2::loopshaping_property_tree

Classes
class	ocs2::AutomaticDifferentiationBase< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >

class	ocs2::CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >

class	ocs2::ConstraintBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >

class	ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T >

class	ocs2::LinearConstraint< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >

class	ocs2::PenaltyBase< STATE_DIM, INPUT_DIM >

class	ocs2::RelaxedBarrierPenalty< STATE_DIM, INPUT_DIM >

class	ocs2::ControllerBase< STATE_DIM, INPUT_DIM >

class	ocs2::FeedforwardController< STATE_DIM, INPUT_DIM >

class	ocs2::LinearController< STATE_DIM, INPUT_DIM >

class	ocs2::PiController< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >

class	ocs2::CostDesiredTrajectories< SCALAR_T >

class	ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >

class	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >

class	ocs2::QuadraticCostFunction< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >

class	ocs2::Dimensions< STATE_DIM, INPUT_DIM >

class	ocs2::ControlledSystemBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >

class	ocs2::DerivativesBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >

class	ocs2::LinearSystemDynamics< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >

class	ocs2::SystemDynamicsBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >

class	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >

class	ocs2::SystemDynamicsLinearizer< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >

class	ocs2::TransferFunctionBase

class	ocs2::SystemOperatingPoint< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >

class	ocs2::SystemOperatingTrajectoriesBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >

class	ocs2::EventHandlerBase< STATE_DIM >

class	ocs2::Integrator< STATE_DIM, Stepper >

class	ocs2::IntegratorBase< STATE_DIM >

class	ocs2::Observer< STATE_DIM >

class	ocs2::OdeBase< STATE_DIM >

class	ocs2::OdeFunc< STATE_DIM >

class	ocs2::StateTriggeredEventHandler< STATE_DIM >

class	ocs2::SystemEventHandler< STATE_DIM >

class	ocs2::HybridLogicRulesMachine< LOGIC_RULES_T >

class	ocs2::LogicRulesMachine< LOGIC_RULES_T >

struct	ocs2::ModeSequenceTemplate< scalar_t >

class	ocs2::HybridLogicRules

class	ocs2::LogicRulesBase

class	ocs2::NullLogicRules

class	ocs2::LoopshapingConstraint< FULL_STATE_DIM, FULL_INPUT_DIM, SYSTEM_STATE_DIM, SYSTEM_INPUT_DIM, FILTER_STATE_DIM, FILTER_INPUT_DIM, LOGIC_RULES_T >

class	ocs2::LoopshapingConstraintEliminatePattern< FULL_STATE_DIM, FULL_INPUT_DIM, SYSTEM_STATE_DIM, SYSTEM_INPUT_DIM, FILTER_STATE_DIM, FILTER_INPUT_DIM, LOGIC_RULES_T >

class	ocs2::LoopshapingConstraintInputPattern< FULL_STATE_DIM, FULL_INPUT_DIM, SYSTEM_STATE_DIM, SYSTEM_INPUT_DIM, FILTER_STATE_DIM, FILTER_INPUT_DIM, LOGIC_RULES_T >

class	ocs2::LoopshapingConstraintOutputPattern< FULL_STATE_DIM, FULL_INPUT_DIM, SYSTEM_STATE_DIM, SYSTEM_INPUT_DIM, FILTER_STATE_DIM, FILTER_INPUT_DIM, LOGIC_RULES_T >

class	ocs2::LoopshapingCost< FULL_STATE_DIM, FULL_INPUT_DIM, SYSTEM_STATE_DIM, SYSTEM_INPUT_DIM, FILTER_STATE_DIM, FILTER_INPUT_DIM, LOGIC_RULES_T >

class	ocs2::LoopshapingCostEliminatePattern< FULL_STATE_DIM, FULL_INPUT_DIM, SYSTEM_STATE_DIM, SYSTEM_INPUT_DIM, FILTER_STATE_DIM, FILTER_INPUT_DIM, LOGIC_RULES_T >

class	ocs2::LoopshapingCostInputPattern< FULL_STATE_DIM, FULL_INPUT_DIM, SYSTEM_STATE_DIM, SYSTEM_INPUT_DIM, FILTER_STATE_DIM, FILTER_INPUT_DIM, LOGIC_RULES_T >

class	ocs2::LoopshapingCostOutputPattern< FULL_STATE_DIM, FULL_INPUT_DIM, SYSTEM_STATE_DIM, SYSTEM_INPUT_DIM, FILTER_STATE_DIM, FILTER_INPUT_DIM, LOGIC_RULES_T >

class	ocs2::LoopshapingDynamics< FULL_STATE_DIM, FULL_INPUT_DIM, SYSTEM_STATE_DIM, SYSTEM_INPUT_DIM, FILTER_STATE_DIM, FILTER_INPUT_DIM, LOGIC_RULES_T >

class	ocs2::LoopshapingDynamicsDerivative< FULL_STATE_DIM, FULL_INPUT_DIM, SYSTEM_STATE_DIM, SYSTEM_INPUT_DIM, FILTER_STATE_DIM, FILTER_INPUT_DIM, LOGIC_RULES_T >

class	ocs2::LoopshapingDynamicsDerivativeEliminatePattern< FULL_STATE_DIM, FULL_INPUT_DIM, SYSTEM_STATE_DIM, SYSTEM_INPUT_DIM, FILTER_STATE_DIM, FILTER_INPUT_DIM, LOGIC_RULES_T >

class	ocs2::LoopshapingDynamicsDerivativeInputPattern< FULL_STATE_DIM, FULL_INPUT_DIM, SYSTEM_STATE_DIM, SYSTEM_INPUT_DIM, FILTER_STATE_DIM, FILTER_INPUT_DIM, LOGIC_RULES_T >

class	ocs2::LoopshapingDynamicsDerivativeOutputPattern< FULL_STATE_DIM, FULL_INPUT_DIM, SYSTEM_STATE_DIM, SYSTEM_INPUT_DIM, FILTER_STATE_DIM, FILTER_INPUT_DIM, LOGIC_RULES_T >

class	ocs2::LoopshapingDynamicsInputPattern< FULL_STATE_DIM, FULL_INPUT_DIM, SYSTEM_STATE_DIM, SYSTEM_INPUT_DIM, FILTER_STATE_DIM, FILTER_INPUT_DIM, LOGIC_RULES_T >

class	ocs2::LoopshapingDynamicsOutputPattern< FULL_STATE_DIM, FULL_INPUT_DIM, SYSTEM_STATE_DIM, SYSTEM_INPUT_DIM, FILTER_STATE_DIM, FILTER_INPUT_DIM, LOGIC_RULES_T >

class	ocs2::LoopshapingFilterDynamics< FULL_STATE_DIM, FULL_INPUT_DIM, SYSTEM_STATE_DIM, SYSTEM_INPUT_DIM, FILTER_STATE_DIM, FILTER_INPUT_DIM >

class	ocs2::LoopshapingDefinition

class	ocs2::Filter

class	ocs2::LoopshapingOperatingPoint< FULL_STATE_DIM, FULL_INPUT_DIM, SYSTEM_STATE_DIM, SYSTEM_INPUT_DIM, FILTER_STATE_DIM, FILTER_INPUT_DIM, LOGIC_RULES_T >

class	ocs2::LinearFunction< STATE_DIM, DIM1, DIM2, scalar_t >

class	ocs2::LinearInterpolation< Data_T, Alloc >

class	ocs2::LTI_Equations< DIM1, DIM2, SCALAR_T >

class	ocs2::TrajectorySpreadingController< STATE_DIM, INPUT_DIM >

class	ocs2::OCS2NumericTraits< T >

Typedefs
template<int STATE_DIM>
using	ocs2::IntegratorEuler = Integrator< STATE_DIM, euler_t< STATE_DIM > >

template<int STATE_DIM>
using	ocs2::IntegratorModifiedMidpoint = Integrator< STATE_DIM, modified_midpoint_t< STATE_DIM > >

template<int STATE_DIM>
using	ocs2::IntegratorRK4 = Integrator< STATE_DIM, runge_kutta_4_t< STATE_DIM > >

template<int STATE_DIM>
using	ocs2::IntegratorRK5Variable = Integrator< STATE_DIM, dense_runge_kutta5_t< STATE_DIM > >

template<int STATE_DIM>
using	ocs2::ODE45 = Integrator< STATE_DIM, runge_kutta_dopri5_t< STATE_DIM > >

template<int STATE_DIM, size_t STEPS>
using	ocs2::IntegratorAdamsBashforth = Integrator< STATE_DIM, adams_bashforth_uncontrolled_t< STATE_DIM, STEPS > >

template<int STATE_DIM>
using	ocs2::IntegratorBulirschStoer = Integrator< STATE_DIM, bulirsch_stoer_t< STATE_DIM > >

template<int STATE_DIM>
using	ocs2::euler_t = boost::numeric::odeint::euler< Eigen::Matrix< double, STATE_DIM, 1 >, double, Eigen::Matrix< double, STATE_DIM, 1 >, double, boost::numeric::odeint::vector_space_algebra >

template<int STATE_DIM>
using	ocs2::modified_midpoint_t = boost::numeric::odeint::modified_midpoint< Eigen::Matrix< double, STATE_DIM, 1 >, double, Eigen::Matrix< double, STATE_DIM, 1 >, double, boost::numeric::odeint::vector_space_algebra >

template<int STATE_DIM>
using	ocs2::runge_kutta_4_t = boost::numeric::odeint::runge_kutta4< Eigen::Matrix< double, STATE_DIM, 1 >, double, Eigen::Matrix< double, STATE_DIM, 1 >, double, boost::numeric::odeint::vector_space_algebra >

template<int STATE_DIM>
using	ocs2::runge_kutta_dopri5_t = boost::numeric::odeint::runge_kutta_dopri5< Eigen::Matrix< double, STATE_DIM, 1 >, double, Eigen::Matrix< double, STATE_DIM, 1 >, double, boost::numeric::odeint::vector_space_algebra >

template<int STATE_DIM>
using	ocs2::dense_runge_kutta5_t = boost::numeric::odeint::dense_output_runge_kutta< boost::numeric::odeint::controlled_runge_kutta< runge_kutta_dopri5_t< STATE_DIM > > >

template<int STATE_DIM>
using	ocs2::bulirsch_stoer_t = boost::numeric::odeint::bulirsch_stoer< Eigen::Matrix< double, STATE_DIM, 1 >, double, Eigen::Matrix< double, STATE_DIM, 1 >, double, boost::numeric::odeint::vector_space_algebra >

template<int STATE_DIM, size_t STEPS>
using	ocs2::adams_bashforth_uncontrolled_t = boost::numeric::odeint::adams_bashforth< STEPS, Eigen::Matrix< double, STATE_DIM, 1 >, double, Eigen::Matrix< double, STATE_DIM, 1 >, double, boost::numeric::odeint::vector_space_algebra >

template<size_t FULL_STATE_DIM, size_t FULL_INPUT_DIM, size_t SYSTEM_STATE_DIM, size_t SYSTEM_INPUT_DIM, size_t FILTER_STATE_DIM, size_t FILTER_INPUT_DIM, class LOGIC_RULES_T = NullLogicRules>
using	ocs2::LoopshapingDynamicsEliminatePattern = LoopshapingDynamicsInputPattern< FULL_STATE_DIM, FULL_INPUT_DIM, SYSTEM_STATE_DIM, SYSTEM_INPUT_DIM, FILTER_STATE_DIM, FILTER_INPUT_DIM, LOGIC_RULES_T >

template<typename Data_T >
using	ocs2::EigenLinearInterpolation = LinearInterpolation< Data_T, Eigen::aligned_allocator< Data_T > >

Enumerations
enum	ocs2::ControllerType { ocs2::ControllerType::UNKNOWN, ocs2::ControllerType::FEEDFORWARD, ocs2::ControllerType::LINEAR, ocs2::ControllerType::PATH_INTEGRAL }

enum	ocs2::IntegratorType { ocs2::IntegratorType::EULER, ocs2::IntegratorType::MODIFIED_MIDPOINT, ocs2::IntegratorType::RK4, ocs2::IntegratorType::RK5_VARIABLE, ocs2::IntegratorType::ODE45, ocs2::IntegratorType::ADAMS_BASHFORTH, ocs2::IntegratorType::BULIRSCH_STOER, 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 }

Functions
template<size_t STATE_DIM, size_t INPUT_DIM>
void	ocs2::swap (FeedforwardController< STATE_DIM, INPUT_DIM > &a, FeedforwardController< STATE_DIM, INPUT_DIM > &b)

template<size_t STATE_DIM, size_t INPUT_DIM>
void	ocs2::swap (LinearController< STATE_DIM, INPUT_DIM > &a, LinearController< STATE_DIM, INPUT_DIM > &b)

template<size_t STATE_DIM, size_t INPUT_DIM>
void	ocs2::swap (PiController< STATE_DIM, INPUT_DIM > &a, PiController< STATE_DIM, INPUT_DIM > &b)

void	ocs2::padeApproximation (double timeDelay, Eigen::VectorXd &numCoefficients, Eigen::VectorXd &denCoefficients, size_t numZeros, size_t numPoles)

Eigen::VectorXd	ocs2::multiplyPolynomials (const Eigen::VectorXd &p_lhs, const Eigen::VectorXd &p_rhs)

void	ocs2::tf2ss (Eigen::VectorXd numCoefficients, Eigen::VectorXd denCoefficients, Eigen::MatrixXd &A, Eigen::MatrixXd &B, Eigen::MatrixXd &C, Eigen::MatrixXd &D, double timeDelay=0.0, bool balance=true)

std::string	ocs2::toString (IntegratorType integratorType)

template<typename scalar_t , typename alloc_t = std::allocator<scalar_t>>
int	ocs2::findActiveIntervalIndex (const std::vector< scalar_t, alloc_t > &timeIntervals, const scalar_t &enquiryTime, const int &guessedIndex, scalar_t epsilon=OCS2NumericTraits< scalar_t >::weakEpsilon())

template<typename scalar_t , typename alloc_t = std::allocator<scalar_t>>
int	ocs2::findActiveIntervalIndex (const std::vector< scalar_t, alloc_t > &timeIntervals, const scalar_t &enquiryTime, scalar_t epsilon=OCS2NumericTraits< scalar_t >::weakEpsilon())

template<typename scalar_t >
void	ocs2::loadScalar (const std::string &filename, const std::string &scalarName, scalar_t &value)

template<typename Derived >
void	ocs2::loadEigenMatrix (const std::string &filename, const std::string &matrixName, Eigen::MatrixBase< Derived > &matrix)

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

	ocs2::CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >::CppAdCodeGenInterface (const ad_funtion_t &adFunction, const range_domain_matrix_t &sparsityPattern)

	ocs2::CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >::CppAdCodeGenInterface (int domainDim, int rangeDim, int variableDim, const ad_funtion_t &adFunction, const range_domain_matrix_t &sparsityPattern)

	ocs2::CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >::CppAdCodeGenInterface (const CppAdCodeGenInterface &rhs)

CppAdCodeGenInterface *	ocs2::CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >::clone () const override

void	ocs2::CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >::computeForwardModel (bool computeForwardModel) override

void	ocs2::CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >::computeJacobianModel (bool computeJacobianModel) override

void	ocs2::CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >::computeHessianModel (bool computeHessianModel) override

void	ocs2::CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >::createModels (const std::string &modelName, const std::string &libraryFolder="", const bool verbose=true, bool cgJIT=true) override

void	ocs2::CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >::createModels (const int &domainDim, const int &rangeDim, const std::string &modelName, const std::string &libraryFolder="", bool verbose=true, bool cgJIT=true) override

bool	ocs2::CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >::loadModels (const std::string &modelName, const std::string &libraryFolder="", bool verbose=true) override

void	ocs2::CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >::getSparsityPattern (range_domain_matrix_t &sparsityPattern) const override

bool	ocs2::CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >::getFunctionValue (const domain_vector_t &x, range_vector_t &funcValue) override

bool	ocs2::CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >::getJacobian (const domain_vector_t &x, domain_range_matrix_t &jacobian) override

bool	ocs2::CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >::getHessian (const domain_vector_t &x, variable_matrix_t &hessian, size_t outputIndex=0) override

	ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T >::ConstraintBaseAD (const bool &dynamicLibraryIsCompiled=false)

	ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T >::ConstraintBaseAD (const ConstraintBaseAD &rhs)

virtual BASE *	ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T >::clone () const final

void	ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T >::createModels (const std::string &modelName, const std::string &libraryFolder)

void	ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T >::loadModels (const std::string &modelName, const std::string &libraryFolder)

const bool &	ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T >::isDynamicLibraryCompiled () const

std::string	ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T >::getModelName () const

virtual void	ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T >::setCurrentStateAndControl (const scalar_t &t, const state_vector_t &x, const input_vector_t &u) final

virtual void	ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T >::getConstraint1 (constraint1_vector_t &e) final

virtual void	ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T >::getConstraint2 (constraint2_vector_t &h) final

virtual void	ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T >::getFinalConstraint2 (constraint2_vector_t &h_f) final

virtual void	ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T >::getConstraint1DerivativesState (constraint1_state_matrix_t &C) final

virtual void	ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T >::getConstraint1DerivativesControl (constraint1_input_matrix_t &D) final

virtual void	ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T >::getConstraint2DerivativesState (constraint2_state_matrix_t &F) final

virtual void	ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T >::getFinalConstraint2DerivativesState (constraint2_state_matrix_t &F_f) final

void	ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T >::stateInputConstraintAD (const ad_dynamic_vector_t &tapedInput, ad_dynamic_vector_t &g1)

void	ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T >::stateOnlyConstraintAD (const ad_dynamic_vector_t &tapedInput, ad_dynamic_vector_t &g2)

void	ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T >::stateOnlyConstraintFinalAD (const ad_dynamic_vector_t &tapedInput, ad_dynamic_vector_t &g2Final)

void	ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T >::setADInterfaces ()

void	ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T >::createModels (bool verbose)

bool	ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T >::loadModels (bool verbose)

void	ocs2::PenaltyBase< STATE_DIM, INPUT_DIM >::getPenaltyCost (const scalar_array_t &h, scalar_t &penalty) const

void	ocs2::PenaltyBase< STATE_DIM, INPUT_DIM >::getPenaltyCostDerivativeState (const scalar_array_t &h, const state_vector_array_t &dhdx, state_vector_t &penaltyDerivativeState) const

void	ocs2::PenaltyBase< STATE_DIM, INPUT_DIM >::getPenaltyCostDerivativeInput (const scalar_array_t &h, const input_vector_array_t &dhdu, input_vector_t &penaltyDerivativeInput) const

void	ocs2::PenaltyBase< STATE_DIM, INPUT_DIM >::getPenaltyCostSecondDerivativeState (const scalar_array_t &h, const state_vector_array_t &dhdx, const state_matrix_array_t &ddhdxdx, state_matrix_t &penaltySecondDerivativeState) const

void	ocs2::PenaltyBase< STATE_DIM, INPUT_DIM >::getPenaltyCostSecondDerivativeInput (const scalar_array_t &h, const input_vector_array_t &dhdu, const input_matrix_array_t &ddhdudu, input_matrix_t &penaltySecondDerivativeInput) const

void	ocs2::PenaltyBase< STATE_DIM, INPUT_DIM >::getPenaltyCostDerivativeInputState (const scalar_array_t &h, const state_vector_array_t &dhdx, const input_vector_array_t &dhdu, const input_state_matrix_array_t &ddhdudx, input_state_matrix_t &penaltyDerivativeInputState) const

void	ocs2::PenaltyBase< STATE_DIM, INPUT_DIM >::getConstraintViolationSquaredNorm (const scalar_array_t &h, scalar_t &squaredViolation) const

virtual void	ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >::setCostDesiredTrajectories (const cost_desired_trajectories_t &costDesiredTrajectories)

virtual void	ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >::getCostDesiredTrajectories (cost_desired_trajectories_t &costDesiredTrajectories) const

	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::CostFunctionBaseAD (const bool &dynamicLibraryIsCompiled=false)

	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::CostFunctionBaseAD (const CostFunctionBaseAD &rhs)

virtual BASE *	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::clone () const final

template<typename SCALAR_T >
void	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::intermediateCostFunction (const SCALAR_T &time, const Eigen::Matrix< SCALAR_T, STATE_DIM, 1 > &state, const Eigen::Matrix< SCALAR_T, INPUT_DIM, 1 > &input, const Eigen::Matrix< SCALAR_T, STATE_DESIRED_DIM, 1 > &stateDesired, const Eigen::Matrix< SCALAR_T, INPUT_DESIRED_DIM, 1 > &inputDesired, const Eigen::Matrix< SCALAR_T, LOGIC_VARIABLE_DIM, 1 > &logicVariable, SCALAR_T &costValue)

template<typename SCALAR_T >
void	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::terminalCostFunction (const SCALAR_T &time, const Eigen::Matrix< SCALAR_T, STATE_DIM, 1 > &state, const Eigen::Matrix< SCALAR_T, STATE_DESIRED_DIM, 1 > &stateDesired, const Eigen::Matrix< SCALAR_T, LOGIC_VARIABLE_DIM, 1 > &logicVariable, SCALAR_T &costValue)

state_desired_vector_t	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::getDesiredState (const scalar_t &t)

input_desired_vector_t	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::getDesiredInput (const scalar_t &t)

logic_variable_t	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::getlogicVariables (LogicRulesMachine< LOGIC_RULES_T > &logicRulesMachine, const size_t &partitionIndex, const char *algorithmName=nullptr)

void	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::createModels (const std::string &modelName, const std::string &libraryFolder)

void	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::loadModels (const std::string &modelName, const std::string &libraryFolder)

const bool &	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::isDynamicLibraryCompiled () const

std::string	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::getModelName () const

void	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::setCurrentStateAndControl (const scalar_t &t, const state_vector_t &x, const input_vector_t &u) final

void	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::initializeModel (LogicRulesMachine< LOGIC_RULES_T > &logicRulesMachine, const size_t &partitionIndex, const char *algorithmName=nullptr) final

template<typename Derived_Matrix >
Derived_Matrix::Scalar &	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::timeVariable (Eigen::MatrixBase< Derived_Matrix > &tapedInput)

template<typename Derived_Matrix >
Eigen::Block< Derived_Matrix, STATE_DIM, 1 >	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::stateVariables (Eigen::MatrixBase< Derived_Matrix > &tapedInput)

template<typename Derived_Matrix >
Eigen::Block< Derived_Matrix, INPUT_DIM, 1 >	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::inputVariables (Eigen::MatrixBase< Derived_Matrix > &tapedInput)

template<typename Derived_Matrix >
Eigen::Block< Derived_Matrix, STATE_DESIRED_DIM, 1 >	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::desiredStateVariables (Eigen::MatrixBase< Derived_Matrix > &tapedInput)

template<typename Derived_Matrix >
Eigen::Block< Derived_Matrix, INPUT_DESIRED_DIM, 1 >	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::desiredInputVariables (Eigen::MatrixBase< Derived_Matrix > &tapedInput)

template<typename Derived_Matrix >
Eigen::Block< Derived_Matrix, LOGIC_VARIABLE_DIM, 1 >	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::logicVariables (Eigen::MatrixBase< Derived_Matrix > &tapedInput)

virtual void	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::getIntermediateCost (scalar_t &L) final

virtual void	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::getIntermediateCostDerivativeTime (scalar_t &dLdt) final

virtual void	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::getIntermediateCostDerivativeState (state_vector_t &dLdx) final

virtual void	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::getIntermediateCostSecondDerivativeState (state_matrix_t &dLdxx) final

virtual void	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::getIntermediateCostDerivativeInput (input_vector_t &dLdu) final

virtual void	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::getIntermediateCostSecondDerivativeInput (input_matrix_t &dLduu) final

virtual void	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::getIntermediateCostDerivativeInputState (input_state_matrix_t &dLdux) final

virtual void	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::getTerminalCost (scalar_t &Phi) final

virtual void	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::getTerminalCostDerivativeTime (scalar_t &dPhidt) final

virtual void	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::getTerminalCostDerivativeState (state_vector_t &dPhidx) final

virtual void	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::getTerminalCostSecondDerivativeState (state_matrix_t &dPhidxx) final

void	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::intermediateCostFunctionAD (const ad_dynamic_vector_t &tapedInput, ad_dynamic_vector_t &costValue)

void	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::terminalCostFunctionAD (const ad_dynamic_vector_t &tapedInput, ad_dynamic_vector_t &costValue)

void	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::setADInterfaces ()

void	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::createModels (bool verbose)

bool	ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::loadModels (bool verbose)

	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >::SystemDynamicsBaseAD (const bool &dynamicLibraryIsCompiled=false)

	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >::SystemDynamicsBaseAD (const SystemDynamicsBaseAD &rhs)

virtual BASE *	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >::clone () const final

template<typename SCALAR_T >
void	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >::systemFlowMap (const SCALAR_T &time, const Eigen::Matrix< SCALAR_T, STATE_DIM, 1 > &state, const Eigen::Matrix< SCALAR_T, INPUT_DIM, 1 > &input, Eigen::Matrix< SCALAR_T, STATE_DIM, 1 > &stateDerivative)

template<typename SCALAR_T >
void	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >::systemJumpMap (const SCALAR_T &time, const Eigen::Matrix< SCALAR_T, STATE_DIM, 1 > &state, const Eigen::Matrix< SCALAR_T, INPUT_DIM, 1 > &input, Eigen::Matrix< SCALAR_T, STATE_DIM, 1 > &jumpedState)

template<typename SCALAR_T >
void	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >::systemGuardSurfaces (const SCALAR_T &time, const Eigen::Matrix< SCALAR_T, STATE_DIM, 1 > &state, const Eigen::Matrix< SCALAR_T, INPUT_DIM, 1 > &input, Eigen::Matrix< SCALAR_T, NUM_MODES, 1 > &guardSurfacesValue)

size_t	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >::getNumModes () const

void	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >::createModels (const std::string &modelName, const std::string &libraryFolder)

void	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >::loadModels (const std::string &modelName, const std::string &libraryFolder)

const bool &	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >::isDynamicLibraryCompiled () const

std::string	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >::getModelName () const

virtual void	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >::computeFlowMap (const scalar_t &time, const state_vector_t &state, const input_vector_t &input, state_vector_t &stateDerivative) final

virtual void	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >::computeJumpMap (const scalar_t &time, const state_vector_t &state, state_vector_t &jumpedState) final

virtual void	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >::computeGuardSurfaces (const scalar_t &time, const state_vector_t &state, dynamic_vector_t &guardSurfacesValue) final

virtual void	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >::setCurrentStateAndControl (const scalar_t &time, const state_vector_t &state, const input_vector_t &input) final

virtual void	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >::getFlowMapDerivativeTime (state_vector_t &df) final

virtual void	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >::getFlowMapDerivativeState (state_matrix_t &A) final

virtual void	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >::getFlowMapDerivativeInput (state_input_matrix_t &B) final

virtual void	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >::getJumpMapDerivativeTime (state_vector_t &dg) final

virtual void	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >::getJumpMapDerivativeState (state_matrix_t &G) final

virtual void	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >::getJumpMapDerivativeInput (state_input_matrix_t &H) final

virtual void	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >::getGuardSurfacesDerivativeTime (dynamic_vector_t &D_t_gamma) final

virtual void	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >::getGuardSurfacesDerivativeState (dynamic_state_matrix_t &D_x_gamma) final

virtual void	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >::getGuardSurfacesDerivativeInput (dynamic_input_matrix_t &D_u_gamma) final

void	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >::systemFlowMapAD (const ad_dynamic_vector_t &tapedInput, ad_dynamic_vector_t &f)

void	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >::systemJumpMapAD (const ad_dynamic_vector_t &tapedInput, ad_dynamic_vector_t &g)

void	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >::systemGuardSurfacesAD (const ad_dynamic_vector_t &tapedInput, ad_dynamic_vector_t &gamma)

void	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >::setADInterfaces ()

void	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >::createModels (bool verbose)

bool	ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >::loadModels (bool verbose)

	ocs2::Integrator< STATE_DIM, Stepper >::Integrator (const std::shared_ptr< OdeBase< STATE_DIM > > &systemPtr, const std::shared_ptr< SystemEventHandler< STATE_DIM > > &eventHandlerPtr=nullptr)

void	ocs2::Integrator< STATE_DIM, Stepper >::integrate (const state_vector_t &initialState, const scalar_t &startTime, const scalar_t &finalTime, scalar_t dt, state_vector_array_t &stateTrajectory, scalar_array_t &timeTrajectory, bool concatOutput=false) final

void	ocs2::Integrator< STATE_DIM, Stepper >::integrate (const state_vector_t &initialState, const scalar_t &startTime, const scalar_t &finalTime, state_vector_array_t &stateTrajectory, scalar_array_t &timeTrajectory, scalar_t dtInitial=0.01, scalar_t AbsTol=1e-6, scalar_t RelTol=1e-3, int maxNumSteps=std::numeric_limits< int >::max(), bool concatOutput=false) final

void	ocs2::Integrator< STATE_DIM, Stepper >::integrate (const state_vector_t &initialState, typename scalar_array_t::const_iterator beginTimeItr, typename scalar_array_t::const_iterator endTimeItr, state_vector_array_t &stateTrajectory, scalar_t dtInitial=0.01, scalar_t AbsTol=1e-9, scalar_t RelTol=1e-6, int maxNumSteps=std::numeric_limits< int >::max(), bool concatOutput=false) final

void	ocs2::Integrator< STATE_DIM, Stepper >::setupSystem ()

void	ocs2::Integrator< STATE_DIM, Stepper >::initialize (state_vector_t &initialState, scalar_t &t, scalar_t dt)

template<typename S >
std::enable_if< std::is_same< S, runge_kutta_dopri5_t< STATE_DIM > >::value, void >::type	ocs2::Integrator< STATE_DIM, Stepper >::integrate_adaptive_specialized (state_vector_t &initialState, const scalar_t &startTime, const 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< STATE_DIM > >::value, void >::type	ocs2::Integrator< STATE_DIM, Stepper >::integrate_times_specialized (state_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< STATE_DIM > >::value, void >::type	ocs2::Integrator< STATE_DIM, Stepper >::initializeStepper (state_vector_t &initialState, scalar_t &t, scalar_t dt)

void	ocs2::HybridLogicRulesMachine< LOGIC_RULES_T >::setupLogicMachine (const scalar_array_t &partitioningTimes, const scalar_t &initTime, const size_t &initActivePartition, const size_t &initSubsystemID)

void	ocs2::HybridLogicRulesMachine< LOGIC_RULES_T >::initLogicMachine (const size_t &partitionIndex)

void	ocs2::HybridLogicRulesMachine< LOGIC_RULES_T >::pushBack (const size_t &partitionIndex, const scalar_t &eventTime, const size_t &subsystemID)

void	ocs2::HybridLogicRulesMachine< LOGIC_RULES_T >::display () const override

void	ocs2::LogicRulesMachine< LOGIC_RULES_T >::setLogicRules (const LOGIC_RULES_T &logicRules)

void	ocs2::LogicRulesMachine< LOGIC_RULES_T >::logicRulesUpdated ()

LOGIC_RULES_T *	ocs2::LogicRulesMachine< LOGIC_RULES_T >::getLogicRulesPtr ()

const LOGIC_RULES_T *	ocs2::LogicRulesMachine< LOGIC_RULES_T >::getLogicRulesPtr () const

const scalar_array_t &	ocs2::LogicRulesMachine< LOGIC_RULES_T >::getEventTimes (size_t partitionIndex) const

const size_array_t &	ocs2::LogicRulesMachine< LOGIC_RULES_T >::getEventCounters (size_t partitionIndex) const

const scalar_array_t &	ocs2::LogicRulesMachine< LOGIC_RULES_T >::getSwitchingTimes (size_t index) const

const scalar_array_t &	ocs2::LogicRulesMachine< LOGIC_RULES_T >::getPartitioningTimes () const

std::function< size_t(scalar_t)>	ocs2::LogicRulesMachine< LOGIC_RULES_T >::getHandleToFindActiveEventCounter (size_t partitionIndex) const

size_t	ocs2::LogicRulesMachine< LOGIC_RULES_T >::getNumEventCounters (size_t partitionIndex) const

size_t	ocs2::LogicRulesMachine< LOGIC_RULES_T >::getNumEvents (size_t partitionIndex) const

const size_t &	ocs2::LogicRulesMachine< LOGIC_RULES_T >::getNumPartitions () const

virtual bool	ocs2::LogicRulesMachine< LOGIC_RULES_T >::updateLogicRules (const scalar_array_t &partitioningTimes)

void	ocs2::LogicRulesMachine< LOGIC_RULES_T >::findEventsDistribution (const scalar_array_t &partitioningTimes, std::vector< scalar_array_t > &eventTimesStock, std::vector< scalar_array_t > &switchingTimesStock, std::vector< size_array_t > &eventCountersStock)

virtual void	ocs2::LogicRulesMachine< LOGIC_RULES_T >::display () const

void	ocs2::TrajectorySpreadingController< STATE_DIM, INPUT_DIM >::findsIndicesEventTimes (const scalar_array_t &eventTimes, const controller_array_t &controllersStock, std::vector< index_t > &eventsIndices) const

bool	ocs2::TrajectorySpreadingController< STATE_DIM, INPUT_DIM >::smallerEqualIndexFunc (const index_t &a, const index_t &b) const

void	ocs2::TrajectorySpreadingController< STATE_DIM, INPUT_DIM >::adjustController (const scalar_array_t &eventTimes, const scalar_array_t &controllerEventTimes, controller_array_t &controllersStock)

void	ocs2::TrajectorySpreadingController< STATE_DIM, INPUT_DIM >::spreadController (const scalar_t &eventTime, const index_t &eventTimeIndex, const index_t &controlerEventTimeIndex, controller_array_t &controllersStock) const

Variables
static bool	ocs2::SystemEventHandler< STATE_DIM >::killIntegration_ = false

Typedef Documentation

◆ adams_bashforth_uncontrolled_t

template<int STATE_DIM, size_t STEPS>

using ocs2::adams_bashforth_uncontrolled_t = typedef boost::numeric::odeint::adams_bashforth< STEPS, Eigen::Matrix<double, STATE_DIM, 1>, double, Eigen::Matrix<double, STATE_DIM, 1>, double, boost::numeric::odeint::vector_space_algebra>

Adams_Bashforth stepper

◆ bulirsch_stoer_t

template<int STATE_DIM>

using ocs2::bulirsch_stoer_t = typedef boost::numeric::odeint::bulirsch_stoer < Eigen::Matrix<double, STATE_DIM, 1>, double, Eigen::Matrix<double, STATE_DIM, 1>, double, boost::numeric::odeint::vector_space_algebra>

Bulirsch_Stoer stepper

◆ dense_runge_kutta5_t

template<int STATE_DIM>

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

Dense_output Runge_Kutta stepper

◆ EigenLinearInterpolation

template<typename Data_T >

using ocs2::EigenLinearInterpolation = typedef LinearInterpolation<Data_T, Eigen::aligned_allocator<Data_T> >

◆ euler_t

template<int STATE_DIM>

using ocs2::euler_t = typedef boost::numeric::odeint::euler< Eigen::Matrix<double, STATE_DIM, 1>, double, Eigen::Matrix<double, STATE_DIM, 1>, double, boost::numeric::odeint::vector_space_algebra >

Euler stepper

◆ IntegratorAdamsBashforth

template<int STATE_DIM, size_t STEPS>

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

Adams-Bashforth integrator.

◆ IntegratorBulirschStoer

template<int STATE_DIM>

using ocs2::IntegratorBulirschStoer = typedef Integrator < STATE_DIM, bulirsch_stoer_t<STATE_DIM> >

Bulirsch-Stoer integrator.

◆ IntegratorEuler

template<int STATE_DIM>

using ocs2::IntegratorEuler = typedef Integrator<STATE_DIM, euler_t<STATE_DIM> >

Euler integrator.

◆ IntegratorModifiedMidpoint

template<int STATE_DIM>

using ocs2::IntegratorModifiedMidpoint = typedef Integrator<STATE_DIM, modified_midpoint_t<STATE_DIM> >

Modified midpoint integrator.

◆ IntegratorRK4

template<int STATE_DIM>

using ocs2::IntegratorRK4 = typedef Integrator<STATE_DIM, runge_kutta_4_t<STATE_DIM> >

RK4 integrator.

◆ IntegratorRK5Variable

template<int STATE_DIM>

using ocs2::IntegratorRK5Variable = typedef Integrator<STATE_DIM, dense_runge_kutta5_t<STATE_DIM> >

RK5 variable integrator.

◆ LoopshapingDynamicsEliminatePattern

template<size_t FULL_STATE_DIM, size_t FULL_INPUT_DIM, size_t SYSTEM_STATE_DIM, size_t SYSTEM_INPUT_DIM, size_t FILTER_STATE_DIM, size_t FILTER_INPUT_DIM, class LOGIC_RULES_T = NullLogicRules>

using ocs2::LoopshapingDynamicsEliminatePattern = typedef LoopshapingDynamicsInputPattern<FULL_STATE_DIM, FULL_INPUT_DIM, SYSTEM_STATE_DIM, SYSTEM_INPUT_DIM, FILTER_STATE_DIM, FILTER_INPUT_DIM, LOGIC_RULES_T>

◆ modified_midpoint_t

template<int STATE_DIM>

using ocs2::modified_midpoint_t = typedef boost::numeric::odeint::modified_midpoint< Eigen::Matrix<double, STATE_DIM, 1>, double, Eigen::Matrix<double, STATE_DIM, 1>, double, boost::numeric::odeint::vector_space_algebra >

Modified_Midpoint stepper

◆ ODE45

template<int STATE_DIM>

using ocs2::ODE45 = typedef Integrator<STATE_DIM, runge_kutta_dopri5_t<STATE_DIM> >

ode45 integrator.

◆ runge_kutta_4_t

template<int STATE_DIM>

using ocs2::runge_kutta_4_t = typedef boost::numeric::odeint::runge_kutta4< Eigen::Matrix<double, STATE_DIM, 1>, double, Eigen::Matrix<double, STATE_DIM, 1>, double, boost::numeric::odeint::vector_space_algebra >

4th order Runge_Kutta stepper

◆ runge_kutta_dopri5_t

template<int STATE_DIM>

using ocs2::runge_kutta_dopri5_t = typedef boost::numeric::odeint::runge_kutta_dopri5 < Eigen::Matrix<double, STATE_DIM, 1>, double, Eigen::Matrix<double, STATE_DIM, 1>, double, boost::numeric::odeint::vector_space_algebra>

5th order Runge_Kutta_Dopri stepper

Enumeration Type Documentation

◆ ControllerType

enum ocs2::ControllerType

strong

Enum class for specifying controller type

Enumerator
UNKNOWN
FEEDFORWARD
LINEAR
PATH_INTEGRAL

◆ IntegratorType

enum ocs2::IntegratorType

strong

The IntegratorType enum Enum used in selecting a specific integrator.

Enumerator
EULER
MODIFIED_MIDPOINT
RK4
RK5_VARIABLE
ODE45
ADAMS_BASHFORTH
BULIRSCH_STOER
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

◆ adjustController()

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::TrajectorySpreadingController< STATE_DIM, INPUT_DIM >::adjustController	(	const scalar_array_t &	eventTimes,
		const scalar_array_t &	controllerEventTimes,
		controller_array_t &	controllersStock
	)

Adjust the controller based on the last changes in the logic rules.

Parameters

[in]	eventTimes	The new event times.
[in]	controllerEventTimes	The control policy stock's event times.
	controllerStock	The controller stock which will be modified.

◆ clone() [1/4]

template<int DOMAIN_DIM, int RANGE_DIM, typename SCALAR_T , int VARIABLE_DIM>

CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM > * ocs2::CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >::clone ( ) const

overridevirtual

Implements ocs2::AutomaticDifferentiationBase< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >.

◆ clone() [2/4]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t >

ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t >::BASE * ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t >::clone ( ) const

finalvirtual

Returns pointer to the base class.

Returns: A raw pointer to the class.

Reimplemented from ocs2::ConstraintBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >.

◆ clone() [3/4]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t , size_t NUM_MODES>

SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::BASE * ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::clone ( ) const

finalvirtual

Returns pointer to the base class.

Returns: A raw pointer to the class.

Implements ocs2::SystemDynamicsBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >.

◆ clone() [4/4]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::BASE * ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::clone ( ) const

finalvirtual

Returns pointer to the base class.

Returns: A raw pointer to the class.

Implements ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >.

◆ computeFlowMap()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t , size_t NUM_MODES>

void ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::computeFlowMap	(	const scalar_t &	time,
		const state_vector_t &	state,
		const input_vector_t &	input,
		state_vector_t &	stateDerivative
	)

finalvirtual

Interface method to the state flow map of the hybrid system.

Parameters

[in]	time	time.
[in]	state	state vector.
[in]	input	input vector
[out]	stateDerivative	state vector time derivative.

Implements ocs2::SystemDynamicsBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >.

◆ computeForwardModel()

template<int DOMAIN_DIM, int RANGE_DIM, typename SCALAR_T , int VARIABLE_DIM>

void ocs2::CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >::computeForwardModel ( bool computeForwardModel )

overridevirtual

Implements ocs2::AutomaticDifferentiationBase< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >.

◆ computeGuardSurfaces()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t , size_t NUM_MODES>

void ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::computeGuardSurfaces	(	const scalar_t &	time,
		const state_vector_t &	state,
		dynamic_vector_t &	guardSurfacesValue
	)

finalvirtual

Interface method to the guard surfaces.

Parameters

[in]	time	transition time
[in]	state	transition state
[out]	guardSurfacesValue	A vector of guard surfaces values

Reimplemented from ocs2::SystemDynamicsBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >.

◆ computeHessianModel()

template<int DOMAIN_DIM, int RANGE_DIM, typename SCALAR_T , int VARIABLE_DIM>

void ocs2::CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >::computeHessianModel ( bool computeHessianModel )

overridevirtual

Implements ocs2::AutomaticDifferentiationBase< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >.

◆ computeJacobianModel()

template<int DOMAIN_DIM, int RANGE_DIM, typename SCALAR_T , int VARIABLE_DIM>

void ocs2::CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >::computeJacobianModel ( bool computeJacobianModel )

overridevirtual

Implements ocs2::AutomaticDifferentiationBase< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >.

◆ computeJumpMap()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t , size_t NUM_MODES>

void ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::computeJumpMap	(	const scalar_t &	time,
		const state_vector_t &	state,
		state_vector_t &	jumpedState
	)

finalvirtual

Interface method to the state jump map of the hybrid system.

Parameters

[in]	time	time.
[in]	state	state vector.
[out]	jumpedState	jumped state.

Reimplemented from ocs2::SystemDynamicsBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >.

◆ ConstraintBaseAD() [1/2]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t >

ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t >::ConstraintBaseAD ( const bool & dynamicLibraryIsCompiled = false )

explicit

Default constructor.

Parameters

[in] dynamicLibraryIsCompiled Whether a library is already complied.

◆ ConstraintBaseAD() [2/2]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t >

ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t >::ConstraintBaseAD ( const ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T > & rhs )

Copy constructor

◆ CostFunctionBaseAD() [1/2]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::CostFunctionBaseAD ( const bool & dynamicLibraryIsCompiled = false )

explicit

Default constructor

Parameters

[in] dynamicLibraryIsCompiled Whether a library is already complied.

◆ CostFunctionBaseAD() [2/2]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::CostFunctionBaseAD ( const CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM > & rhs )

Copy constructor

◆ CppAdCodeGenInterface() [1/3]

template<int DOMAIN_DIM, int RANGE_DIM, typename SCALAR_T , int VARIABLE_DIM>

ocs2::CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >::CppAdCodeGenInterface	(	const ad_funtion_t &	adFunction,
		const range_domain_matrix_t &	sparsityPattern
	)

◆ CppAdCodeGenInterface() [2/3]

template<int DOMAIN_DIM, int RANGE_DIM, typename SCALAR_T , int VARIABLE_DIM>

ocs2::CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >::CppAdCodeGenInterface	(	int	domainDim,
		int	rangeDim,
		int	variableDim,
		const ad_funtion_t &	adFunction,
		const range_domain_matrix_t &	sparsityPattern
	)

◆ CppAdCodeGenInterface() [3/3]

template<int DOMAIN_DIM, int RANGE_DIM, typename SCALAR_T , int VARIABLE_DIM>

ocs2::CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >::CppAdCodeGenInterface ( const CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM > & rhs )

◆ createModels() [1/8]

template<int DOMAIN_DIM, int RANGE_DIM, typename SCALAR_T , int VARIABLE_DIM>

void ocs2::CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >::createModels	(	const std::string &	modelName,
		const std::string &	libraryFolder = `""`,
		const bool	verbose = `true`,
		bool	cgJIT = `true`
	)

overridevirtual

Implements ocs2::AutomaticDifferentiationBase< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >.

◆ createModels() [2/8]

template<int DOMAIN_DIM, int RANGE_DIM, typename SCALAR_T , int VARIABLE_DIM>

void ocs2::CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >::createModels	(	const int &	domainDim,
		const int &	rangeDim,
		const std::string &	modelName,
		const std::string &	libraryFolder = `""`,
		bool	verbose = `true`,
		bool	cgJIT = `true`
	)

overridevirtual

Implements ocs2::AutomaticDifferentiationBase< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >.

◆ createModels() [3/8]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t , size_t NUM_MODES>

void ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::createModels	(	const std::string &	modelName,
		const std::string &	libraryFolder
	)

creates the forward model, the Jacobian model, and the Hessian model.

Parameters

modelName
libraryFolder
verbose

◆ createModels() [4/8]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t >

void ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t >::createModels	(	const std::string &	modelName,
		const std::string &	libraryFolder
	)

creates the forward model, the Jacobian model, and the Hessian model.

Parameters

modelName
libraryFolder
verbose

◆ createModels() [5/8]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

void ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::createModels	(	const std::string &	modelName,
		const std::string &	libraryFolder
	)

creates the forward model, the Jacobian model, and the Hessian model.

Parameters

modelName
libraryFolder
verbose

◆ createModels() [6/8]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t >

void ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t >::createModels ( bool verbose )

protected

Create the forward model, the Jacobian model, and the Hessian model.

Parameters

[in] verbose display information.

◆ createModels() [7/8]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

void ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::createModels ( bool verbose )

protected

Create the forward model, the Jacobian model, and the Hessian model.

Parameters

[in] verbose display information.

◆ createModels() [8/8]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t , size_t NUM_MODES>

void ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::createModels ( bool verbose )

protected

Create the forward model, the Jacobian model, and the Hessian model.

Parameters

[in] verbose display information.

◆ desiredInputVariables()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

template<typename Derived_Matrix >

Eigen::Block< Derived_Matrix, INPUT_DESIRED_DIM, 1 > ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::desiredInputVariables ( Eigen::MatrixBase< Derived_Matrix > & tapedInput )

protected

Returns a pointer to desired input variables.

Parameters

[in] tapedInput The concatenated input of the variables.

Returns: A pointer to the desired input variables.

◆ desiredStateVariables()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

template<typename Derived_Matrix >

Eigen::Block< Derived_Matrix, STATE_DESIRED_DIM, 1 > ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::desiredStateVariables ( Eigen::MatrixBase< Derived_Matrix > & tapedInput )

protected

Returns a pointer to desired state variables.

Parameters

[in] tapedInput The concatenated input of the variables.

Returns: A pointer to the desired state variables.

◆ display() [1/2]

template<class logic_rules_template_t >

void ocs2::HybridLogicRulesMachine< logic_rules_template_t >::display ( ) const

overridevirtual

Displays switched systems distribution over the time partitions.

Reimplemented from ocs2::LogicRulesMachine< LOGIC_RULES_T >.

◆ display() [2/2]

template<class LOGIC_RULES_T >

void ocs2::LogicRulesMachine< LOGIC_RULES_T >::display ( ) const

virtual

Displays switched systems distribution over the time partitions.

Reimplemented in ocs2::HybridLogicRulesMachine< LOGIC_RULES_T >.

◆ findActiveIntervalIndex() [1/2]

template<typename scalar_t , typename alloc_t = std::allocator<scalar_t>>

int ocs2::findActiveIntervalIndex	(	const std::vector< scalar_t, alloc_t > &	timeIntervals,
		const scalar_t &	enquiryTime,
		const int &	guessedIndex,
		scalar_t	epsilon = `OCS2NumericTraits<scalar_t>::weakEpsilon()`
	)

This function finds the interval in the input timeIntervals vector to which the input time belongs to it. For an input timeIntervals vector of size n, we have n-1 intervals indexed from 0 to n-2. If enquiryTime is smaller than timeIntervals.front(), the function returns -1. If enquiryTime is greater than timeIntervals.back() it returns n-1 which is a non-existing interval index. Otherwise enquiryTime is in interval i if: timeIntervals[i] < t <= timeIntervals[i+1]. The equality is in the sense that two values are in the epsilon vicinity. Moreover as an exceptional case, if the time is equal to timeIntervals.begin(), the function returns index 0.

User can utilize the third input argument to incorporate his/her guessed output. The function then uses this guessed index to start searching from. This can potentially increase the speed of the function if the guess is reasonable. Notice that the overloaded function with two input arguments implements such a heuristic for the case that the function is called for an increasing or a decreasing sequence of enquires. However, unlike this function, the overloaded function is not atomic which is potentially problematic in multi-thread settings.

Parameters

[in]	timeIntervals	a non-decreasing time sequence representing the time intervals segmentation points.
[in]	enquiryTime	Enquiry time.
[in]	guessedIndex	User guessed index for increasing efficiency.
[in]	epsilon	Defines epsilon-vicinity equality.

Returns: : The active interval index. The output is an integer from -1 to n-1 where n is the size of the timeIntervals vector.

◆ findActiveIntervalIndex() [2/2]

template<typename scalar_t , typename alloc_t = std::allocator<scalar_t>>

int ocs2::findActiveIntervalIndex	(	const std::vector< scalar_t, alloc_t > &	timeIntervals,
		const scalar_t &	enquiryTime,
		scalar_t	epsilon = `OCS2NumericTraits<scalar_t>::weakEpsilon()`
	)

This function finds the interval in the input timeIntervals vector to which the input time belongs to it. For an input timeIntervals vector of size n, we have n-1 intervals indexed from 0 to n-2. If enquiryTime is smaller than timeIntervals.front(), the function returns -1. If enquiryTime is greater than timeIntervals.back() it returns n-1 which is a non-existing interval index. Otherwise enquiryTime is in interval i if: timeIntervals[i] < t <= timeIntervals[i+1]. The equality is in the sense that two values are in the epsilon vicinity. Moreover as an exceptional case, if the time is equal to timeIntervals.begin(), the function returns index 0.

Note: do not assign this call output directly to unsigned integer, since the function may also return -1.

This method also has an internal memory which remembers the output from the last call. Thus, if the enquires have an increasing or a decreasing trend it finds the solution faster. If you wish to disable this feature, use the overloaded function with three inputs and set the last argument to zero. Moreover, due to this internal memory this function call is not an atomic operation. In this case, it is advised to use the overloaded function.

Parameters

[in]	timeIntervals	a non-decreasing time sequence representing the time intervals segmentation points.
[in]	enquiryTime	Enquiry time.
[in]	epsilon	Defines epsilon-vicinity equality.

Returns: : The active interval index. The output is an integer from -1 to n-1 where n is the size of the timeIntervals vector.

◆ findEventsDistribution()

template<class LOGIC_RULES_T >

void ocs2::LogicRulesMachine< LOGIC_RULES_T >::findEventsDistribution	(	const scalar_array_t &	partitioningTimes,
		std::vector< scalar_array_t > &	eventTimesStock,
		std::vector< scalar_array_t > &	switchingTimesStock,
		std::vector< size_array_t > &	eventCountersStock
	)

Find distribution of the events over the time partitions.

Parameters

[in]	partitioningTimes	Vector of time partitions.
[out]	eventTimesStock	Distribution of the event times over partitions.
[out]	switchingTimesStock	Distribution of the switching times over partitions.
[out]	eventCountersStock	Distribution of the event counter over partitions.

◆ findsIndicesEventTimes()

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::TrajectorySpreadingController< STATE_DIM, INPUT_DIM >::findsIndicesEventTimes	(	const scalar_array_t &	eventTimes,
		const controller_array_t &	controllersStock,
		std::vector< index_t > &	eventsIndices
	)		const

protected

Finds the indices of a event times vector.

Parameters

eventTimes	Event time vector.
controllersStock	Control policy.
eventsIndices	event time indices over the control policy time stamp.

◆ getConstraint1()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t >

void ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t >::getConstraint1 ( constraint1_vector_t & e )

finalvirtual

Computes the state-input equality constraints.

Parameters

[out] e The state-input equality constraints value.

Reimplemented from ocs2::ConstraintBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >.

◆ getConstraint1DerivativesControl()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t >

void ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t >::getConstraint1DerivativesControl ( constraint1_input_matrix_t & D )

finalvirtual

The D matrix at a given operating point for the linearized state-input constraints, $C(t) \delta x + D(t) \delta u + e(t) = 0$ .

Parameters

[out] D matrix.

Reimplemented from ocs2::ConstraintBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >.

◆ getConstraint1DerivativesState()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t >

void ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t >::getConstraint1DerivativesState ( constraint1_state_matrix_t & C )

finalvirtual

The C matrix at a given operating point for the linearized state-input constraints, $C(t) \delta x + D(t) \delta u + e(t) = 0$ .

Parameters

[out] C matrix.

Reimplemented from ocs2::ConstraintBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >.

◆ getConstraint2()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t >

void ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t >::getConstraint2 ( constraint2_vector_t & h )

finalvirtual

Compute the state-only equality constraints.

Parameters

[out] h The state-only equality constraints value.

Reimplemented from ocs2::ConstraintBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >.

◆ getConstraint2DerivativesState()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t >

void ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t >::getConstraint2DerivativesState ( constraint2_state_matrix_t & F )

finalvirtual

The F matrix at a given operating point for the linearized state-only constraints, $F(t) \delta x + h(t) = 0$ .

Parameters

[out] F matrix.

Reimplemented from ocs2::ConstraintBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >.

◆ getConstraintViolationSquaredNorm()

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::PenaltyBase< STATE_DIM, INPUT_DIM >::getConstraintViolationSquaredNorm	(	const scalar_array_t &	h,
		scalar_t &	squaredViolation
	)		const

Computes the sum of squared constraint violation.

Parameters

[in]	h	Vector of inequality constraint values.
[out]	squaredViolation	sum of squared constraint violation.

◆ getCostDesiredTrajectories()

template<size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t >

void ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM, logic_rules_template_t >::getCostDesiredTrajectories ( cost_desired_trajectories_t & costDesiredTrajectories ) const

virtual

Gets the desired state and input trajectories used in the cost function.

Parameters

[in] CostDesiredTrajectories cost desired trajectories interface class.

◆ getDesiredInput()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::input_desired_vector_t ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::getDesiredInput ( const scalar_t & t )

Gets a user-defined desired input at the give time.

Parameters

[in] t Current time.

Returns: The desired input at the give time.

◆ getDesiredState()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::state_desired_vector_t ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::getDesiredState ( const scalar_t & t )

Gets a user-defined desired state at the give time.

Parameters

[in] t Current time.

Returns: The desired state at the give time.

◆ getEventCounters()

template<class LOGIC_RULES_T >

const LogicRulesMachine< LOGIC_RULES_T >::size_array_t & ocs2::LogicRulesMachine< LOGIC_RULES_T >::getEventCounters ( size_t partitionIndex ) const

Gets the event counters associated to the partition number index.

Parameters

[in] partitionIndex index of the time partition

Returns

◆ getEventTimes()

template<class LOGIC_RULES_T >

const LogicRulesMachine< LOGIC_RULES_T >::scalar_array_t & ocs2::LogicRulesMachine< LOGIC_RULES_T >::getEventTimes ( size_t partitionIndex ) const

Gets the event times associated to the partition number index.

Parameters

[in] partitionIndex index of the time partition.

Returns

◆ getFinalConstraint2()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t >

void ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t >::getFinalConstraint2 ( constraint2_vector_t & h_f )

finalvirtual

Compute the final state-only equality constraints.

Parameters

[out] h_f The final state-only equality constraints value.

Reimplemented from ocs2::ConstraintBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >.

◆ getFinalConstraint2DerivativesState()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t >

void ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t >::getFinalConstraint2DerivativesState ( constraint2_state_matrix_t & F_f )

finalvirtual

The F matrix at a given operating point for the linearized terminal state-only constraints, $F_f(t) \delta x + h_f(t) = 0$ .

Parameters

[out] F_f matrix.

Reimplemented from ocs2::ConstraintBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >.

◆ getFlowMapDerivativeInput()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t , size_t NUM_MODES>

void ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::getFlowMapDerivativeInput ( state_input_matrix_t & B )

finalvirtual

The B matrix at a given operating point for the linearized system flow map. $dx/dt = A(t) \delta x + B(t) \delta u$ .

Parameters

[out] B matrix.

Implements ocs2::SystemDynamicsBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >.

◆ getFlowMapDerivativeState()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t , size_t NUM_MODES>

void ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::getFlowMapDerivativeState ( state_matrix_t & A )

finalvirtual

The A matrix at a given operating point for the linearized system flow map. $dx/dt = A(t) \delta x + B(t) \delta u$ .

Parameters

[out] A matrix.

Implements ocs2::SystemDynamicsBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >.

◆ getFlowMapDerivativeTime()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t , size_t NUM_MODES>

void ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::getFlowMapDerivativeTime ( state_vector_t & df )

finalvirtual

Partial time derivative of the system flow map. $\frac{\partial f}{\partial t}$ .

Parameters

[out] df $\frac{\partial f}{\partial t}$ matrix.

Reimplemented from ocs2::SystemDynamicsBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >.

◆ getFunctionValue()

template<int DOMAIN_DIM, int RANGE_DIM, typename SCALAR_T , int VARIABLE_DIM>

bool ocs2::CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >::getFunctionValue	(	const domain_vector_t &	x,
		range_vector_t &	funcValue
	)

overridevirtual

Implements ocs2::AutomaticDifferentiationBase< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >.

◆ getGuardSurfacesDerivativeInput()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t , size_t NUM_MODES>

void ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::getGuardSurfacesDerivativeInput ( dynamic_input_matrix_t & D_u_gamma )

finalvirtual

Get at a given operating point the derivative of the guard surfaces w.r.t. input vector.

Parameters

[out] D_u_gamma Derivative of the guard surfaces w.r.t. input vector.

Reimplemented from ocs2::SystemDynamicsBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >.

◆ getGuardSurfacesDerivativeState()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t , size_t NUM_MODES>

void ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::getGuardSurfacesDerivativeState ( dynamic_state_matrix_t & D_x_gamma )

finalvirtual

Get at a given operating point the derivative of the guard surfaces w.r.t. input vector.

Parameters

[out] D_x_gamma Derivative of the guard surfaces w.r.t. state vector.

Reimplemented from ocs2::SystemDynamicsBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >.

◆ getGuardSurfacesDerivativeTime()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t , size_t NUM_MODES>

void ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::getGuardSurfacesDerivativeTime ( dynamic_vector_t & D_t_gamma )

finalvirtual

Get at a given operating point the derivative of the guard surfaces w.r.t. input vector.

Parameters

[out] D_t_gamma Derivative of the guard surfaces w.r.t. time.

Reimplemented from ocs2::SystemDynamicsBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >.

◆ getHandleToFindActiveEventCounter()

template<class LOGIC_RULES_T >

std::function< size_t(typename LogicRulesMachine< LOGIC_RULES_T >::scalar_t)> ocs2::LogicRulesMachine< LOGIC_RULES_T >::getHandleToFindActiveEventCounter ( size_t partitionIndex ) const

Returns a Lambda expression which can be used to find the current active event counter.

Parameters

partitionIndex index of the time partition

Returns: Lambda expression

◆ getHessian()

template<int DOMAIN_DIM, int RANGE_DIM, typename SCALAR_T , int VARIABLE_DIM>

bool ocs2::CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >::getHessian	(	const domain_vector_t &	x,
		variable_matrix_t &	hessian,
		size_t	outputIndex = `0`
	)

overridevirtual

Implements ocs2::AutomaticDifferentiationBase< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >.

◆ getIntermediateCost()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

void ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::getIntermediateCost ( scalar_t & L )

finalvirtual

Get the intermediate cost.

Parameters

[out] L The intermediate cost value.

Implements ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >.

◆ getIntermediateCostDerivativeInput()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

void ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::getIntermediateCostDerivativeInput ( input_vector_t & dLdu )

finalvirtual

Get control input derivative of the intermediate cost.

Parameters

[out] dLdu First order derivative of the intermediate cost with respect to input vector.

Implements ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >.

◆ getIntermediateCostDerivativeInputState()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

void ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::getIntermediateCostDerivativeInputState ( input_state_matrix_t & dLdux )

finalvirtual

Get the input-state derivative of the intermediate cost.

Parameters

[out] dLdux Second order derivative of the intermediate cost with respect to input vector and state.

Implements ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >.

◆ getIntermediateCostDerivativeState()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

void ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::getIntermediateCostDerivativeState ( state_vector_t & dLdx )

finalvirtual

Get the state derivative of the intermediate cost.

Parameters

[out] dLdx First order derivative of the intermediate cost with respect to state vector.

Implements ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >.

◆ getIntermediateCostDerivativeTime()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

void ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::getIntermediateCostDerivativeTime ( scalar_t & dLdt )

finalvirtual

Get the time derivative of the intermediate cost.

Parameters

[out] dLdt The time derivative of intermediate cost.

Reimplemented from ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >.

◆ getIntermediateCostSecondDerivativeInput()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

void ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::getIntermediateCostSecondDerivativeInput ( input_matrix_t & dLduu )

finalvirtual

Get control input second derivative of the intermediate cost.

Parameters

[out] dLduu Second order derivative of the intermediate cost with respect to input vector.

Implements ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >.

◆ getIntermediateCostSecondDerivativeState()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

void ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::getIntermediateCostSecondDerivativeState ( state_matrix_t & dLdxx )

finalvirtual

Get state second order derivative of the intermediate cost.

Parameters

[out] dLdxx Second order derivative of the intermediate cost with respect to state vector.

Implements ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >.

◆ getJacobian()

template<int DOMAIN_DIM, int RANGE_DIM, typename SCALAR_T , int VARIABLE_DIM>

bool ocs2::CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >::getJacobian	(	const domain_vector_t &	x,
		domain_range_matrix_t &	jacobian
	)

overridevirtual

Implements ocs2::AutomaticDifferentiationBase< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >.

◆ getJumpMapDerivativeInput()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t , size_t NUM_MODES>

void ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::getJumpMapDerivativeInput ( state_input_matrix_t & H )

finalvirtual

The H matrix at a given operating point for the linearized system jump map. $x^+ = G \delta x + H \delta u$ .

Parameters

[out] H matrix.

Reimplemented from ocs2::SystemDynamicsBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >.

◆ getJumpMapDerivativeState()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t , size_t NUM_MODES>

void ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::getJumpMapDerivativeState ( state_matrix_t & G )

finalvirtual

The G matrix at a given operating point for the linearized system jump map. $x^+ = G \delta x + H \delta u$ .

Parameters

[out] G matrix.

Reimplemented from ocs2::SystemDynamicsBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >.

◆ getJumpMapDerivativeTime()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t , size_t NUM_MODES>

void ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::getJumpMapDerivativeTime ( state_vector_t & dg )

finalvirtual

Partial time derivative of the system jump map. $\frac{\partial g}{\partial t}$ .

Parameters

[out] dg $\frac{\partial g}{\partial t}$ matrix.

Reimplemented from ocs2::SystemDynamicsBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >.

◆ getLogicRulesPtr() [1/2]

template<class LOGIC_RULES_T >

LOGIC_RULES_T * ocs2::LogicRulesMachine< LOGIC_RULES_T >::getLogicRulesPtr ( )

Get the pointer to the active logic rules class

Returns: pointer to active logic rules class

◆ getLogicRulesPtr() [2/2]

template<class LOGIC_RULES_T >

const LOGIC_RULES_T * ocs2::LogicRulesMachine< LOGIC_RULES_T >::getLogicRulesPtr ( ) const

Get the pointer to the active logic rules class

Returns: pointer to active logic rules class

◆ getlogicVariables()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::logic_variable_t ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::getlogicVariables	(	LogicRulesMachine< LOGIC_RULES_T > &	logicRulesMachine,
		const size_t &	partitionIndex,
		const char *	algorithmName = `nullptr`
	)

Gets a user-defined logic variable based on the given logic rules.

Parameters

[in]	logicRulesMachine	A class which contains and parse the logic rules e.g method findActiveSubsystemHandle returns a Lambda expression which can be used to find the ID of the current active subsystem.
[in]	partitionIndex	index of the time partition.
[in]	algorithmName	The algorithm that class this class (default not defined).

Returns: The the logic variables.

◆ getModelName() [1/3]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t , size_t NUM_MODES>

std::string ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::getModelName ( ) const

Gets model name.

Returns: model name

◆ getModelName() [2/3]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t >

std::string ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t >::getModelName ( ) const

Gets model name.

Returns: model name

◆ getModelName() [3/3]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

std::string ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::getModelName ( ) const

Gets model name.

Returns: model name

◆ getNumEventCounters()

template<class LOGIC_RULES_T >

size_t ocs2::LogicRulesMachine< LOGIC_RULES_T >::getNumEventCounters ( size_t partitionIndex ) const

Returns the number of event counters in the partition.

Parameters

partitionIndex index of the time partition

Returns: Number of event counters.

◆ getNumEvents()

template<class LOGIC_RULES_T >

size_t ocs2::LogicRulesMachine< LOGIC_RULES_T >::getNumEvents ( size_t partitionIndex ) const

Returns the number of event in the partition.

Parameters

partitionIndex index of the time partition

Returns: Number of events

◆ getNumModes()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t , size_t NUM_MODES>

size_t ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::getNumModes ( ) const

Gets the number of the modes in the hybrid system. The minimum is one.

Returns: Number of the modes in the hybrid system.

◆ getNumPartitions()

template<class LOGIC_RULES_T >

const size_t & ocs2::LogicRulesMachine< LOGIC_RULES_T >::getNumPartitions ( ) const

Returns the number of the partitions.

Returns: Number of the partitions.

◆ getPartitioningTimes()

template<class LOGIC_RULES_T >

const LogicRulesMachine< LOGIC_RULES_T >::scalar_array_t & ocs2::LogicRulesMachine< LOGIC_RULES_T >::getPartitioningTimes ( ) const

Gets the partitioning times.

Returns: constant reference to partitioning times.

◆ getPenaltyCost()

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::PenaltyBase< STATE_DIM, INPUT_DIM >::getPenaltyCost	(	const scalar_array_t &	h,
		scalar_t &	penalty
	)		const

Get the penalty cost.

Parameters

[in]	h	Vector of inequality constraint values
[out]	penalty	The penalty cost.

◆ getPenaltyCostDerivativeInput()

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::PenaltyBase< STATE_DIM, INPUT_DIM >::getPenaltyCostDerivativeInput	(	const scalar_array_t &	h,
		const input_vector_array_t &	dhdu,
		input_vector_t &	penaltyDerivativeInput
	)		const

Get the derivative of the penalty cost. Implements the chain rule between the inequality constraint and penalty function.

Parameters

[in]	h	Vector of inequality constraint values.
[in]	dhdu	Vector of inequality constraint derivatives with respect to input vector.
[out]	penaltyDerivativeInput	Derivative of the penalty cost with respect to input vector.

◆ getPenaltyCostDerivativeInputState()

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::PenaltyBase< STATE_DIM, INPUT_DIM >::getPenaltyCostDerivativeInputState	(	const scalar_array_t &	h,
		const state_vector_array_t &	dhdx,
		const input_vector_array_t &	dhdu,
		const input_state_matrix_array_t &	ddhdudx,
		input_state_matrix_t &	penaltyDerivativeInputState
	)		const

Second derivative of penalty cost.

Parameters

[in]	h	Vector of inequality constraint values.
[in]	dhdx	Vector of inequality constraint derivatives with respect to state.
[in]	dhdu	Vector of inequality constraint derivatives with respect to input.
[in]	ddhdudx	Vector of inequality constraint derivatives with respect to input and state.
[out]	penaltyDerivativeInputState	Derivative of the penalty cost with respect to input and state.

◆ getPenaltyCostDerivativeState()

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::PenaltyBase< STATE_DIM, INPUT_DIM >::getPenaltyCostDerivativeState	(	const scalar_array_t &	h,
		const state_vector_array_t &	dhdx,
		state_vector_t &	penaltyDerivativeState
	)		const

Get the derivative of the penalty cost. Implements the chain rule between the inequality constraint and penalty function.

Parameters

[in]	h	Vector of inequality constraint values.
[in]	dhdx	Vector of inequality constraint derivatives with respect to state.
[out]	penaltyDerivativeState	Derivative of the penalty cost with respect to state.

◆ getPenaltyCostSecondDerivativeInput()

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::PenaltyBase< STATE_DIM, INPUT_DIM >::getPenaltyCostSecondDerivativeInput	(	const scalar_array_t &	h,
		const input_vector_array_t &	dhdu,
		const input_matrix_array_t &	ddhdudu,
		input_matrix_t &	penaltySecondDerivativeInput
	)		const

Second derivative of penalty cost.

Parameters

[in]	h	Vector of inequality constraint values.
[in]	dhdu	Vector of inequality constraint derivatives with respect to input.
[in]	ddhdudu	Vector of inequality constraint second derivatives with respect to input.
[out]	penaltySecondDerivativeInput	Second derivative of the penalty cost with respect to input.

◆ getPenaltyCostSecondDerivativeState()

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::PenaltyBase< STATE_DIM, INPUT_DIM >::getPenaltyCostSecondDerivativeState	(	const scalar_array_t &	h,
		const state_vector_array_t &	dhdx,
		const state_matrix_array_t &	ddhdxdx,
		state_matrix_t &	penaltySecondDerivativeState
	)		const

Second derivative of penalty cost.

Parameters

[in]	h	Vector of inequality constraint values.
[in]	dhdx	Vector of inequality constraint derivatives with respect to state.
[in]	ddhdxdx	Vector of inequality constraint second derivatives with respect to state.
[out]	penaltySecondDerivativeState	Second derivative of the penalty cost with respect to state.

◆ getSparsityPattern()

template<int DOMAIN_DIM, int RANGE_DIM, typename SCALAR_T , int VARIABLE_DIM>

void ocs2::CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >::getSparsityPattern ( range_domain_matrix_t & sparsityPattern ) const

overridevirtual

Implements ocs2::AutomaticDifferentiationBase< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >.

◆ getSwitchingTimes()

template<class LOGIC_RULES_T >

const LogicRulesMachine< LOGIC_RULES_T >::scalar_array_t & ocs2::LogicRulesMachine< LOGIC_RULES_T >::getSwitchingTimes ( size_t index ) const

Gets the switching times associated to the partition number index.

Parameters

[in] index index of the time partition

Returns

◆ getTerminalCost()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

void ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::getTerminalCost ( scalar_t & Phi )

finalvirtual

Get the terminal cost.

Parameters

[out] Phi The final cost value.

Implements ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >.

◆ getTerminalCostDerivativeState()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

void ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::getTerminalCostDerivativeState ( state_vector_t & dPhidx )

finalvirtual

Get the terminal cost state derivative.

Parameters

[out] dPhidx First order final cost derivative with respect to state vector.

Implements ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >.

◆ getTerminalCostDerivativeTime()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

void ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::getTerminalCostDerivativeTime ( scalar_t & dPhidt )

finalvirtual

Get the time derivative of terminal cost.

Parameters

[out] dPhidt The time derivative of terminal cost.

Reimplemented from ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >.

◆ getTerminalCostSecondDerivativeState()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

void ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::getTerminalCostSecondDerivativeState ( state_matrix_t & dPhidxx )

finalvirtual

Get the terminal cost state second derivative

Parameters

[out] dPhidxx Second order final cost derivative with respect to state vector.

Implements ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >.

◆ initialize()

template<int STATE_DIM, class Stepper >

void ocs2::Integrator< STATE_DIM, Stepper >::initialize	(	state_vector_t &	initialState,
		scalar_t &	t,
		scalar_t	dt
	)

private

Initializes the integrator.

Parameters

[in]	initialState
[in]	t
[in]	dt

◆ initializeModel()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

void ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::initializeModel	(	LogicRulesMachine< LOGIC_RULES_T > &	logicRulesMachine,
		const size_t &	partitionIndex,
		const char *	algorithmName = `nullptr`
	)

finalvirtual

Initializes the cost function. If LOGIC_RULES_T is not of type NullLogicRules, this method will call user-defined getlogicVariables().

Parameters

[in]	logicRulesMachine	A class which contains and parse the logic rules.
[in]	partitionIndex	index of the time partition.
[in]	algorithmName	The algorithm that class this class (default not defined).

Reimplemented from ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >.

◆ initializeStepper()

template<int STATE_DIM, class Stepper >

template<typename S >

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

private

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.

Returns

do nothing, runge_kutta_5_t does not have a init method

◆ initLogicMachine()

template<class logic_rules_template_t >

void ocs2::HybridLogicRulesMachine< logic_rules_template_t >::initLogicMachine ( const size_t & partitionIndex )

This method should be called for each partition once, before calling push_back method

Parameters

[in] partitionIndex The current active time partition.

◆ inputVariables()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

template<typename Derived_Matrix >

Eigen::Block< Derived_Matrix, INPUT_DIM, 1 > ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::inputVariables ( Eigen::MatrixBase< Derived_Matrix > & tapedInput )

protected

Returns a pointer to the input variables.

Parameters

[in] tapedInput The concatenated input of the variables.

Returns: A pointer to the input variables.

◆ integrate() [1/3]

template<int STATE_DIM, class Stepper >

void ocs2::Integrator< STATE_DIM, Stepper >::integrate	(	const state_vector_t &	initialState,
		const scalar_t &	startTime,
		const scalar_t &	finalTime,
		scalar_t	dt,
		state_vector_array_t &	stateTrajectory,
		scalar_array_t &	timeTrajectory,
		bool	concatOutput = `false`
	)

final

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

Parameters

[in]	initialState	Initial state.
[in]	startTime	Initial time.
[in]	finalTime	Final time.
[in]	dt	Time step.
[out]	stateTrajectory	Output state trajectory.
[out]	timeTrajectory	Output time stamp trajectory.
[in]	concatOutput	Whether to concatenate the output to the input trajectories or override (default).

◆ integrate() [2/3]

template<int STATE_DIM, class Stepper >

void ocs2::Integrator< STATE_DIM, Stepper >::integrate	(	const state_vector_t &	initialState,
		const scalar_t &	startTime,
		const scalar_t &	finalTime,
		state_vector_array_t &	stateTrajectory,
		scalar_array_t &	timeTrajectory,
		scalar_t	dtInitial = `0.01`,
		scalar_t	AbsTol = `1e-6`,
		scalar_t	RelTol = `1e-3`,
		int	maxNumSteps = `std::numeric_limits<int>::max()`,
		bool	concatOutput = `false`
	)

final

Adaptive time integration based on start time and final time. This method can solve ODEs with time-dependent events, if eventsTime is not empty. In this case the output time-trajectory contains two identical values at the moments of event triggers. This method uses OdeBase::computeJumpMap() method for state transition at events.

Parameters

[in]	initialState	Initial state.
[in]	startTime	Initial time.
[in]	finalTime	Final time.
[out]	stateTrajectory	Output state trajectory.
[out]	timeTrajectory	Output 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.
[in]	maxNumSteps	The maximum number of integration points per a second for ode solver.
[in]	concatOutput	Whether to concatenate the output to the input trajectories or override (default).

◆ integrate() [3/3]

template<int STATE_DIM, class Stepper >

void ocs2::Integrator< STATE_DIM, Stepper >::integrate	(	const state_vector_t &	initialState,
		typename scalar_array_t::const_iterator	beginTimeItr,
		typename scalar_array_t::const_iterator	endTimeItr,
		state_vector_array_t &	stateTrajectory,
		scalar_t	dtInitial = `0.01`,
		scalar_t	AbsTol = `1e-9`,
		scalar_t	RelTol = `1e-6`,
		int	maxNumSteps = `std::numeric_limits<int>::max()`,
		bool	concatOutput = `false`
	)

final

Output integration based on a given time trajectory. This method can solve ODEs with time-dependent events. In this case, user should pass past-the-end indices of events on the input time trajectory. Moreover, this method assumes that there are two identical time values in the input time-trajectory at the moments of event triggers. This method uses OdeBase::computeJumpMap() method for state transition at events.

Parameters

[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.
[out]	stateTrajectory	Output state trajectory.
[in]	dtInitial	Initial time step.
[in]	AbsTol	The absolute tolerance error for ode solver.
[in]	RelTol	The relative tolerance error for ode solver.
[in]	maxNumSteps	The maximum number of integration points per a second for ode solver.
[in]	concatOutput	Whether to concatenate the output to the input trajectories or override (default).

◆ integrate_adaptive_specialized()

template<int STATE_DIM, class Stepper >

template<typename S >

std::enable_if<!std::is_same< S, runge_kutta_dopri5_t< STATE_DIM > >::value, void >::type ocs2::Integrator< STATE_DIM, Stepper >::integrate_adaptive_specialized	(	state_vector_t &	initialState,
		const scalar_t &	startTime,
		const scalar_t &	finalTime,
		scalar_t	dtInitial,
		scalar_t	AbsTol,
		scalar_t	RelTol
	)

private

Integrate adaptive specialized.

Template Parameters

S	stepper type.

Parameters

[in]	initialState	Initial state.
[in]	startTime	Initial time.
[in]	finalTime	Final time.
[out]	stateTrajectory	Output state trajectory.
[out]	timeTrajectory	Output 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.

Returns

◆ integrate_times_specialized()

template<int STATE_DIM, class Stepper >

template<typename S >

std::enable_if<!std::is_same< S, runge_kutta_dopri5_t< STATE_DIM > >::value, void >::type ocs2::Integrator< STATE_DIM, Stepper >::integrate_times_specialized	(	state_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
	)

private

Integrate times specialized function

Template Parameters

S	stepper type.

Parameters

[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.
[out]	stateTrajectory	Output state trajectory.
[in]	dtInitial	Initial time step.
[in]	AbsTol	The absolute tolerance error for ode solver.
[in]	RelTol	The relative tolerance error for ode solver.

Returns

◆ Integrator()

template<int STATE_DIM, class Stepper >

ocs2::Integrator< STATE_DIM, Stepper >::Integrator	(	const std::shared_ptr< OdeBase< STATE_DIM > > &	systemPtr,
		const std::shared_ptr< SystemEventHandler< STATE_DIM > > &	eventHandlerPtr = `nullptr`
	)

explicit

Constructor

Parameters

[in]	system	The system dynamics.
[in]	eventHandler	The integration event function.

◆ intermediateCostFunction()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

template<typename SCALAR_T >

void ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::intermediateCostFunction	(	const SCALAR_T &	time,
		const Eigen::Matrix< SCALAR_T, STATE_DIM, 1 > &	state,
		const Eigen::Matrix< SCALAR_T, INPUT_DIM, 1 > &	input,
		const Eigen::Matrix< SCALAR_T, STATE_DESIRED_DIM, 1 > &	stateDesired,
		const Eigen::Matrix< SCALAR_T, INPUT_DESIRED_DIM, 1 > &	inputDesired,
		const Eigen::Matrix< SCALAR_T, LOGIC_VARIABLE_DIM, 1 > &	logicVariable,
		SCALAR_T &	costValue
	)

Interface method to the intermediate cost function. This method should be implemented by the derived class.

Template Parameters

scalar type. All the floating point operations should be with this type.

Parameters

[in]	time	time.
[in]	state	state vector.
[in]	input	input vector.
[in]	stateDesired	desired state vector.
[in]	inputDesired	desired input vector.
[in]	logicVariable	logic variable vector.
[out]	costValue	cost value.

◆ intermediateCostFunctionAD()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

void ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::intermediateCostFunctionAD	(	const ad_dynamic_vector_t &	tapedInput,
		ad_dynamic_vector_t &	costValue
	)

protected

The intermediate cost function specialized with AD type.

Parameters

[in]	tapedInput	concatenated input vector
[out]	costValue	cost value

◆ isDynamicLibraryCompiled() [1/3]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t , size_t NUM_MODES>

const bool & ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::isDynamicLibraryCompiled ( ) const

Whether or not the dynamic library is compiled.

Returns: true if the dynamic library is compiled

◆ isDynamicLibraryCompiled() [2/3]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t >

const bool & ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t >::isDynamicLibraryCompiled ( ) const

Whether or not the dynamic library is compiled.

Returns: true if the dynamic library is compiled

◆ isDynamicLibraryCompiled() [3/3]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

const bool & ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::isDynamicLibraryCompiled ( ) const

Whether or not the dynamic library is compiled.

Returns: true if the dynamic library is compiled

◆ loadEigenMatrix()

template<typename Derived >

void ocs2::loadEigenMatrix	(	const std::string &	filename,
		const std::string &	matrixName,
		Eigen::MatrixBase< Derived > &	matrix
	)

inline

An auxiliary function which loads an Eigen matrix from a file. The file uses property tree data structure with INFO format (refer to www.goo.gl/fV3yWA).

It has the following format:
matrixName
{
scaling 1e+0
(0,0) value ; M(0,0)
(1,0) value ; M(1,0)
(0,1) value ; M(0,1)
(1,1) value ; M(1,1)
}

If a value for a specific element is not defined it will set by default to zero.

Parameters

[in]	filename	File name which contains the configuration data.
[in]	matrixName	The key name assigned to the matrix in the config file.
[out]	matrix	The loaded matrix.

◆ loadModels() [1/7]

template<int DOMAIN_DIM, int RANGE_DIM, typename SCALAR_T , int VARIABLE_DIM>

bool ocs2::CppAdCodeGenInterface< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >::loadModels	(	const std::string &	modelName,
		const std::string &	libraryFolder = `""`,
		bool	verbose = `true`
	)

overridevirtual

Implements ocs2::AutomaticDifferentiationBase< DOMAIN_DIM, RANGE_DIM, SCALAR_T, VARIABLE_DIM >.

◆ loadModels() [2/7]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t , size_t NUM_MODES>

void ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::loadModels	(	const std::string &	modelName,
		const std::string &	libraryFolder
	)

Loads the forward model, the Jacobian model, and the Hessian model.

Parameters

modelName
libraryFolder
verbose

◆ loadModels() [3/7]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t >

void ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t >::loadModels	(	const std::string &	modelName,
		const std::string &	libraryFolder
	)

Loads the forward model, the Jacobian model, and the Hessian model.

Parameters

modelName
libraryFolder
verbose

◆ loadModels() [4/7]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

void ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::loadModels	(	const std::string &	modelName,
		const std::string &	libraryFolder
	)

loads the forward model, the Jacobian model, and the Hessian model.

Parameters

modelName
libraryFolder
verbose

◆ loadModels() [5/7]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t >

bool ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t >::loadModels ( bool verbose )

protected

Loads the forward model, the Jacobian model, and the Hessian model.

Parameters

[in] verbose display information

Returns: true if it successfully loads the library.

◆ loadModels() [6/7]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

bool ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::loadModels ( bool verbose )

protected

Loads the forward model, the Jacobian model, and the Hessian model.

Parameters

[in] verbose display information.

Returns: true if it successfully loads the library.

◆ loadModels() [7/7]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t , size_t NUM_MODES>

bool ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::loadModels ( bool verbose )

protected

Loads the forward model, the Jacobian model, and the Hessian model.

Parameters

[in] verbose display information

Returns: true if it successfully loads the library.

◆ loadScalar()

template<typename scalar_t >

void ocs2::loadScalar	(	const std::string &	filename,
		const std::string &	scalarName,
		scalar_t &	value
	)

inline

An auxiliary function which loads a scalar value from a file. The file uses property tree data structure with INFO format (refer to www.goo.gl/fV3yWA).

Parameters

[in]	filename	File name which contains the configuration data.
[in]	scalarName	The key name assigned to the scalar in the config file.
[out]	value	The loaded value.

◆ logicRulesUpdated()

template<class LOGIC_RULES_T >

void ocs2::LogicRulesMachine< LOGIC_RULES_T >::logicRulesUpdated ( )

This causes that logicMachine updates itself in the next call of the SLQ::run().

◆ logicVariables()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

template<typename Derived_Matrix >

Eigen::Block< Derived_Matrix, LOGIC_VARIABLE_DIM, 1 > ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::logicVariables ( Eigen::MatrixBase< Derived_Matrix > & tapedInput )

protected

Returns a pointer to the logic variables.

Parameters

[in] tapedInput The concatenated input of the variables.

Returns: A pointer to the logic variables.

◆ multiplyPolynomials()

Eigen::VectorXd ocs2::multiplyPolynomials	(	const Eigen::VectorXd &	p_lhs,
		const Eigen::VectorXd &	p_rhs
	)

inline

◆ padeApproximation()

void ocs2::padeApproximation	(	double	timeDelay,
		Eigen::VectorXd &	numCoefficients,
		Eigen::VectorXd &	denCoefficients,
		size_t	numZeros,
		size_t	numPoles
	)

inline

◆ pushBack()

template<class logic_rules_template_t >

void ocs2::HybridLogicRulesMachine< logic_rules_template_t >::pushBack	(	const size_t &	partitionIndex,
		const scalar_t &	eventTime,
		const size_t &	subsystemID
	)

Adds a new event at the end of the current logic rules.

Parameters

[in]	partitionIndex	The current active time partition.
[in]	eventTime	The time of the new event.
[in]	subsystemID	The triggered subsystem

◆ setADInterfaces() [1/3]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t >

void ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t >::setADInterfaces ( )

protected

Sets all the required CppAdCodeGenInterfaces

◆ setADInterfaces() [2/3]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

void ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::setADInterfaces ( )

protected

Sets all the required CppAdCodeGenInterfaces

◆ setADInterfaces() [3/3]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t , size_t NUM_MODES>

void ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::setADInterfaces ( )

protected

Sets all the required CppAdCodeGenInterfaces

◆ setCostDesiredTrajectories()

template<size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t >

void ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM, logic_rules_template_t >::setCostDesiredTrajectories ( const cost_desired_trajectories_t & costDesiredTrajectories )

virtual

Sets the desired state and input trajectories used in the cost function.

Parameters

[in] CostDesiredTrajectories cost desired trajectories interface class.

◆ setCurrentStateAndControl() [1/3]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

void ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::setCurrentStateAndControl	(	const scalar_t &	t,
		const state_vector_t &	x,
		const input_vector_t &	u
	)

finalvirtual

Sets the current time, state, and control input.

Parameters

[in]	t	Current time.
[in]	x	Current state vector.
[in]	u	Current input vector.

Reimplemented from ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >.

◆ setCurrentStateAndControl() [2/3]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t >

void ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t >::setCurrentStateAndControl	(	const scalar_t &	t,
		const state_vector_t &	x,
		const input_vector_t &	u
	)

finalvirtual

Sets the current time, state, and control input.

Parameters

[in]	t	Current time
[in]	x	Current state vector
[in]	u	Current input vector

Reimplemented from ocs2::ConstraintBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T >.

◆ setCurrentStateAndControl() [3/3]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t , size_t NUM_MODES>

void ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::setCurrentStateAndControl	(	const scalar_t &	time,
		const state_vector_t &	state,
		const input_vector_t &	input
	)

finalvirtual

Sets the current time, state, and control input.

Parameters

[in]	time	Current time
[in]	state	Current state vector
[in]	input	Current input vector

Reimplemented from ocs2::SystemDynamicsBase< STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES >.

◆ setLogicRules()

template<class LOGIC_RULES_T >

void ocs2::LogicRulesMachine< LOGIC_RULES_T >::setLogicRules ( const LOGIC_RULES_T & logicRules )

Sets a new logic rules class.

Parameters

[in] logicRules The new logic rules class

◆ 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.

◆ setupLogicMachine()

template<class logic_rules_template_t >

void ocs2::HybridLogicRulesMachine< logic_rules_template_t >::setupLogicMachine	(	const scalar_array_t &	partitioningTimes,
		const scalar_t &	initTime,
		const size_t &	initActivePartition,
		const size_t &	initSubsystemID
	)

Sets up the LogicMachine. This method should be called before building-up the logic machine.

Parameters

[in]	partitioningTimes	The time partition.
[in]	initTime	The initial time.
[in]	initActivePartition	The initial active time partition.
[in]	initSubsystemID	The initial active subsystem's ID.

◆ setupSystem()

template<int STATE_DIM, class Stepper >

void ocs2::Integrator< STATE_DIM, Stepper >::setupSystem ( )

private

Setup System

◆ smallerEqualIndexFunc()

template<size_t STATE_DIM, size_t INPUT_DIM>

bool ocs2::TrajectorySpreadingController< STATE_DIM, INPUT_DIM >::smallerEqualIndexFunc	(	const index_t &	a,
		const index_t &	b
	)		const

protected

Returns true if a <= b

Parameters

a
b

Returns

◆ spreadController()

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::TrajectorySpreadingController< STATE_DIM, INPUT_DIM >::spreadController	(	const scalar_t &	eventTime,
		const index_t &	eventTimeIndex,
		const index_t &	controlerEventTimeIndex,
		controller_array_t &	controllersStock
	)		const

protected

Parameters

eventTime
eventTimeIndex
ControlerEventTimeIndex
controllersStock

◆ stateInputConstraintAD()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t >

void ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t >::stateInputConstraintAD	(	const ad_dynamic_vector_t &	tapedInput,
		ad_dynamic_vector_t &	g1
	)

protected

The intermediate cost function specialized with AD type.

Parameters

[in]	tapedInput	concatenated input vector
[out]	g1	The flow map value

◆ stateOnlyConstraintAD()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t >

void ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t >::stateOnlyConstraintAD	(	const ad_dynamic_vector_t &	tapedInput,
		ad_dynamic_vector_t &	g2
	)

protected

The terminal cost function specialized with AD type.

Parameters

[in]	tapedInput	concatenated input vector
[out]	g2	The jump map value

◆ stateOnlyConstraintFinalAD()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t >

void ocs2::ConstraintBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t >::stateOnlyConstraintFinalAD	(	const ad_dynamic_vector_t &	tapedInput,
		ad_dynamic_vector_t &	g2Final
	)

protected

The terminal cost function specialized with AD type.

Parameters

[in]	tapedInput	concatenated input vector
[out]	g2Final	The jump map value

◆ stateVariables()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

template<typename Derived_Matrix >

Eigen::Block< Derived_Matrix, STATE_DIM, 1 > ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::stateVariables ( Eigen::MatrixBase< Derived_Matrix > & tapedInput )

protected

Returns a pointer to the state variables.

Parameters

[in] tapedInput The concatenated input of the variables.

Returns: A pointer to the state variables.

◆ swap() [1/3]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::swap	(	FeedforwardController< STATE_DIM, INPUT_DIM > &	a,
		FeedforwardController< STATE_DIM, INPUT_DIM > &	b
	)

◆ swap() [2/3]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::swap	(	LinearController< STATE_DIM, INPUT_DIM > &	a,
		LinearController< STATE_DIM, INPUT_DIM > &	b
	)

◆ swap() [3/3]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::swap	(	PiController< STATE_DIM, INPUT_DIM > &	a,
		PiController< STATE_DIM, INPUT_DIM > &	b
	)

◆ SystemDynamicsBaseAD() [1/2]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t , size_t NUM_MODES>

ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::SystemDynamicsBaseAD ( const bool & dynamicLibraryIsCompiled = false )

explicit

Default constructor.

Parameters

[in] dynamicLibraryIsCompiled Whether a library is already complied.

◆ SystemDynamicsBaseAD() [2/2]

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t , size_t NUM_MODES>

ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::SystemDynamicsBaseAD ( const SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, NUM_MODES > & rhs )

Copy constructor

◆ systemFlowMap()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t , size_t NUM_MODES>

template<typename SCALAR_T >

void ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::systemFlowMap	(	const SCALAR_T &	time,
		const Eigen::Matrix< SCALAR_T, STATE_DIM, 1 > &	state,
		const Eigen::Matrix< SCALAR_T, INPUT_DIM, 1 > &	input,
		Eigen::Matrix< SCALAR_T, STATE_DIM, 1 > &	stateDerivative
	)

Interface method to the state flow map of the hybrid system. This method should be implemented by the derived class.

Template Parameters

scalar type. All the floating point operations should be with this type.

Parameters

[in]	time	time.
[in]	state	state vector.
[in]	input	input vector.
[out]	stateDerivative	state vector time derivative.

◆ systemFlowMapAD()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t , size_t NUM_MODES>

void ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::systemFlowMapAD	(	const ad_dynamic_vector_t &	tapedInput,
		ad_dynamic_vector_t &	f
	)

protected

The flow map specialized with AD type.

Parameters

[in]	tapedInput	concatenated input vector
[out]	f	The flow map value

◆ systemGuardSurfaces()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t , size_t NUM_MODES>

template<typename SCALAR_T >

void ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::systemGuardSurfaces	(	const SCALAR_T &	time,
		const Eigen::Matrix< SCALAR_T, STATE_DIM, 1 > &	state,
		const Eigen::Matrix< SCALAR_T, INPUT_DIM, 1 > &	input,
		Eigen::Matrix< SCALAR_T, NUM_MODES, 1 > &	guardSurfacesValue
	)

Interface method to the guard surfaces. This method should be implemented by the derived class. If there is no guard surfaces return a vector of size 1 with value -1 (or any other negative number).

Template Parameters

scalar type. All the floating point operations should be with this type.

Parameters

[in]	time	time.
[in]	state	state.
[in]	input	input vector
[out]	guardSurfacesValue	A vector of guard surfaces values

◆ systemGuardSurfacesAD()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t , size_t NUM_MODES>

void ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::systemGuardSurfacesAD	(	const ad_dynamic_vector_t &	tapedInput,
		ad_dynamic_vector_t &	gamma
	)

protected

The guard surfaces specialized with AD type.

Parameters

[in]	tapedInput	concatenated input vector
[out]	gamma	The guard surfaces value

◆ systemJumpMap()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t , size_t NUM_MODES>

template<typename SCALAR_T >

void ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::systemJumpMap	(	const SCALAR_T &	time,
		const Eigen::Matrix< SCALAR_T, STATE_DIM, 1 > &	state,
		const Eigen::Matrix< SCALAR_T, INPUT_DIM, 1 > &	input,
		Eigen::Matrix< SCALAR_T, STATE_DIM, 1 > &	jumpedState
	)

Interface method to the state jump map of the hybrid system. This method should be implemented by the derived class.

Template Parameters

scalar type. All the floating point operations should be with this type.

Parameters

[in]	time	time.
[in]	state	state vector.
[in]	input	input vector.
[out]	jumpedState	jumped state.

◆ systemJumpMapAD()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class logic_rules_template_t , size_t NUM_MODES>

void ocs2::SystemDynamicsBaseAD< Derived, STATE_DIM, INPUT_DIM, logic_rules_template_t, NUM_MODES >::systemJumpMapAD	(	const ad_dynamic_vector_t &	tapedInput,
		ad_dynamic_vector_t &	g
	)

protected

The jump map specialized with AD type.

Parameters

[in]	tapedInput	concatenated input vector
[out]	g	The jump map value

◆ terminalCostFunction()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

template<typename SCALAR_T >

void ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::terminalCostFunction	(	const SCALAR_T &	time,
		const Eigen::Matrix< SCALAR_T, STATE_DIM, 1 > &	state,
		const Eigen::Matrix< SCALAR_T, STATE_DESIRED_DIM, 1 > &	stateDesired,
		const Eigen::Matrix< SCALAR_T, LOGIC_VARIABLE_DIM, 1 > &	logicVariable,
		SCALAR_T &	costValue
	)

Interface method to the terminal cost function. This method should be implemented by the derived class.

Template Parameters

scalar type. All the floating point operations should be with this type.

Parameters

[in]	time	time.
[in]	state	state vector.
[in]	stateDesired	desired state vector.
[in]	logicVariable	logic variable vector.
[out]	costValue	cost value.

◆ terminalCostFunctionAD()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

void ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::terminalCostFunctionAD	(	const ad_dynamic_vector_t &	tapedInput,
		ad_dynamic_vector_t &	costValue
	)

protected

The terminal cost function specialized with AD type.

Parameters

[in]	tapedInput	concatenated input vector
[out]	costValue	cost value

◆ tf2ss()

void ocs2::tf2ss	(	Eigen::VectorXd	numCoefficients,
		Eigen::VectorXd	denCoefficients,
		Eigen::MatrixXd &	A,
		Eigen::MatrixXd &	B,
		Eigen::MatrixXd &	C,
		Eigen::MatrixXd &	D,
		double	timeDelay = `0.0`,
		bool	balance = `true`
	)

inline

◆ timeVariable()

template<class Derived , size_t STATE_DIM, size_t INPUT_DIM, class LOGIC_RULES_T , size_t LOGIC_VARIABLE_DIM, size_t STATE_DESIRED_DIM, size_t INPUT_DESIRED_DIM>

template<typename Derived_Matrix >

Derived_Matrix::Scalar & ocs2::CostFunctionBaseAD< Derived, STATE_DIM, INPUT_DIM, LOGIC_RULES_T, LOGIC_VARIABLE_DIM, STATE_DESIRED_DIM, INPUT_DESIRED_DIM >::timeVariable ( Eigen::MatrixBase< Derived_Matrix > & tapedInput )

protected

Returns a pointer to the time variable.

Parameters

[in] tapedInput The concatenated input of the variables.

Returns: A pointer to the time variable.

◆ toString()

std::string ocs2::toString ( IntegratorType integratorType )

◆ updateLogicRules()

template<class LOGIC_RULES_T >

bool ocs2::LogicRulesMachine< LOGIC_RULES_T >::updateLogicRules ( const scalar_array_t & partitioningTimes )

virtual

Updates the active logic rules based on the last set value (using LogicRulesMachine::setLogicRules). Moreover, it recomputes the distribution of the switched systems over the time partitions.

Parameters

[in] partitioningTimes Vector of time partitions.

Returns: true if the logic rules was actually updated.

Variable Documentation

◆ killIntegration_

template<int STATE_DIM>

bool ocs2::SystemEventHandler< STATE_DIM >::killIntegration_ = false

staticprotected

Detailed Description

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ adams_bashforth_uncontrolled_t

◆ bulirsch_stoer_t

◆ dense_runge_kutta5_t

◆ EigenLinearInterpolation

◆ euler_t

◆ IntegratorAdamsBashforth

◆ IntegratorBulirschStoer

◆ IntegratorEuler

◆ IntegratorModifiedMidpoint

◆ IntegratorRK4

◆ IntegratorRK5Variable

◆ LoopshapingDynamicsEliminatePattern

◆ modified_midpoint_t

◆ ODE45

◆ runge_kutta_4_t

◆ runge_kutta_dopri5_t

Enumeration Type Documentation

◆ ControllerType

◆ IntegratorType

◆ LoopshapingType

◆ sys_event_id

Function Documentation

◆ adjustController()

◆ clone() [1/4]

◆ clone() [2/4]

◆ clone() [3/4]

◆ clone() [4/4]

◆ computeFlowMap()

◆ computeForwardModel()

◆ computeGuardSurfaces()

◆ computeHessianModel()

◆ computeJacobianModel()

◆ computeJumpMap()

◆ ConstraintBaseAD() [1/2]

◆ ConstraintBaseAD() [2/2]

◆ CostFunctionBaseAD() [1/2]

◆ CostFunctionBaseAD() [2/2]

◆ CppAdCodeGenInterface() [1/3]

◆ CppAdCodeGenInterface() [2/3]

◆ CppAdCodeGenInterface() [3/3]

◆ createModels() [1/8]

◆ createModels() [2/8]

◆ createModels() [3/8]

◆ createModels() [4/8]

◆ createModels() [5/8]

◆ createModels() [6/8]

◆ createModels() [7/8]

◆ createModels() [8/8]

◆ desiredInputVariables()

◆ desiredStateVariables()

◆ display() [1/2]

◆ display() [2/2]

◆ findActiveIntervalIndex() [1/2]

◆ findActiveIntervalIndex() [2/2]

◆ findEventsDistribution()

◆ findsIndicesEventTimes()

◆ getConstraint1()

◆ getConstraint1DerivativesControl()

◆ getConstraint1DerivativesState()

◆ getConstraint2()

◆ getConstraint2DerivativesState()

◆ getConstraintViolationSquaredNorm()

◆ getCostDesiredTrajectories()

◆ getDesiredInput()

◆ getDesiredState()

◆ getEventCounters()

◆ getEventTimes()

◆ getFinalConstraint2()

◆ getFinalConstraint2DerivativesState()

◆ getFlowMapDerivativeInput()

◆ getFlowMapDerivativeState()

◆ getFlowMapDerivativeTime()