Detailed Description

Namespaces
	ocs2::cppad_sparsity

	ocs2::loopshaping_property_tree

	ocs2::benchmark

	ocs2::LinearAlgebra

	ocs2::loadData

	ocs2::lookup

	ocs2::numerics

Classes
class	ocs2::CppAdInterface< scalar_t >

class	ocs2::FiniteDifferenceMethods< ControlledSystemBase >

class	ocs2::ConstraintBase< STATE_DIM, INPUT_DIM >

class	ocs2::ConstraintBaseAD< STATE_DIM, INPUT_DIM >

class	ocs2::LinearConstraint< STATE_DIM, INPUT_DIM >

class	ocs2::PenaltyBase< STATE_DIM, INPUT_DIM >

class	ocs2::RelaxedBarrierPenalty< STATE_DIM, INPUT_DIM >

class	ocs2::ControllerAdjustmentBase< 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::NeuralNetworkController< STATE_DIM, INPUT_DIM >

class	ocs2::TrajectorySpreadingControllerAdjustment< STATE_DIM, INPUT_DIM >

class	ocs2::CostDesiredTrajectories< SCALAR_T >

class	ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM >

class	ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >

class	ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >

class	ocs2::QuadraticCostFunction< STATE_DIM, INPUT_DIM >

class	ocs2::Dimensions< STATE_DIM, INPUT_DIM >

class	ocs2::ControlledSystemBase< STATE_DIM, INPUT_DIM >

class	ocs2::DerivativesBase< STATE_DIM, INPUT_DIM >

class	ocs2::LinearSystemDynamics< STATE_DIM, INPUT_DIM >

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

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

class	ocs2::SystemDynamicsLinearizer< STATE_DIM, INPUT_DIM >

class	ocs2::TransferFunctionBase

class	ocs2::SystemOperatingPoint< STATE_DIM, INPUT_DIM >

class	ocs2::SystemOperatingTrajectoriesBase< STATE_DIM, INPUT_DIM >

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

class	ocs2::HybridLogicRules

struct	ocs2::ModeSequenceTemplate< scalar_t >

class	ocs2::NullLogicRules

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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 >

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::TaskBase

class	ocs2::Task< Functor >

class	ocs2::ThreadPool

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

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::NEURAL_NETWORK }

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)

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)

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

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

	ocs2::CppAdInterface< scalar_t >::CppAdInterface (ad_parameterized_function_t adFunction, int rangeDim, int variableDim, int parameterDim, std::string modelName, std::string folderName="/tmp/ocs2", std::vector< std::string > compileFlags={"-O3", "-march=native", "-mtune=native", "-ffast-math"})

	ocs2::CppAdInterface< scalar_t >::CppAdInterface (ad_function_t adFunction, int rangeDim, int variableDim, std::string modelName, std::string folderName="/tmp/ocs2", std::vector< std::string > compileFlags={"-O3", "-march=native", "-mtune=native", "-ffast-math"})

	ocs2::CppAdInterface< scalar_t >::CppAdInterface (const CppAdInterface &rhs)

void	ocs2::CppAdInterface< scalar_t >::createModels (ApproximationOrder approximationOrder=ApproximationOrder::Second, bool verbose=true)

void	ocs2::CppAdInterface< scalar_t >::loadModels (bool verbose=true)

void	ocs2::CppAdInterface< scalar_t >::loadModelsIfAvailable (ApproximationOrder approximationOrder=ApproximationOrder::Second, bool verbose=true)

dynamic_vector_t	ocs2::CppAdInterface< scalar_t >::getFunctionValue (const dynamic_vector_t &x, const dynamic_vector_t &p=dynamic_vector_t(0)) const

dynamic_matrix_t	ocs2::CppAdInterface< scalar_t >::getJacobian (const dynamic_vector_t &x, const dynamic_vector_t &p=dynamic_vector_t(0)) const

dynamic_matrix_t	ocs2::CppAdInterface< scalar_t >::getHessian (size_t outputIndex, const dynamic_vector_t &x, const dynamic_vector_t &p=dynamic_vector_t(0)) const

dynamic_matrix_t	ocs2::CppAdInterface< scalar_t >::getHessian (const dynamic_vector_t &w, const dynamic_vector_t &x, const dynamic_vector_t &p=dynamic_vector_t(0)) const

void	ocs2::CppAdInterface< scalar_t >::setFolderNames ()

bool	ocs2::CppAdInterface< scalar_t >::isLibraryAvailable () const

void	ocs2::CppAdInterface< scalar_t >::createFolderStructure () const

std::string	ocs2::CppAdInterface< scalar_t >::getUniqueTemporaryName () const

void	ocs2::CppAdInterface< scalar_t >::setCompilerOptions (CppAD::cg::GccCompiler< scalar_t > &compiler) const

void	ocs2::CppAdInterface< scalar_t >::setApproximationOrder (ApproximationOrder approximationOrder, CppAD::cg::ModelCSourceGen< scalar_t > &sourceGen, ad_fun_t &fun) const

void	ocs2::CppAdInterface< scalar_t >::setSparsityNonzeros ()

SparsityPattern	ocs2::CppAdInterface< scalar_t >::createJacobianSparsity (ad_fun_t &fun) const

SparsityPattern	ocs2::CppAdInterface< scalar_t >::createHessianSparsity (ad_fun_t &fun) const

	ocs2::ConstraintBaseAD< STATE_DIM, INPUT_DIM >::ConstraintBaseAD ()

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

void	ocs2::ConstraintBaseAD< STATE_DIM, INPUT_DIM >::initialize (const std::string &modelName, const std::string &modelFolder="/tmp/ocs2", bool recompileLibraries=true, bool verbose=true)

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

void	ocs2::ConstraintBaseAD< STATE_DIM, INPUT_DIM >::setADInterfaces (const std::string &modelName, const std::string &modelFolder)

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

void	ocs2::ConstraintBaseAD< STATE_DIM, INPUT_DIM >::loadModelsIfAvailable (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

void	ocs2::TrajectorySpreadingControllerAdjustment< STATE_DIM, INPUT_DIM >::findEventTimesIndices (const scalar_array_t &eventTimes, const linear_controller_array_t &controllersStock, std::vector< index_t > &eventsIndices) const

bool	ocs2::TrajectorySpreadingControllerAdjustment< STATE_DIM, INPUT_DIM >::isSmallerEqual (const index_t &a, const index_t &b) const

void	ocs2::TrajectorySpreadingControllerAdjustment< STATE_DIM, INPUT_DIM >::adjustController (const scalar_array_t &eventTimes, const scalar_array_t &controllerEventTimes, linear_controller_array_t &controllersStock) override

index_t	ocs2::TrajectorySpreadingControllerAdjustment< STATE_DIM, INPUT_DIM >::findPreviousIndex (index_t index, const linear_controller_array_t &controllersStock) const

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

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

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

	ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >::CostFunctionBaseAD ()

	ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >::CostFunctionBaseAD (const CostFunctionBaseAD &rhs)

void	ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >::initialize (const std::string &modelName, const std::string &modelFolder="/tmp/ocs2", bool recompileLibraries=true, bool verbose=true)

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

void	ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >::getIntermediateCost (scalar_t &L) final

void	ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >::getIntermediateCostDerivativeTime (scalar_t &dLdt) final

void	ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >::getIntermediateCostDerivativeState (state_vector_t &dLdx) final

void	ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >::getIntermediateCostSecondDerivativeState (state_matrix_t &dLdxx) override

void	ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >::getIntermediateCostDerivativeInput (input_vector_t &dLdu) final

void	ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >::getIntermediateCostSecondDerivativeInput (input_matrix_t &dLduu) override

void	ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >::getIntermediateCostDerivativeInputState (input_state_matrix_t &dLdux) override

void	ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >::getTerminalCost (scalar_t &Phi) final

void	ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >::getTerminalCostDerivativeTime (scalar_t &dPhidt) final

void	ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >::getTerminalCostDerivativeState (state_vector_t &dPhidx) final

void	ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >::getTerminalCostSecondDerivativeState (state_matrix_t &dPhidxx) override

void	ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >::setADInterfaces (const std::string &modelName, const std::string &modelFolder)

void	ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >::createModels (bool verbose)

void	ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >::loadModelsIfAvailable (bool verbose)

	ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >::CostFunctionLinearCombination (const std::vector< WeightedCost > &weightedCosts)

	ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >::CostFunctionLinearCombination (const CostFunctionLinearCombination &rhs)

CostFunctionLinearCombination< STATE_DIM, INPUT_DIM > *	ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >::clone () const override

void	ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >::getIntermediateCost (scalar_t &L) override

void	ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >::getIntermediateCostDerivativeState (state_vector_t &dLdx) override

void	ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >::getIntermediateCostSecondDerivativeState (state_matrix_t &dLdxx) override

void	ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >::getIntermediateCostDerivativeInput (input_vector_t &dLdu) override

void	ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >::getIntermediateCostSecondDerivativeInput (input_matrix_t &dLduu) override

void	ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >::getIntermediateCostDerivativeInputState (input_state_matrix_t &dLdux) override

void	ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >::getTerminalCost (scalar_t &Phi) override

void	ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >::getTerminalCostDerivativeState (state_vector_t &dPhidx) override

void	ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >::getTerminalCostSecondDerivativeState (state_matrix_t &dPhidxx) override

void	ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >::setCostDesiredTrajectories (const cost_desired_trajectories_t &costDesiredTrajectories) override

void	ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >::setCurrentStateAndControl (const scalar_t &t, const state_vector_t &x, const input_vector_t &u) override

void	ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >::getIntermediateCostDerivativeTime (scalar_t &dLdt) override

void	ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >::getTerminalCostDerivativeTime (scalar_t &dPhidt) override

	ocs2::SystemDynamicsBaseAD< STATE_DIM, INPUT_DIM, NUM_MODES >::SystemDynamicsBaseAD ()

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

void	ocs2::SystemDynamicsBaseAD< STATE_DIM, INPUT_DIM, NUM_MODES >::initialize (const std::string &modelName, const std::string &modelFolder="/tmp/ocs2", bool recompileLibraries=true, bool verbose=true)

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

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

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

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

void	ocs2::SystemDynamicsBaseAD< STATE_DIM, INPUT_DIM, NUM_MODES >::setADInterfaces (const std::string &modelName, const std::string &modelFolder)

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

void	ocs2::SystemDynamicsBaseAD< STATE_DIM, INPUT_DIM, NUM_MODES >::loadModelsIfAvailable (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)

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

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

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

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

Variables
static std::atomic_bool	ocs2::SystemEventHandler< STATE_DIM >::killIntegration_

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>

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

◆ 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
NEURAL_NETWORK

◆ 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::TrajectorySpreadingControllerAdjustment< STATE_DIM, INPUT_DIM >::adjustController	(	const scalar_array_t &	eventTimes,
		const scalar_array_t &	controllerEventTimes,
		linear_controller_array_t &	controllersStock
	)

overridevirtual

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.
[out]	controllerStock	The controller stock which will be modified.

Implements ocs2::ControllerAdjustmentBase< STATE_DIM, INPUT_DIM >.

◆ clone()

template<size_t STATE_DIM, size_t INPUT_DIM>

CostFunctionLinearCombination< STATE_DIM, INPUT_DIM > * ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >::clone ( ) const

overridevirtual

Returns pointer to the class.

Returns: A raw pointer to the class.

Implements ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM >.

◆ computeFlowMap()

template<size_t STATE_DIM, size_t INPUT_DIM, size_t NUM_MODES>

void ocs2::SystemDynamicsBaseAD< STATE_DIM, INPUT_DIM, NUM_MODES >::computeFlowMap	(	const scalar_t &	t,
		const state_vector_t &	x,
		const input_vector_t &	u,
		state_vector_t &	dxdt
	)

finalvirtual

Computes derivative of the autonomous system dynamics.

Parameters

[in]	t	Current time.
[in]	x	Current state.
[in]	u	Current input.
[out]	dxdt	Current state time derivative.

Implements ocs2::ControlledSystemBase< STATE_DIM, INPUT_DIM >.

◆ computeGuardSurfaces()

template<size_t STATE_DIM, size_t INPUT_DIM, size_t NUM_MODES>

void ocs2::SystemDynamicsBaseAD< STATE_DIM, INPUT_DIM, 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	An array of guard surfaces values

Reimplemented from ocs2::OdeBase< STATE_DIM >.

◆ computeJumpMap()

template<size_t STATE_DIM, size_t INPUT_DIM, size_t NUM_MODES>

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

finalvirtual

State map at the transition time

Parameters

[in]	time	transition time
[in]	state	transition state
[out]	mappedState	mapped state after transition

Reimplemented from ocs2::OdeBase< STATE_DIM >.

◆ ConstraintBaseAD() [1/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

ocs2::ConstraintBaseAD< STATE_DIM, INPUT_DIM >::ConstraintBaseAD ( )

Default constructor.

◆ ConstraintBaseAD() [2/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

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

Copy constructor

◆ CostFunctionBaseAD() [1/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >::CostFunctionBaseAD ( )

explicit

Default constructor

◆ CostFunctionBaseAD() [2/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >::CostFunctionBaseAD ( const CostFunctionBaseAD< STATE_DIM, INPUT_DIM > & rhs )

Copy constructor

◆ CostFunctionLinearCombination() [1/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >::CostFunctionLinearCombination ( const std::vector< WeightedCost > & weightedCosts )

explicit

◆ CostFunctionLinearCombination() [2/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >::CostFunctionLinearCombination ( const CostFunctionLinearCombination< STATE_DIM, INPUT_DIM > & rhs )

◆ CppAdInterface() [1/3]

template<typename scalar_t >

ocs2::CppAdInterface< scalar_t >::CppAdInterface	(	ad_parameterized_function_t	adFunction,
		int	rangeDim,
		int	variableDim,
		int	parameterDim,
		std::string	modelName,
		std::string	folderName = `"/tmp/ocs2"`,
		std::vector< std::string >	compileFlags = `{"-O3", "-march=native", "-mtune=native", "-ffast-math"}`
	)

Constructor for parameterized functions

Parameters

adFunction	: parameterized function f(x,p,y)
rangeDim	: size of y
variableDim	: size of x
parameterDim	: size of p
modelName	: Name of the library to be generated.
folderName	: Folder to save library files to, either absolute of relative
compileFlags	: Compilation flags for the model library.

◆ CppAdInterface() [2/3]

template<typename scalar_t >

ocs2::CppAdInterface< scalar_t >::CppAdInterface	(	ad_function_t	adFunction,
		int	rangeDim,
		int	variableDim,
		std::string	modelName,
		std::string	folderName = `"/tmp/ocs2"`,
		std::vector< std::string >	compileFlags = `{"-O3", "-march=native", "-mtune=native", "-ffast-math"}`
	)

Constructor for functions without parameters

Parameters

adFunction	: function f(x, y)
rangeDim	: size of y
variableDim	: size of x
modelName	: Name of the library to be generated.
folderName	: Folder to save library files to, either absolute of relative
compileFlags	: Compilation flags for the model library.

◆ CppAdInterface() [3/3]

template<typename scalar_t >

ocs2::CppAdInterface< scalar_t >::CppAdInterface ( const CppAdInterface< scalar_t > & rhs )

Copy constructor. Models are reloaded if available.

◆ createFolderStructure()

template<typename scalar_t >

void ocs2::CppAdInterface< scalar_t >::createFolderStructure ( ) const

private

Creates folders on disk

◆ createHessianSparsity()

template<typename scalar_t >

CppAdInterface< scalar_t >::SparsityPattern ocs2::CppAdInterface< scalar_t >::createHessianSparsity ( ad_fun_t & fun ) const

private

Creates sparsity pattern for the Hessian that will be generated

Parameters

fun	: taped ad function

Returns: Sparsity pattern that contains entries for variables only, not for parameters

◆ createJacobianSparsity()

template<typename scalar_t >

CppAdInterface< scalar_t >::SparsityPattern ocs2::CppAdInterface< scalar_t >::createJacobianSparsity ( ad_fun_t & fun ) const

private

Creates sparsity pattern for the Jacobian that will be generated

Parameters

fun	: taped ad function

Returns: Sparsity pattern that contains entries for variables only, not for parameters

◆ createModels() [1/4]

template<typename scalar_t >

void ocs2::CppAdInterface< scalar_t >::createModels	(	ApproximationOrder	approximationOrder = `ApproximationOrder::Second`,
		bool	verbose = `true`
	)

Creates models, compiles them, and saves them to disk

Parameters

approximationOrder	: Order of derivatives to generate
verbose	: Print out extra information

◆ createModels() [2/4]

template<size_t STATE_DIM, size_t INPUT_DIM, size_t NUM_MODES>

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

private

Create the forward model and derivatives.

Parameters

[in] verbose display information.

◆ createModels() [3/4]

template<size_t STATE_DIM, size_t INPUT_DIM>

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

private

Create the forward model and derivatives.

Parameters

[in] verbose display information.

◆ createModels() [4/4]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >::createModels ( bool verbose )

private

Create the forward model and derivatives.

Parameters

[in] verbose display information.

◆ findEventTimesIndices()

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::TrajectorySpreadingControllerAdjustment< STATE_DIM, INPUT_DIM >::findEventTimesIndices	(	const scalar_array_t &	eventTimes,
		const linear_controller_array_t &	controllersStock,
		std::vector< index_t > &	eventsIndices
	)		const

protected

Finds the indices of the entries in the control policy that their time stamps are greater or equal to the associated event time.

Parameters

[in]	eventTimes	Event time vector.
[in]	controllersStock	Control policy.
[out]	eventsIndices	event time indices in the control policy time stamp.

◆ findPreviousIndex()

template<size_t STATE_DIM, size_t INPUT_DIM>

TrajectorySpreadingControllerAdjustment< STATE_DIM, INPUT_DIM >::index_t ocs2::TrajectorySpreadingControllerAdjustment< STATE_DIM, INPUT_DIM >::findPreviousIndex	(	index_t	index,
		const linear_controller_array_t &	controllersStock
	)		const

protected

Finds the index before the input index

Parameters

[in]	a	first index.
[in]	b	second index.

Returns: true if a <= b.

◆ 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>

void ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM >::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.

◆ getFunctionValue()

template<typename scalar_t >

CppAdInterface< scalar_t >::dynamic_vector_t ocs2::CppAdInterface< scalar_t >::getFunctionValue	(	const dynamic_vector_t &	x,
		const dynamic_vector_t &	p = `dynamic_vector_t(0)`
	)		const

Parameters

x	: input vector of size variableDim
p	: parameter vector of size parameterDim

Returns: y = f(x,p)

◆ getHessian() [1/2]

template<typename scalar_t >

CppAdInterface< scalar_t >::dynamic_matrix_t ocs2::CppAdInterface< scalar_t >::getHessian	(	size_t	outputIndex,
		const dynamic_vector_t &	x,
		const dynamic_vector_t &	p = `dynamic_vector_t(0)`
	)		const

Hessian, available per output.

Parameters

outputIndex	: Output to get the hessian for.
x	: input vector of size variableDim
p	: parameter vector of size parameterDim

Returns: dd/dxdx( f_i(x,p) )

◆ getHessian() [2/2]

template<typename scalar_t >

CppAdInterface< scalar_t >::dynamic_matrix_t ocs2::CppAdInterface< scalar_t >::getHessian	(	const dynamic_vector_t &	w,
		const dynamic_vector_t &	x,
		const dynamic_vector_t &	p = `dynamic_vector_t(0)`
	)		const

Weighted hessian

Parameters

w	vector of weights of size rangeDim
x	: input vector of size variableDim
p	: parameter vector of size parameterDim

Returns: dd/dxdx(sum_i w_i*f_i(x,p) )

◆ getIntermediateCost() [1/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >::getIntermediateCost ( scalar_t & L )

overridevirtual

Get the intermediate cost.

Parameters

[out] L The intermediate cost value.

Implements ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM >.

◆ getIntermediateCost() [2/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >::getIntermediateCost ( scalar_t & L )

finalvirtual

Get the intermediate cost.

Parameters

[out] L The intermediate cost value.

Implements ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM >.

◆ getIntermediateCostDerivativeInput() [1/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >::getIntermediateCostDerivativeInput ( input_vector_t & dLdu )

overridevirtual

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 >.

◆ getIntermediateCostDerivativeInput() [2/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_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 >.

◆ getIntermediateCostDerivativeInputState() [1/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >::getIntermediateCostDerivativeInputState ( input_state_matrix_t & dLdux )

overridevirtual

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 >.

◆ getIntermediateCostDerivativeInputState() [2/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >::getIntermediateCostDerivativeInputState ( input_state_matrix_t & dLdux )

overridevirtual

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 >.

◆ getIntermediateCostDerivativeState() [1/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >::getIntermediateCostDerivativeState ( state_vector_t & dLdx )

overridevirtual

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 >.

◆ getIntermediateCostDerivativeState() [2/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_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 >.

◆ getIntermediateCostDerivativeTime() [1/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >::getIntermediateCostDerivativeTime ( scalar_t & dLdt )

overridevirtual

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 >.

◆ getIntermediateCostDerivativeTime() [2/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_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 >.

◆ getIntermediateCostSecondDerivativeInput() [1/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >::getIntermediateCostSecondDerivativeInput ( input_matrix_t & dLduu )

overridevirtual

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 >.

◆ getIntermediateCostSecondDerivativeInput() [2/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >::getIntermediateCostSecondDerivativeInput ( input_matrix_t & dLduu )

overridevirtual

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 >.

◆ getIntermediateCostSecondDerivativeState() [1/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >::getIntermediateCostSecondDerivativeState ( state_matrix_t & dLdxx )

overridevirtual

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 >.

◆ getIntermediateCostSecondDerivativeState() [2/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >::getIntermediateCostSecondDerivativeState ( state_matrix_t & dLdxx )

overridevirtual

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 >.

◆ getJacobian()

template<typename scalar_t >

CppAdInterface< scalar_t >::dynamic_matrix_t ocs2::CppAdInterface< scalar_t >::getJacobian	(	const dynamic_vector_t &	x,
		const dynamic_vector_t &	p = `dynamic_vector_t(0)`
	)		const

Jacobian with gradient of each output w.r.t the variables x in the rows.

Parameters

x	: input vector of size variableDim
p	: parameter vector of size parameterDim

Returns: d/dx( f(x,p) )

◆ 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.

◆ getTerminalCost() [1/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >::getTerminalCost ( scalar_t & Phi )

overridevirtual

Get the terminal cost.

Parameters

[out] Phi The final cost value.

Implements ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM >.

◆ getTerminalCost() [2/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >::getTerminalCost ( scalar_t & Phi )

finalvirtual

Get the terminal cost.

Parameters

[out] Phi The final cost value.

Implements ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM >.

◆ getTerminalCostDerivativeState() [1/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >::getTerminalCostDerivativeState ( state_vector_t & dPhidx )

overridevirtual

Get the terminal cost state derivative of the terminal cost.

Parameters

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

Implements ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM >.

◆ getTerminalCostDerivativeState() [2/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >::getTerminalCostDerivativeState ( state_vector_t & dPhidx )

finalvirtual

Get the terminal cost state derivative of the terminal cost.

Parameters

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

Implements ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM >.

◆ getTerminalCostDerivativeTime() [1/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >::getTerminalCostDerivativeTime ( scalar_t & dPhidt )

overridevirtual

Get the time derivative of terminal cost.

Parameters

[out] dPhidt The time derivative of terminal cost.

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

◆ getTerminalCostDerivativeTime() [2/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_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 >.

◆ getTerminalCostSecondDerivativeState() [1/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >::getTerminalCostSecondDerivativeState ( state_matrix_t & dPhidxx )

overridevirtual

Get the terminal cost state second derivative of the terminal cost.

Parameters

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

Implements ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM >.

◆ getTerminalCostSecondDerivativeState() [2/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >::getTerminalCostSecondDerivativeState ( state_matrix_t & dPhidxx )

overridevirtual

Get the terminal cost state second derivative of the terminal cost.

Parameters

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

Implements ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM >.

◆ getUniqueTemporaryName()

template<typename scalar_t >

std::string ocs2::CppAdInterface< scalar_t >::getUniqueTemporaryName ( ) const

private

Creates a random temporary folder name

Returns: folder name

◆ initialize() [1/4]

template<size_t STATE_DIM, size_t INPUT_DIM, size_t NUM_MODES>

void ocs2::SystemDynamicsBaseAD< STATE_DIM, INPUT_DIM, NUM_MODES >::initialize	(	const std::string &	modelName,
		const std::string &	modelFolder = `"/tmp/ocs2"`,
		bool	recompileLibraries = `true`,
		bool	verbose = `true`
	)

Initializes model libraries

Parameters

modelName	: name of the generate model library
modelFolder	: folder to save the model library files to
recompileLibraries	: If true, the model library will be newly compiled. If false, an existing library will be loaded if available.
verbose	: print information.

◆ initialize() [2/4]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >::initialize	(	const std::string &	modelName,
		const std::string &	modelFolder = `"/tmp/ocs2"`,
		bool	recompileLibraries = `true`,
		bool	verbose = `true`
	)

Initializes model libraries

Parameters

modelName	: name of the generate model library
modelFolder	: folder to save the model library files to
recompileLibraries	: If true, the model library will be newly compiled. If false, an existing library will be loaded if available.
verbose	: print information.

◆ initialize() [3/4]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::ConstraintBaseAD< STATE_DIM, INPUT_DIM >::initialize	(	const std::string &	modelName,
		const std::string &	modelFolder = `"/tmp/ocs2"`,
		bool	recompileLibraries = `true`,
		bool	verbose = `true`
	)

Default destructor

~ConstraintBaseAD() override = default;

/** Initializes model libraries

Parameters

modelName	: name of the generate model library
modelFolder	: folder to save the model library files to
recompileLibraries	: If true, the model library will be newly compiled. If false, an existing library will be loaded if available.
verbose	: print information.

◆ initialize() [4/4]

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

◆ 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

◆ 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.

◆ isLibraryAvailable()

template<typename scalar_t >

bool ocs2::CppAdInterface< scalar_t >::isLibraryAvailable ( ) const

private

Checks if library can already be found on disk.

Returns: isLibraryAvailable

◆ isSmallerEqual()

template<size_t STATE_DIM, size_t INPUT_DIM>

bool ocs2::TrajectorySpreadingControllerAdjustment< STATE_DIM, INPUT_DIM >::isSmallerEqual	(	const index_t &	a,
		const index_t &	b
	)		const

protected

Returns true if a <= b.

Parameters

[in]	a	first index.
[in]	b	second index.

Returns: true if a <= b.

◆ loadModels()

template<typename scalar_t >

void ocs2::CppAdInterface< scalar_t >::loadModels ( bool verbose = true )

Loads earlier created model from disk

◆ loadModelsIfAvailable() [1/4]

template<typename scalar_t >

void ocs2::CppAdInterface< scalar_t >::loadModelsIfAvailable	(	ApproximationOrder	approximationOrder = `ApproximationOrder::Second`,
		bool	verbose = `true`
	)

Load models if they are available on disk. Creates a new library otherwise.

Parameters

approximationOrder	: Order of derivatives to generate
verbose	: Print out extra information

◆ loadModelsIfAvailable() [2/4]

template<size_t STATE_DIM, size_t INPUT_DIM, size_t NUM_MODES>

void ocs2::SystemDynamicsBaseAD< STATE_DIM, INPUT_DIM, NUM_MODES >::loadModelsIfAvailable ( bool verbose )

private

Loads the forward model and derivatives if available. Constructs them otherwise.

Parameters

[in] verbose display information

◆ loadModelsIfAvailable() [3/4]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::ConstraintBaseAD< STATE_DIM, INPUT_DIM >::loadModelsIfAvailable ( bool verbose )

private

Loads the forward model and derivatives if available. Constructs them otherwise.

Parameters

[in] verbose display information

◆ loadModelsIfAvailable() [4/4]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >::loadModelsIfAvailable ( bool verbose )

private

Loads the forward model and derivatives if available. Constructs them otherwise.

Parameters

[in] verbose display information

◆ 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

◆ run() [1/2]

template<typename Functor >

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

Run a task in another thread

Parameters

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

Returns: future object with taskFunction retrun value

◆ run() [2/2]

template<typename Functor >

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

◆ runAfter() [1/2]

template<typename Functor >

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

Run a task that depends on antother task

Parameters

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

Returns: future object with taskFunction retrun value

◆ runAfter() [2/2]

template<typename Functor >

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

◆ setADInterfaces() [1/3]

template<size_t STATE_DIM, size_t INPUT_DIM, size_t NUM_MODES>

void ocs2::SystemDynamicsBaseAD< STATE_DIM, INPUT_DIM, NUM_MODES >::setADInterfaces	(	const std::string &	modelName,
		const std::string &	modelFolder
	)

private

Sets all the required CppAdCodeGenInterfaces

◆ setADInterfaces() [2/3]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::ConstraintBaseAD< STATE_DIM, INPUT_DIM >::setADInterfaces	(	const std::string &	modelName,
		const std::string &	modelFolder
	)

private

Sets all the required CppAdCodeGenInterfaces

◆ setADInterfaces() [3/3]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_DIM >::setADInterfaces	(	const std::string &	modelName,
		const std::string &	modelFolder
	)

private

Sets all the required CppAdCodeGenInterfaces

◆ setApproximationOrder()

template<typename scalar_t >

void ocs2::CppAdInterface< scalar_t >::setApproximationOrder	(	ApproximationOrder	approximationOrder,
		CppAD::cg::ModelCSourceGen< scalar_t > &	sourceGen,
		ad_fun_t &	fun
	)		const

private

Configure the approximation order for the source generator

Parameters

approximationOrder
sourceGen
fun

◆ setCompilerOptions()

template<typename scalar_t >

void ocs2::CppAdInterface< scalar_t >::setCompilerOptions ( CppAD::cg::GccCompiler< scalar_t > & compiler ) const

private

Configures the compiler that compiles the model library

Parameters

compiler : compiler to be configured

◆ setCostDesiredTrajectories() [1/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

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

overridevirtual

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

Parameters

[in] CostDesiredTrajectories cost desired trajectories interface class.

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

◆ setCostDesiredTrajectories() [2/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::CostFunctionBase< STATE_DIM, INPUT_DIM >::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.

Reimplemented in ocs2::LoopshapingCost< FULL_STATE_DIM, FULL_INPUT_DIM, SYSTEM_STATE_DIM, SYSTEM_INPUT_DIM, FILTER_STATE_DIM, FILTER_INPUT_DIM >, and ocs2::CostFunctionLinearCombination< STATE_DIM, INPUT_DIM >.

◆ setCurrentStateAndControl() [1/4]

template<size_t STATE_DIM, size_t INPUT_DIM>

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

overridevirtual

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 >.

◆ setCurrentStateAndControl() [2/4]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::CostFunctionBaseAD< STATE_DIM, INPUT_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 >.

◆ setCurrentStateAndControl() [3/4]

template<size_t STATE_DIM, size_t INPUT_DIM, size_t NUM_MODES>

void ocs2::SystemDynamicsBaseAD< STATE_DIM, INPUT_DIM, NUM_MODES >::setCurrentStateAndControl	(	const scalar_t &	t,
		const state_vector_t &	x,
		const input_vector_t &	u
	)

finalvirtual

Sets the current time, state, and control inout.

Parameters

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

Reimplemented from ocs2::DerivativesBase< STATE_DIM, INPUT_DIM >.

◆ setCurrentStateAndControl() [4/4]

template<size_t STATE_DIM, size_t INPUT_DIM>

void ocs2::ConstraintBaseAD< STATE_DIM, INPUT_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.
[in]	u	Current input.

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

◆ setFolderNames()

template<typename scalar_t >

void ocs2::CppAdInterface< scalar_t >::setFolderNames ( )

private

Defines library folder names

◆ setSparsityNonzeros()

template<typename scalar_t >

void ocs2::CppAdInterface< scalar_t >::setSparsityNonzeros ( )

private

Stores the sparisty nonzeros

◆ 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.

◆ setupSystem()

template<int STATE_DIM, class Stepper >

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

private

Setup System

◆ spreadController()

template<size_t STATE_DIM, size_t INPUT_DIM>

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

protected

Parameters

eventTime
eventTimeIndex
ControlerEventTimeIndex
controllersStock

◆ swap() [1/2]

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() [2/2]

template<size_t STATE_DIM, size_t INPUT_DIM>

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

◆ SystemDynamicsBaseAD() [1/2]

template<size_t STATE_DIM, size_t INPUT_DIM, size_t NUM_MODES>

ocs2::SystemDynamicsBaseAD< STATE_DIM, INPUT_DIM, NUM_MODES >::SystemDynamicsBaseAD ( )

◆ SystemDynamicsBaseAD() [2/2]

template<size_t STATE_DIM, size_t INPUT_DIM, size_t NUM_MODES>

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

Copy constructor

◆ 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

◆ toString()

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

static

Variable Documentation

◆ killIntegration_

template<int STATE_DIM>

std::atomic_bool ocs2::SystemEventHandler< STATE_DIM >::killIntegration_

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()

◆ computeFlowMap()

◆ computeGuardSurfaces()

◆ computeJumpMap()

◆ ConstraintBaseAD() [1/2]

◆ ConstraintBaseAD() [2/2]

◆ CostFunctionBaseAD() [1/2]

◆ CostFunctionBaseAD() [2/2]

◆ CostFunctionLinearCombination() [1/2]

◆ CostFunctionLinearCombination() [2/2]

◆ CppAdInterface() [1/3]

◆ CppAdInterface() [2/3]

◆ CppAdInterface() [3/3]

◆ createFolderStructure()

◆ createHessianSparsity()

◆ createJacobianSparsity()

◆ createModels() [1/4]

◆ createModels() [2/4]

◆ createModels() [3/4]

◆ createModels() [4/4]

◆ findEventTimesIndices()

◆ findPreviousIndex()

◆ getConstraintViolationSquaredNorm()

◆ getCostDesiredTrajectories()

◆ getFunctionValue()

◆ getHessian() [1/2]

◆ getHessian() [2/2]

◆ getIntermediateCost() [1/2]

◆ getIntermediateCost() [2/2]

◆ getIntermediateCostDerivativeInput() [1/2]

◆ getIntermediateCostDerivativeInput() [2/2]

◆ getIntermediateCostDerivativeInputState() [1/2]

◆ getIntermediateCostDerivativeInputState() [2/2]

◆ getIntermediateCostDerivativeState() [1/2]

◆ getIntermediateCostDerivativeState() [2/2]

◆ getIntermediateCostDerivativeTime() [1/2]

◆ getIntermediateCostDerivativeTime() [2/2]

◆ getIntermediateCostSecondDerivativeInput() [1/2]

◆ getIntermediateCostSecondDerivativeInput() [2/2]

◆ getIntermediateCostSecondDerivativeState() [1/2]

◆ getIntermediateCostSecondDerivativeState() [2/2]

◆ getJacobian()

◆ getPenaltyCost()

◆ getPenaltyCostDerivativeInput()

◆ getPenaltyCostDerivativeInputState()

◆ getPenaltyCostDerivativeState()

◆ getPenaltyCostSecondDerivativeInput()

◆ getPenaltyCostSecondDerivativeState()

◆ getTerminalCost() [1/2]