Description
Enforce the differential equations in the problem using a trapezoidal (second-order) approximation.
The integral in the objective function is approximated by trapezoidal quadrature.
Inheritance diagram for CasOC::Trapezoidal:
#include <Moco/Moco/MocoCasADiSolver/CasOCTrapezoidal.h>
Public Member Functions | |
| Trapezoidal (const Solver &solver, const Problem &problem) | |
 Public Member Functions inherited from CasOC::Transcription | |
| Transcription (const Solver &solver, const Problem &problem) | |
| Iterate | createInitialGuessFromBounds () const |
| Iterate | createRandomIterateWithinBounds (const SimTK::Random *=nullptr) const |
| Use the provided random number generator to generate an iterate. More... | |
| template<typename T > | |
| T | createTimes (const T &initialTime, const T &finalTime) const |
| casadi::DM | createQuadratureCoefficients () const |
| casadi::DM | createMeshIndices () const |
| Solution | solve (const Iterate &guessOrig) |
Additional Inherited Members | |
| Protected Member Functions inherited from CasOC::Transcription | |
| void | createVariablesAndSetBounds (const casadi::DM &grid, int numDefectsPerMeshInterval, const casadi::DM &pointsForInterpControls=casadi::DM()) |
| This must be called in the constructor of derived classes so that overridden virtual methods are accessible to the base class. More... | |
| casadi::MXVector | evalOnTrajectory (const casadi::Function &pointFunction, const std::vector< Var > &inputs, const casadi::Matrix< casadi_int > &timeIndices) const |
| We assume all functions depend on time and parameters. More... | |
| template<typename TRow , typename TColumn > | |
| void | setVariableBounds (Var var, const TRow &rowIndices, const TColumn &columnIndices, const Bounds &bounds) |
| void | printConstraintValues (const Iterate &it, const Constraints< casadi::DM > &constraints, std::ostream &stream=std::cout) const |
| void | printObjectiveBreakdown (const Iterate &it, const casadi::DM &objectiveTerms, std::ostream &stream=std::cout) const |
| Protected Attributes inherited from CasOC::Transcription | |
| const Solver & | m_solver |
| const Problem & | m_problem |
| int | m_numGridPoints = -1 |
| int | m_numMeshPoints = -1 |
| int | m_numMeshIntervals = -1 |
| int | m_numMeshInteriorPoints = -1 |
| int | m_numDefectsPerMeshInterval = -1 |
| int | m_numMultibodyResiduals = -1 |
| int | m_numAuxiliaryResiduals = -1 |
| int | m_numConstraints = -1 |
| casadi::DM | m_grid |
| casadi::DM | m_pointsForInterpControls |
| casadi::MX | m_times |
| casadi::MX | m_duration |
The documentation for this class was generated from the following file: