DDP problem. More...

#include <DDPProblem.h>

Public Types
using	StateDimVector = Eigen::Matrix< double, StateDim, 1 >
	Type of vector of state dimension. More...

using	InputDimVector = Eigen::Matrix< double, InputDim, 1 >
	Type of vector of input dimension. More...

using	StateStateDimMatrix = Eigen::Matrix< double, StateDim, StateDim >
	Type of matrix of state x state dimension. More...

using	InputInputDimMatrix = Eigen::Matrix< double, InputDim, InputDim >
	Type of matrix of input x input dimension. More...

using	StateInputDimMatrix = Eigen::Matrix< double, StateDim, InputDim >
	Type of matrix of state x input dimension. More...

using	InputStateDimMatrix = Eigen::Matrix< double, InputDim, StateDim >
	Type of matrix of input x state dimension. More...

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	DDPProblem (double dt)
	Constructor. More...

virtual int	inputDim () const
	Gets the input dimension. More...

virtual int	inputDim (double) const
	Gets the input dimension. More...

double	dt () const
	Gets the discretization timestep [sec]. More...

virtual StateDimVector	stateEq (double t, const StateDimVector &x, const InputDimVector &u) const =0
	Calculate discrete state equation. More...

virtual double	runningCost (double t, const StateDimVector &x, const InputDimVector &u) const =0
	Calculate running cost. More...

virtual double	terminalCost (double t, const StateDimVector &x) const =0
	Calculate terminal cost. More...

virtual void	calcStateEqDeriv (double t, const StateDimVector &x, const InputDimVector &u, Eigen::Ref< StateStateDimMatrix > state_eq_deriv_x, Eigen::Ref< StateInputDimMatrix > state_eq_deriv_u) const =0
	Calculate first-order derivatives of discrete state equation. More...

virtual void	calcStateEqDeriv (double t, const StateDimVector &x, const InputDimVector &u, Eigen::Ref< StateStateDimMatrix > state_eq_deriv_x, Eigen::Ref< StateInputDimMatrix > state_eq_deriv_u, std::vector< StateStateDimMatrix > &state_eq_deriv_xx, std::vector< InputInputDimMatrix > &state_eq_deriv_uu, std::vector< StateInputDimMatrix > &state_eq_deriv_xu) const =0
	Calculate first-order and second-order derivatives of discrete state equation. More...

virtual void	calcRunningCostDeriv (double t, const StateDimVector &x, const InputDimVector &u, Eigen::Ref< StateDimVector > running_cost_deriv_x, Eigen::Ref< InputDimVector > running_cost_deriv_u) const =0
	Calculate first-order derivatives of running cost. More...

virtual void	calcRunningCostDeriv (double t, const StateDimVector &x, const InputDimVector &u, Eigen::Ref< StateDimVector > running_cost_deriv_x, Eigen::Ref< InputDimVector > running_cost_deriv_u, Eigen::Ref< StateStateDimMatrix > running_cost_deriv_xx, Eigen::Ref< InputInputDimMatrix > running_cost_deriv_uu, Eigen::Ref< StateInputDimMatrix > running_cost_deriv_xu) const =0
	Calculate first-order and second-order derivatives of running cost. More...

virtual void	calcTerminalCostDeriv (double t, const StateDimVector &x, Eigen::Ref< StateDimVector > terminal_cost_deriv_x) const =0
	Calculate first-order derivatives of terminal cost. More...

virtual void	calcTerminalCostDeriv (double t, const StateDimVector &x, Eigen::Ref< StateDimVector > terminal_cost_deriv_x, Eigen::Ref< StateStateDimMatrix > terminal_cost_deriv_xx) const =0
	Calculate first-order and second-order derivatives of terminal cost. More...

Static Public Member Functions
static constexpr int	stateDim ()
	Gets the state dimension. More...

Protected Attributes
const double	dt_ = 0
	Discretization timestep [sec]. More...

Detailed Description

template<int StateDim, int InputDim>
class nmpc_ddp::DDPProblem< StateDim, InputDim >

DDP problem.

Template Parameters

StateDim	state dimension (fixed only)
InputDim	input dimension (fixed or dynamic (i.e., Eigen::Dynamic))

Definition at line 16 of file DDPProblem.h.

Member Typedef Documentation

◆ InputDimVector

template<int StateDim, int InputDim>

using nmpc_ddp::DDPProblem< StateDim, InputDim >::InputDimVector = Eigen::Matrix<double, InputDim, 1>

Type of vector of input dimension.

Definition at line 23 of file DDPProblem.h.

◆ InputInputDimMatrix

template<int StateDim, int InputDim>

using nmpc_ddp::DDPProblem< StateDim, InputDim >::InputInputDimMatrix = Eigen::Matrix<double, InputDim, InputDim>

Type of matrix of input x input dimension.

Definition at line 29 of file DDPProblem.h.

◆ InputStateDimMatrix

template<int StateDim, int InputDim>

using nmpc_ddp::DDPProblem< StateDim, InputDim >::InputStateDimMatrix = Eigen::Matrix<double, InputDim, StateDim>

Type of matrix of input x state dimension.

Definition at line 35 of file DDPProblem.h.

◆ StateDimVector

template<int StateDim, int InputDim>

using nmpc_ddp::DDPProblem< StateDim, InputDim >::StateDimVector = Eigen::Matrix<double, StateDim, 1>

Type of vector of state dimension.

Definition at line 20 of file DDPProblem.h.

◆ StateInputDimMatrix

template<int StateDim, int InputDim>

using nmpc_ddp::DDPProblem< StateDim, InputDim >::StateInputDimMatrix = Eigen::Matrix<double, StateDim, InputDim>

Type of matrix of state x input dimension.

Definition at line 32 of file DDPProblem.h.

◆ StateStateDimMatrix

template<int StateDim, int InputDim>

using nmpc_ddp::DDPProblem< StateDim, InputDim >::StateStateDimMatrix = Eigen::Matrix<double, StateDim, StateDim>

Type of matrix of state x state dimension.

Definition at line 26 of file DDPProblem.h.

Constructor & Destructor Documentation

◆ DDPProblem()

template<int StateDim, int InputDim>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW nmpc_ddp::DDPProblem< StateDim, InputDim >::DDPProblem ( double dt )

inline

Constructor.

Parameters

dt	discretization timestep [sec]

Definition at line 43 of file DDPProblem.h.

Member Function Documentation

◆ calcRunningCostDeriv() [1/2]

template<int StateDim, int InputDim>

virtual void nmpc_ddp::DDPProblem< StateDim, InputDim >::calcRunningCostDeriv	(	double	t,
		const StateDimVector &	x,
		const InputDimVector &	u,
		Eigen::Ref< StateDimVector >	running_cost_deriv_x,
		Eigen::Ref< InputDimVector >	running_cost_deriv_u
	)		const

pure virtual

Calculate first-order derivatives of running cost.

Parameters

t	time [sec]
x	state
u	input
running_cost_deriv_x	first-order derivative of running cost w.r.t. state
running_cost_deriv_u	first-order derivative of running cost w.r.t. input

◆ calcRunningCostDeriv() [2/2]

template<int StateDim, int InputDim>

virtual void nmpc_ddp::DDPProblem< StateDim, InputDim >::calcRunningCostDeriv	(	double	t,
		const StateDimVector &	x,
		const InputDimVector &	u,
		Eigen::Ref< StateDimVector >	running_cost_deriv_x,
		Eigen::Ref< InputDimVector >	running_cost_deriv_u,
		Eigen::Ref< StateStateDimMatrix >	running_cost_deriv_xx,
		Eigen::Ref< InputInputDimMatrix >	running_cost_deriv_uu,
		Eigen::Ref< StateInputDimMatrix >	running_cost_deriv_xu
	)		const

pure virtual

Calculate first-order and second-order derivatives of running cost.

Parameters

t	time [sec]
x	state
u	input
running_cost_deriv_x	first-order derivative of running cost w.r.t. state
running_cost_deriv_u	first-order derivative of running cost w.r.t. input
running_cost_deriv_xx	second-order derivative of running cost w.r.t. state
running_cost_deriv_uu	second-order derivative of running cost w.r.t. input
running_cost_deriv_xu	second-order derivative of running cost w.r.t. state and input

◆ calcStateEqDeriv() [1/2]

template<int StateDim, int InputDim>

virtual void nmpc_ddp::DDPProblem< StateDim, InputDim >::calcStateEqDeriv	(	double	t,
		const StateDimVector &	x,
		const InputDimVector &	u,
		Eigen::Ref< StateStateDimMatrix >	state_eq_deriv_x,
		Eigen::Ref< StateInputDimMatrix >	state_eq_deriv_u
	)		const

pure virtual

Calculate first-order derivatives of discrete state equation.

Parameters

t	time [sec]
x	state
u	input
state_eq_deriv_x	first-order derivative of state equation w.r.t. state
state_eq_deriv_u	first-order derivative of state equation w.r.t. input

◆ calcStateEqDeriv() [2/2]

template<int StateDim, int InputDim>

virtual void nmpc_ddp::DDPProblem< StateDim, InputDim >::calcStateEqDeriv	(	double	t,
		const StateDimVector &	x,
		const InputDimVector &	u,
		Eigen::Ref< StateStateDimMatrix >	state_eq_deriv_x,
		Eigen::Ref< StateInputDimMatrix >	state_eq_deriv_u,
		std::vector< StateStateDimMatrix > &	state_eq_deriv_xx,
		std::vector< InputInputDimMatrix > &	state_eq_deriv_uu,
		std::vector< StateInputDimMatrix > &	state_eq_deriv_xu
	)		const

pure virtual

Calculate first-order and second-order derivatives of discrete state equation.

Parameters

t	time [sec]
x	state
u	input
state_eq_deriv_x	first-order derivative of state equation w.r.t. state
state_eq_deriv_u	first-order derivative of state equation w.r.t. input
state_eq_deriv_xx	second-order derivative of state equation w.r.t. state
state_eq_deriv_uu	second-order derivative of state equation w.r.t. input
state_eq_deriv_xu	second-order derivative of state equation w.r.t. state and input

◆ calcTerminalCostDeriv() [1/2]

template<int StateDim, int InputDim>

virtual void nmpc_ddp::DDPProblem< StateDim, InputDim >::calcTerminalCostDeriv	(	double	t,
		const StateDimVector &	x,
		Eigen::Ref< StateDimVector >	terminal_cost_deriv_x
	)		const

pure virtual

Calculate first-order derivatives of terminal cost.

Parameters

t	time [sec]
x	state
terminal_cost_deriv_x	first-order derivative of terminal cost w.r.t. state

◆ calcTerminalCostDeriv() [2/2]

template<int StateDim, int InputDim>

virtual void nmpc_ddp::DDPProblem< StateDim, InputDim >::calcTerminalCostDeriv	(	double	t,
		const StateDimVector &	x,
		Eigen::Ref< StateDimVector >	terminal_cost_deriv_x,
		Eigen::Ref< StateStateDimMatrix >	terminal_cost_deriv_xx
	)		const

pure virtual

Calculate first-order and second-order derivatives of terminal cost.

Parameters

t	time [sec]
x	state
terminal_cost_deriv_x	first-order derivative of terminal cost w.r.t. state
terminal_cost_deriv_xx	second-order derivative of terminal cost w.r.t. state

◆ dt()

template<int StateDim, int InputDim>

double nmpc_ddp::DDPProblem< StateDim, InputDim >::dt ( ) const

inline

Gets the discretization timestep [sec].

Definition at line 88 of file DDPProblem.h.

◆ inputDim() [1/2]

template<int StateDim, int InputDim>

virtual int nmpc_ddp::DDPProblem< StateDim, InputDim >::inputDim ( ) const

inlinevirtual

Gets the input dimension.

Note: If input dimension is dynamic, this must not be called. Instead, inputDim(t) must be called passing time as a parameter.

Definition at line 61 of file DDPProblem.h.

◆ inputDim() [2/2]

template<int StateDim, int InputDim>

virtual int nmpc_ddp::DDPProblem< StateDim, InputDim >::inputDim ( double ) const

inlinevirtual

Gets the input dimension.

Parameters

t time

Note: If input dimension is dynamic, this must be overridden.

Definition at line 74 of file DDPProblem.h.

◆ runningCost()

template<int StateDim, int InputDim>

virtual double nmpc_ddp::DDPProblem< StateDim, InputDim >::runningCost	(	double	t,
		const StateDimVector &	x,
		const InputDimVector &	u
	)		const

pure virtual

Calculate running cost.

Parameters

t	time [sec]
x	current state (x[k])
u	current input (u[k])

Returns: running cost (L[k])

◆ stateDim()

template<int StateDim, int InputDim>

static constexpr int nmpc_ddp::DDPProblem< StateDim, InputDim >::stateDim ( )

inlinestaticconstexpr

Gets the state dimension.

Definition at line 52 of file DDPProblem.h.

◆ stateEq()

template<int StateDim, int InputDim>

virtual StateDimVector nmpc_ddp::DDPProblem< StateDim, InputDim >::stateEq	(	double	t,
		const StateDimVector &	x,
		const InputDimVector &	u
	)		const

pure virtual

Calculate discrete state equation.

Parameters

t	time [sec]
x	current state (x[k])
u	current input (u[k])

Returns: next state (x[k+1])

◆ terminalCost()

template<int StateDim, int InputDim>

virtual double nmpc_ddp::DDPProblem< StateDim, InputDim >::terminalCost	(	double	t,
		const StateDimVector &	x
	)		const

pure virtual

Calculate terminal cost.

Parameters

t	time [sec]
x	current state (x[k])

Returns: terminal cost (phi[k])

Member Data Documentation

◆ dt_

template<int StateDim, int InputDim>

const double nmpc_ddp::DDPProblem< StateDim, InputDim >::dt_ = 0

protected

Discretization timestep [sec].

Definition at line 202 of file DDPProblem.h.

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

/home/runner/work/NMPC/NMPC/catkin_ws/src/NMPC/nmpc_ddp/include/nmpc_ddp/DDPProblem.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

template<int StateDim, int InputDim> class nmpc_ddp::DDPProblem< StateDim, InputDim >

Member Typedef Documentation

◆ InputDimVector

◆ InputInputDimMatrix

◆ InputStateDimMatrix

◆ StateDimVector

◆ StateInputDimMatrix

◆ StateStateDimMatrix

Constructor & Destructor Documentation

◆ DDPProblem()

Member Function Documentation

◆ calcRunningCostDeriv() [1/2]

◆ calcRunningCostDeriv() [2/2]

◆ calcStateEqDeriv() [1/2]

◆ calcStateEqDeriv() [2/2]

◆ calcTerminalCostDeriv() [1/2]

◆ calcTerminalCostDeriv() [2/2]

◆ dt()

◆ inputDim() [1/2]

◆ inputDim() [2/2]

◆ runningCost()

◆ stateDim()

◆ stateEq()

◆ terminalCost()

Member Data Documentation

◆ dt_

template<int StateDim, int InputDim>
class nmpc_ddp::DDPProblem< StateDim, InputDim >