Inheritance diagram for CasOC::Problem:

Classes
struct	ContinuousInput

struct	CostInput

struct	MultibodySystemExplicitOutput

struct	MultibodySystemImplicitOutput

Public Member Functions
template<typename IterateType = Iterate>
IterateType	createIterate () const
	Create an iterate with the variable names populated according to the variables added to this problem. More...

void	initialize (const std::string &finiteDiffScheme, std::shared_ptr< const std::vector< VariablesDM >> pointsForSparsityDetection) const

Interface for CasOC::Transcription.
int	getNumStates () const

int	getNumControls () const

int	getNumParameters () const

int	getNumMultipliers () const

std::string	getDynamicsMode () const

bool	isDynamicsModeImplicit () const

int	getNumDerivatives () const

int	getNumSlacks () const

int	getNumCoordinates () const
	This is the number of generalized coordinates, which may be greater than the number of generalized speeds. More...

int	getNumSpeeds () const

int	getNumAccelerations () const

int	getNumAuxiliaryStates () const

int	getNumCosts () const

bool	isPrescribedKinematics () const

int	getNumMultibodyDynamicsEquations () const
	If the coordinates are prescribed, then the number of multibody dynamics equations is not the same as the number of speeds. More...

const std::vector< std::string > &	getAuxiliaryDerivativeNames () const

int	getNumAuxiliaryResidualEquations () const

int	getNumKinematicConstraintEquations () const

std::vector< std::string >	createKinematicConstraintEquationNames () const
	Create a vector of names for scalar kinematic constraint equations. More...

int	getNumHolonomicConstraintEquations () const

int	getNumNonHolonomicConstraintEquations () const

int	getNumAccelerationConstraintEquations () const

bool	getEnforceConstraintDerivatives () const

const Bounds &	getKinematicConstraintBounds () const

const Bounds &	getTimeInitialBounds () const

const Bounds &	getTimeFinalBounds () const

const std::vector< StateInfo > &	getStateInfos () const

const std::vector< ControlInfo > &	getControlInfos () const

const std::vector< MultiplierInfo > &	getMultiplierInfos () const

const std::vector< SlackInfo > &	getSlackInfos () const

const std::vector< ParameterInfo > &	getParameterInfos () const

const std::vector< CostInfo > &	getCostInfos () const

const std::vector< EndpointConstraintInfo > &	getEndpointConstraintInfos () const

const std::vector< PathConstraintInfo > &	getPathConstraintInfos () const

const casadi::Function &	getMultibodySystem () const
	Get a function to the full multibody system (i.e. More...

const casadi::Function &	getMultibodySystemIgnoringConstraints () const
	Get a function to the multibody system that does not compute kinematic constraint errors (if they exist). More...

const casadi::Function &	getVelocityCorrection () const
	Get a function to compute the velocity correction to qdot when enforcing kinematic constraints and their derivatives. More...

const casadi::Function &	getImplicitMultibodySystem () const

const casadi::Function &	getImplicitMultibodySystemIgnoringConstraints () const

Interface for the user building the problem.
Call the add/set functions in the constructor for your problem.
virtual void	calcMultibodySystemExplicit (const ContinuousInput &input, bool calcKCErrors, MultibodySystemExplicitOutput &output) const =0
	Kinematic constraint errors should be ordered as so: More...

virtual void	calcMultibodySystemImplicit (const ContinuousInput &input, bool calcKCErrors, MultibodySystemImplicitOutput &output) const =0

virtual void	calcVelocityCorrection (const double &time, const casadi::DM &multibody_states, const casadi::DM &slacks, const casadi::DM &parameters, casadi::DM &velocity_correction) const =0

virtual void	calcCostIntegrand (int, const ContinuousInput &, double &) const

virtual void	calcCost (int, const CostInput &, casadi::DM &) const

virtual void	calcEndpointConstraintIntegrand (int, const ContinuousInput &, double &) const

virtual void	calcEndpointConstraint (int, const CostInput &, casadi::DM &) const

virtual void	calcPathConstraint (int, const ContinuousInput &, casadi::DM &) const

virtual std::vector< std::string >	createKinematicConstraintEquationNamesImpl () const

void	intermediateCallback () const

void	intermediateCallbackWithIterate (const CasOC::Iterate &it) const

virtual void	intermediateCallbackImpl () const
	This is invoked once for each iterate in the optimization process.

virtual void	intermediateCallbackWithIterateImpl (const CasOC::Iterate &) const
	Process an intermediate iterate. More...

void	setTimeBounds (Bounds initial, Bounds final)

void	addState (std::string name, StateType type, Bounds bounds, Bounds initialBounds, Bounds finalBounds)
	Add a differential state. More...

void	addControl (std::string name, Bounds bounds, Bounds initialBounds, Bounds finalBounds)
	Add an algebraic variable/"state" to the problem.

void	addKinematicConstraint (std::string multName, Bounds multbounds, Bounds multInitialBounds, Bounds multFinalBounds, KinematicLevel kinLevel)

void	addSlack (std::string name, Bounds bounds)
	Add a slack velocity correction variable to the problem associated with a kinematic constraint in the model. More...

void	setPrescribedKinematics (bool tf, int numMultibodyDynamicsEquations)
	Set if all kinematics are prescribed. More...

void	setEnforceConstraintDerivatives (bool tf)
	Set whether not constraint derivatives are to be enforced.

void	setKinematicConstraintBounds (Bounds bounds)
	Set the bounds for all kinematic constraints in the problem.

void	addParameter (std::string name, Bounds bounds)
	Add a constant (time-invariant) variable to the optimization problem.

void	addCost (std::string name, int numIntegrals, int numOutputs)
	Add a cost term to the problem.

void	addEndpointConstraint (std::string name, int numIntegrals, std::vector< Bounds > bounds)
	Add an endpoint constraint to the problem.

void	addPathConstraint (std::string name, std::vector< Bounds > bounds)
	The size of bounds must match the number of outputs in the function. More...

void	setDynamicsMode (std::string dynamicsMode)

void	setAuxiliaryDerivativeNames (const std::vector< std::string > &names)

Member Function Documentation

◆ addPathConstraint()

void CasOC::Problem::addPathConstraint	(	std::string	name,
		std::vector< Bounds >	bounds
	)

inlineprotected

The size of bounds must match the number of outputs in the function.

Use variadic template arguments to pass arguments to the constructor of FunctionType.

◆ addSlack()

void CasOC::Problem::addSlack	(	std::string	name,
		Bounds	bounds
	)

inlineprotected

Add a slack velocity correction variable to the problem associated with a kinematic constraint in the model.

◆ addState()

void CasOC::Problem::addState	(	std::string	name,
		StateType	type,
		Bounds	bounds,
		Bounds	initialBounds,
		Bounds	finalBounds
	)

inlineprotected

Add a differential state.

The MultibodySystem function must provide differential equations for Speed and Auxiliary states. Currently, CasOC internally handles the differential equations for the generalized coordinates. The state variables must be added in the order Coordinate, Speed, Auxiliary.

◆ calcMultibodySystemExplicit()

virtual void CasOC::Problem::calcMultibodySystemExplicit	(	const ContinuousInput &	input,
		bool	calcKCErrors,
		MultibodySystemExplicitOutput &	output
	)		const

pure virtual

Kinematic constraint errors should be ordered as so:

position-level constraints
first derivative of position-level constraints
velocity-level constraints
second derivative of position-level constraints
first derivative of velocity-level constraints
acceleration-level constraints

◆ createIterate()

template<typename IterateType = Iterate>

IterateType CasOC::Problem::createIterate ( ) const

inline

Create an iterate with the variable names populated according to the variables added to this problem.

◆ createKinematicConstraintEquationNames()

std::vector<std::string> CasOC::Problem::createKinematicConstraintEquationNames ( ) const

inline

Create a vector of names for scalar kinematic constraint equations.

The length of the vector is getNumKinematicConstraintEquations(). includeDerivatives determines if names for derivatives of position-level and velocity-level constraints should be included.

◆ getMultibodySystem()

const casadi::Function& CasOC::Problem::getMultibodySystem ( ) const

inline

Get a function to the full multibody system (i.e.

including kinematic constraints errors).

◆ getMultibodySystemIgnoringConstraints()

const casadi::Function& CasOC::Problem::getMultibodySystemIgnoringConstraints ( ) const

inline

Get a function to the multibody system that does not compute kinematic constraint errors (if they exist).

This may be necessary for computing state derivatives at grid points where we do not want to enforce kinematic constraint errors.

◆ getNumCoordinates()

int CasOC::Problem::getNumCoordinates ( ) const

inline

This is the number of generalized coordinates, which may be greater than the number of generalized speeds.

◆ getNumMultibodyDynamicsEquations()

int CasOC::Problem::getNumMultibodyDynamicsEquations ( ) const

inline

If the coordinates are prescribed, then the number of multibody dynamics equations is not the same as the number of speeds.

◆ getVelocityCorrection()

const casadi::Function& CasOC::Problem::getVelocityCorrection ( ) const

inline

Get a function to compute the velocity correction to qdot when enforcing kinematic constraints and their derivatives.

We require a separate function for this since we don't actually compute qdot within the multibody system.

◆ intermediateCallbackWithIterateImpl()

virtual void CasOC::Problem::intermediateCallbackWithIterateImpl ( const CasOC::Iterate & ) const

inlinevirtual

Process an intermediate iterate.

The frequency with which this is evaluated is governed by Solver::getOutputInterval().

◆ setPrescribedKinematics()

void CasOC::Problem::setPrescribedKinematics	(	bool	tf,
		int	numMultibodyDynamicsEquations
	)

inlineprotected

Set if all kinematics are prescribed.

In this case, do not add state variables for coordinates or speeds. The number of multibody dynamics equations is equal to the number of speeds in the original system. But if kinematics are prescribed, you must provide the number of multibody dynamics equations directly. This is because no speed state variables are added and CasOCProblem can't obtain the number of multibody equations by counting the number of speed state variables.

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

CasOCProblem.h

Classes

Public Member Functions

Interface for the user building the problem.

Member Function Documentation

◆ addPathConstraint()

◆ addSlack()

◆ addState()

◆ calcMultibodySystemExplicit()

◆ createIterate()

◆ createKinematicConstraintEquationNames()

◆ getMultibodySystem()

◆ getMultibodySystemIgnoringConstraints()

◆ getNumCoordinates()

◆ getNumMultibodyDynamicsEquations()

◆ getVelocityCorrection()

◆ intermediateCallbackWithIterateImpl()

◆ setPrescribedKinematics()