ocp_to_qp.hpp File Reference

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

#include <Eigen/Core>
#include <smooth/diff.hpp>
#include "collocation/mesh.hpp"
#include "collocation/mesh_function.hpp"
#include "ocp.hpp"
#include "qp.hpp"

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Functions
template<diff::Type DT = diff::Type::Default>
QuadraticProgramSparse< double >	smooth::feedback::ocp_to_qp (const OCPType auto &ocp, const MeshType auto &mesh, double tf, auto &&xl_fun, auto &&ul_fun)
	Formulate an optimal control problem as a quadratic program via linearization. More...
auto	smooth::feedback::qpsol_to_ocpsol (const OCPType auto &ocp, const MeshType auto &mesh, const QPSolution<-1, -1, double > &qpsol, double tf, auto &&xl_fun, auto &&ul_fun)
	Convert QP solution to OCP solution. More...

Detailed Description

Formulate optimal control problem as a quadratic program.

Definition in file ocp_to_qp.hpp.

Function Documentation

ocp_to_qp()

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

QuadraticProgramSparse< double > smooth::feedback::ocp_to_qp	(	const OCPType auto &	ocp,
		const MeshType auto &	mesh,
		double	tf,
		auto &&	xl_fun,
		auto &&	ul_fun
	)

Formulate an optimal control problem as a quadratic program via linearization.

/**

Parameters

ocp	input problem
mesh	time discretization
tf	time horizon
xl_fun	state linearization (must be differentiable w.r.t. time)
ul_fun	input linearization

Returns

sparse quadratic program for a flattened formulation of ocp.

Note

allocates memory for each call. To reduce memory allocation for repeated calls, see ocp_to_qp_allocate() and ocp_to_qp_update().

See also

qpsol_to_ocpsol()

Definition at line 423 of file ocp_to_qp.hpp.

qpsol_to_ocpsol()

auto smooth::feedback::qpsol_to_ocpsol	(	const OCPType auto &	ocp,
		const MeshType auto &	mesh,
		const QPSolution<-1, -1, double > &	qpsol,
		double	tf,
		auto &&	xl_fun,
		auto &&	ul_fun
	)

Convert QP solution to OCP solution.

If qp_sol solves a QP obtained via ocp_to_qp(), then qpsol_to_ocpsol(qp_sol) is the corrensponding OCP solution.

Parameters

ocp	optimal control problem
mesh	discretization mesh
qpsol	solution to quadratic program obtained via ocp_to_qp()
tf	final time used in ocp_to_qp()
xl_fun	state linearization trajectory used in ocp_to_qp()
ul_fun	input linearization trajectory used in ocp_to_qp()

See also

ocp_to_qp()

Definition at line 452 of file ocp_to_qp.hpp.