Description
Enforce the differential equations in the problem using a Hermite- Simpson (third-order) approximation.
The integral in the objective function is approximated by Simpson quadrature.
Defect constraints.
For each state variable, there is one pair of defect constraints (Hermite interpolant defect + Simpson integration defect) per mesh interval. Each mesh interval includes two mesh points (at the interval's endpoints) and an additional collocation point at the mesh interval midpoint. All three mesh interval points (2 mesh points + 1 collocation point) are used to construct the defects.
Kinematic constraints and path constraints.
Kinematic constraint and path constraint errors are enforced only at the mesh points. Errors at collocation points at the mesh interval midpoint are ignored.
#include <Moco/Moco/MocoCasADiSolver/CasOCHermiteSimpson.h>
Public Member Functions | |
| HermiteSimpson (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: