Namespace for trajectory_optimization package. More...

Classes
struct	is_vector

struct	is_vector< std::vector< T, A > >

class	PerformanceLogger

struct	PerformanceMetrics

class	TrajectoryOptimizationAckermannNode

class	TrajectoryOptimizationNode

class	TrajectoryOptimizationRWSNode

Typedefs
typedef std::variant< karl_solver_capsule , shuttle_solver_capsule >	ocp_model_capsule_t

Functions
ocp_model_capsule_t	acados_create_capsule (const std::string &model_name)
	Creates the model-specific acados capsule selected by the configured model name.

int	acados_create (ocp_model_capsule_t capsule)
	Wrapper around the generated acados create function for the selected model.

int	acados_create_with_discretization (ocp_model_capsule_t capsule, int n_time_steps, double *new_time_steps)
	Wrapper around the generated acados create function with custom discretization.

int	acados_free_capsule (ocp_model_capsule_t capsule)
	Wrapper around the generated acados capsule cleanup function.

int	acados_free (ocp_model_capsule_t capsule)
	Wrapper around the generated acados solver cleanup function.

int	acados_solve (ocp_model_capsule_t capsule)
	Wrapper around the generated acados solve function.

void	acados_evaluate_dynamics (ocp_model_capsule_t capsule, int stage, double x, double u, double *x_dot)
	Evaluates the explicit model dynamics for a shooting stage.

int	acados_reset (ocp_model_capsule_t capsule, int reset_qp_solver_mem, int reset_numerical_values, int reset_solver_options, int reset_x_to_x0_bar)
	Resets selected solver memory without freeing and recreating the capsule.

int	acados_update_params_sparse (ocp_model_capsule_t capsule, int stage, int idx, double p, int n_update)
	Wrapper around the generated sparse parameter update function.

int	acados_set_p_global_and_precompute_dependencies (ocp_model_capsule_t capsule, double *data, int data_len)
	Wrapper around the generated global-parameter update function.

void	acados_print_stats (ocp_model_capsule_t capsule)
	Wrapper around the generated acados statistics printer.

ocp_nlp_in *	acados_get_nlp_in (ocp_model_capsule_t capsule)
	Wrapper around the generated accessor for the OCP input structure.

ocp_nlp_out *	acados_get_nlp_out (ocp_model_capsule_t capsule)
	Wrapper around the generated accessor for the OCP output structure.

ocp_nlp_solver *	acados_get_nlp_solver (ocp_model_capsule_t capsule)
	Wrapper around the generated accessor for the OCP solver instance.

ocp_nlp_config *	acados_get_nlp_config (ocp_model_capsule_t capsule)
	Wrapper around the generated accessor for the OCP configuration.

void *	acados_get_nlp_opts (ocp_model_capsule_t capsule)
	Wrapper around the generated accessor for the OCP solver options.

ocp_nlp_dims *	acados_get_nlp_dims (ocp_model_capsule_t capsule)
	Wrapper around the generated accessor for the OCP dimensions.

Variables
template<typename C >
constexpr bool	is_vector_v = is_vector<C>::value

Detailed Description

Namespace for trajectory_optimization package.

Typedef Documentation

◆ ocp_model_capsule_t

typedef std::variant<karl_solver_capsule*, shuttle_solver_capsule*> trajectory_optimization::ocp_model_capsule_t

Definition at line 23 of file ocp_model_handler.hpp.

Function Documentation

◆ acados_create()

int trajectory_optimization::acados_create ( ocp_model_capsule_t capsule )

inline

Wrapper around the generated acados create function for the selected model.

Parameters

[in] capsule Variant holding the model-specific acados capsule.

Returns: Status code returned by the generated acados function.

Definition at line 57 of file ocp_model_handler.hpp.

57{ ACADOS_DISPATCH(acados_create); }

ACADOS_DISPATCH

#define ACADOS_DISPATCH(function_name,...)

Definition ocp_model_handler.hpp:42

◆ acados_create_capsule()

ocp_model_capsule_t trajectory_optimization::acados_create_capsule ( const std::string & model_name )

inline

Creates the model-specific acados capsule selected by the configured model name.

Parameters

[in] model_name Name of the generated acados model.

Returns: Variant containing the concrete acados capsule pointer.

Exceptions

std::invalid_argument If no generated model matches the given name.

Definition at line 32 of file ocp_model_handler.hpp.

                                                                              {
  if (model_name == "karl") {
    return karl_acados_create_capsule();
  } else if (model_name == "shuttle") {
    return shuttle_acados_create_capsule();
  } else {
    throw std::invalid_argument("Invalid model name: " + model_name);
  }
}

◆ acados_create_with_discretization()

int trajectory_optimization::acados_create_with_discretization	(	ocp_model_capsule_t	capsule,
		int	n_time_steps,
		double *	new_time_steps )

inline

Wrapper around the generated acados create function with custom discretization.

Parameters

[in]	capsule	Variant holding the model-specific acados capsule.
[in]	n_time_steps	Number of shooting intervals.
[in]	new_time_steps	Time-step array passed through to acados.

Returns: Status code returned by the generated acados function.

Definition at line 67 of file ocp_model_handler.hpp.

                                                                                                                    {
  ACADOS_DISPATCH(acados_create_with_discretization, n_time_steps, new_time_steps);
}

◆ acados_evaluate_dynamics()

void trajectory_optimization::acados_evaluate_dynamics	(	ocp_model_capsule_t	capsule,
		int	stage,
		double *	x,
		double *	u,
		double *	x_dot )

inline

Evaluates the explicit model dynamics for a shooting stage.

Parameters

[in]	capsule	Variant holding the model-specific acados capsule.
[in]	stage	Shooting stage whose dynamics function is evaluated.
[in]	x	State vector at which to evaluate the dynamics.
[in]	u	Control vector at which to evaluate the dynamics.
[out]	x_dot	Evaluated state derivative.

Definition at line 104 of file ocp_model_handler.hpp.

                                                                                                                  {
  std::array<ext_fun_arg_t, 2> input_types = {COLMAJ, COLMAJ};
  std::array<void*, 2> inputs = {x, u};
  std::array<ext_fun_arg_t, 1> output_types = {COLMAJ};
  std::array<void*, 1> outputs = {x_dot};
 
  external_function_external_param_casadi* function = nullptr;
 
  if (std::holds_alternative<karl_solver_capsule*>(capsule)) {
    function = &std::get<karl_solver_capsule*>(capsule)->expl_ode_fun[stage];  // NOLINT
  } else if (std::holds_alternative<shuttle_solver_capsule*>(capsule)) {
    function = &std::get<shuttle_solver_capsule*>(capsule)->expl_ode_fun[stage];  // NOLINT
  } else {
    throw std::invalid_argument("Invalid capsule type.");
  }
  function->evaluate(function, input_types.data(), inputs.data(), output_types.data(), outputs.data());
}

◆ acados_free()

int trajectory_optimization::acados_free ( ocp_model_capsule_t capsule )

inline

Wrapper around the generated acados solver cleanup function.

Parameters

[in] capsule Variant holding the model-specific acados capsule.

Returns: Status code returned by the generated acados function.

Definition at line 85 of file ocp_model_handler.hpp.

85{ ACADOS_DISPATCH(acados_free); }

◆ acados_free_capsule()

int trajectory_optimization::acados_free_capsule ( ocp_model_capsule_t capsule )

inline

Wrapper around the generated acados capsule cleanup function.

Parameters

[in] capsule Variant holding the model-specific acados capsule.

Returns: Status code returned by the generated acados function.

Definition at line 77 of file ocp_model_handler.hpp.

77{ ACADOS_DISPATCH(acados_free_capsule); }

◆ acados_get_nlp_config()

ocp_nlp_config * trajectory_optimization::acados_get_nlp_config ( ocp_model_capsule_t capsule )

inline

Wrapper around the generated accessor for the OCP configuration.

Parameters

[in] capsule Variant holding the model-specific acados capsule.

Returns: Pointer to the model-specific ocp_nlp_config.

Definition at line 196 of file ocp_model_handler.hpp.

196{ ACADOS_DISPATCH(acados_get_nlp_config); }

◆ acados_get_nlp_dims()

ocp_nlp_dims * trajectory_optimization::acados_get_nlp_dims ( ocp_model_capsule_t capsule )

inline

Wrapper around the generated accessor for the OCP dimensions.

Parameters

[in] capsule Variant holding the model-specific acados capsule.

Returns: Pointer to the model-specific ocp_nlp_dims.

Definition at line 212 of file ocp_model_handler.hpp.

212{ ACADOS_DISPATCH(acados_get_nlp_dims); }

◆ acados_get_nlp_in()

ocp_nlp_in * trajectory_optimization::acados_get_nlp_in ( ocp_model_capsule_t capsule )

inline

Wrapper around the generated accessor for the OCP input structure.

Parameters

[in] capsule Variant holding the model-specific acados capsule.

Returns: Pointer to the model-specific ocp_nlp_in.

Definition at line 172 of file ocp_model_handler.hpp.

172{ ACADOS_DISPATCH(acados_get_nlp_in); }

◆ acados_get_nlp_opts()

void * trajectory_optimization::acados_get_nlp_opts ( ocp_model_capsule_t capsule )

inline

Wrapper around the generated accessor for the OCP solver options.

Parameters

[in] capsule Variant holding the model-specific acados capsule.

Returns: Pointer to the model-specific options object.

Definition at line 204 of file ocp_model_handler.hpp.

204{ ACADOS_DISPATCH(acados_get_nlp_opts); }

◆ acados_get_nlp_out()

ocp_nlp_out * trajectory_optimization::acados_get_nlp_out ( ocp_model_capsule_t capsule )

inline

Wrapper around the generated accessor for the OCP output structure.

Parameters

[in] capsule Variant holding the model-specific acados capsule.

Returns: Pointer to the model-specific ocp_nlp_out.

Definition at line 180 of file ocp_model_handler.hpp.

180{ ACADOS_DISPATCH(acados_get_nlp_out); }

◆ acados_get_nlp_solver()

ocp_nlp_solver * trajectory_optimization::acados_get_nlp_solver ( ocp_model_capsule_t capsule )

inline

Wrapper around the generated accessor for the OCP solver instance.

Parameters

[in] capsule Variant holding the model-specific acados capsule.

Returns: Pointer to the model-specific ocp_nlp_solver.

Definition at line 188 of file ocp_model_handler.hpp.

188{ ACADOS_DISPATCH(acados_get_nlp_solver); }

◆ acados_print_stats()

void trajectory_optimization::acados_print_stats ( ocp_model_capsule_t capsule )

inline

Wrapper around the generated acados statistics printer.

Parameters

[in] capsule Variant holding the model-specific acados capsule.

Definition at line 164 of file ocp_model_handler.hpp.

164{ ACADOS_DISPATCH(acados_print_stats); }

◆ acados_reset()

int trajectory_optimization::acados_reset	(	ocp_model_capsule_t	capsule,
		int	reset_qp_solver_mem,
		int	reset_numerical_values,
		int	reset_solver_options,
		int	reset_x_to_x0_bar )

inline

Resets selected solver memory without freeing and recreating the capsule.

Definition at line 125 of file ocp_model_handler.hpp.

                                               {
  ACADOS_DISPATCH(acados_reset, reset_qp_solver_mem, reset_numerical_values, reset_solver_options, reset_x_to_x0_bar);
}

◆ acados_set_p_global_and_precompute_dependencies()

int trajectory_optimization::acados_set_p_global_and_precompute_dependencies	(	ocp_model_capsule_t	capsule,
		double *	data,
		int	data_len )

inline

Wrapper around the generated global-parameter update function.

Parameters

[in]	capsule	Variant holding the model-specific acados capsule.
[in]	data	Global parameter buffer.
[in]	data_len	Number of entries in `data`.

Returns: Status code returned by the generated acados function.

Definition at line 155 of file ocp_model_handler.hpp.

                                                                                                                    {
  ACADOS_DISPATCH(acados_set_p_global_and_precompute_dependencies, data, data_len);
}

◆ acados_solve()

int trajectory_optimization::acados_solve ( ocp_model_capsule_t capsule )

inline

Wrapper around the generated acados solve function.

Parameters

[in] capsule Variant holding the model-specific acados capsule.

Returns: Status code returned by the generated acados function.

Definition at line 93 of file ocp_model_handler.hpp.

93{ ACADOS_DISPATCH(acados_solve); }

◆ acados_update_params_sparse()

int trajectory_optimization::acados_update_params_sparse	(	ocp_model_capsule_t	capsule,
		int	stage,
		int *	idx,
		double *	p,
		int	n_update )

inline

Wrapper around the generated sparse parameter update function.

Parameters

[in]	capsule	Variant holding the model-specific acados capsule.
[in]	stage	Shooting stage to update.
[in]	idx	Indices of the parameters to overwrite.
[in]	p	Parameter values written to the selected indices.
[in]	n_update	Number of updated parameter entries.

Returns: Status code returned by the generated acados function.

Definition at line 143 of file ocp_model_handler.hpp.

                                                                                                                  {
  ACADOS_DISPATCH(acados_update_params_sparse, stage, idx, p, n_update);
}

Variable Documentation

◆ is_vector_v

template<typename C >

bool trajectory_optimization::is_vector_v = is_vector<C>::value

inlineconstexpr

Definition at line 43 of file trajectory_optimization_node.hpp.

Classes

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

◆ ocp_model_capsule_t

Function Documentation

◆ acados_create()

◆ acados_create_capsule()

◆ acados_create_with_discretization()

◆ acados_evaluate_dynamics()

◆ acados_free()

◆ acados_free_capsule()

◆ acados_get_nlp_config()

◆ acados_get_nlp_dims()

◆ acados_get_nlp_in()

◆ acados_get_nlp_opts()

◆ acados_get_nlp_out()

◆ acados_get_nlp_solver()

◆ acados_print_stats()

◆ acados_reset()

◆ acados_set_p_global_and_precompute_dependencies()

◆ acados_solve()

◆ acados_update_params_sparse()

Variable Documentation

◆ is_vector_v