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EIGEN_MAKE_ALIGNED_OPERATOR_NEW | SolverAbstract (boost::shared_ptr< ShootingProblem > problem) |
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virtual void | computeDirection (const bool &recalc)=0 |
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virtual const Eigen::Vector2d & | expectedImprovement ()=0 |
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const double & | get_cost () const |
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const Eigen::Vector2d & | get_d () const |
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const double & | get_dV () const |
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const double & | get_dVexp () const |
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const bool & | get_is_feasible () const |
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const std::size_t & | get_iter () const |
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const boost::shared_ptr< ShootingProblem > & | get_problem () const |
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const double & | get_steplength () const |
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const double & | get_stop () const |
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const double & | get_th_acceptstep () const |
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const double & | get_th_stop () const |
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const double & | get_ureg () const |
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const std::vector< Eigen::VectorXd > & | get_us () const |
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const double & | get_xreg () const |
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const std::vector< Eigen::VectorXd > & | get_xs () const |
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const std::vector< boost::shared_ptr< CallbackAbstract > > & | getCallbacks () const |
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void | set_th_acceptstep (const double &th_acceptstep) |
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void | set_th_stop (const double &th_stop) |
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void | set_ureg (const double &ureg) |
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void | set_us (const std::vector< Eigen::VectorXd > &us) |
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void | set_xreg (const double &xreg) |
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void | set_xs (const std::vector< Eigen::VectorXd > &xs) |
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void | setCallbacks (const std::vector< boost::shared_ptr< CallbackAbstract > > &callbacks) |
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void | setCandidate (const std::vector< Eigen::VectorXd > &xs_warm=DEFAULT_VECTOR, const std::vector< Eigen::VectorXd > &us_warm=DEFAULT_VECTOR, const bool &is_feasible=false) |
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virtual bool | solve (const std::vector< Eigen::VectorXd > &init_xs=DEFAULT_VECTOR, const std::vector< Eigen::VectorXd > &init_us=DEFAULT_VECTOR, const std::size_t &maxiter=100, const bool &is_feasible=false, const double ®_init=1e-9)=0 |
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virtual double | stoppingCriteria ()=0 |
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virtual double | tryStep (const double &step_length=1)=0 |
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std::vector< boost::shared_ptr< CallbackAbstract > > | callbacks_ |
| Callback functions.
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double | cost_ |
| Total cost.
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Eigen::Vector2d | d_ |
| LQ approximation of the expected improvement.
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double | dV_ |
| Cost reduction obtained by tryStep.
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double | dVexp_ |
| Expected cost reduction.
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bool | is_feasible_ |
| Label that indicates is the iteration is feasible.
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std::size_t | iter_ |
| Number of iteration performed by the solver.
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boost::shared_ptr< ShootingProblem > | problem_ |
| optimal control problem
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double | steplength_ |
| Current applied step-length.
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double | stop_ |
| Value computed by stoppingCriteria.
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double | th_acceptstep_ |
| Threshold used for accepting step.
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double | th_stop_ |
| Tolerance for stopping the algorithm.
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double | ureg_ |
| Current control regularization values.
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std::vector< Eigen::VectorXd > | us_ |
| Control trajectory.
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double | xreg_ |
| Current state regularization value.
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std::vector< Eigen::VectorXd > | xs_ |
| State trajectory.
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Definition at line 21 of file solver-base.hpp.
The documentation for this class was generated from the following files: