ocp_to_nlp.hpp File Reference

Formulate optimal control problem as a nonlinear program. More...

#include <Eigen/Core>
#include <smooth/concepts/lie_group.hpp>
#include "collocation/mesh.hpp"
#include "collocation/mesh_function.hpp"
#include "nlp.hpp"
#include "ocp.hpp"

Include dependency graph for ocp_to_nlp.hpp:

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Functions
template<diff::Type DT = diff::Type::Default>
auto	smooth::feedback::ocp_to_nlp (FlatOCPType auto &&ocp, MeshType auto &&mesh) -> detail::OCPNLP< std::decay_t< decltype(ocp)>, std::decay_t< decltype(mesh)>, DT >
	Formulate an OCP as a NLP using collocation on a Mesh. More...
auto	smooth::feedback::nlpsol_to_ocpsol (const FlatOCPType auto &ocp, const MeshType auto &mesh, const NLPSolution &nlp_sol)
	Convert nonlinear program solution to ocp solution. More...
NLPSolution	smooth::feedback::ocpsol_to_nlpsol (const FlatOCPType auto &ocp, const MeshType auto &mesh, const auto &ocpsol)
	Convert ocp solution to nonlinear program solution. More...

Detailed Description

Formulate optimal control problem as a nonlinear program.

Definition in file ocp_to_nlp.hpp.

Function Documentation

nlpsol_to_ocpsol()

auto smooth::feedback::nlpsol_to_ocpsol	(	const FlatOCPType auto &	ocp,
		const MeshType auto &	mesh,
		const NLPSolution &	nlp_sol
	)

Convert nonlinear program solution to ocp solution.

Definition at line 442 of file ocp_to_nlp.hpp.

ocp_to_nlp()

template<diff::Type DT = diff::Type::Default>

auto smooth::feedback::ocp_to_nlp	(	FlatOCPType auto &&	ocp,
		MeshType auto &&	mesh
	)		-> detail::OCPNLP<std::decay_t<decltype(ocp)>, std::decay_t<decltype(mesh)>, DT>

Formulate an OCP as a NLP using collocation on a Mesh.

Parameters

ocp	Optimal control problem definition
mesh	collocation point structure

Returns

encoding of ocp as a nonlinear program

See also

ocpsol_to_nlpsol(), nlpsol_to_ocpsol()

Definition at line 432 of file ocp_to_nlp.hpp.

ocpsol_to_nlpsol()

NLPSolution smooth::feedback::ocpsol_to_nlpsol	(	const FlatOCPType auto &	ocp,
		const MeshType auto &	mesh,
		const auto &	ocpsol
	)

Convert ocp solution to nonlinear program solution.

Note

Allocates memory for return type.

Definition at line 515 of file ocp_to_nlp.hpp.