iDynTree::optimalcontrol::MultipleShootingSolver class
#include <iDynTree/OCSolvers/MultipleShootingSolver.h>

Base classes

MultipleShootingSolver(const std::shared_ptr<OptimalControlProblem>& ocProblem)
MultipleShootingSolver(const MultipleShootingSolver& other) deleted

auto setStepSizeBounds(double minStepSize, double maxStepsize) -> bool
auto setIntegrator(const std::shared_ptr<Integrator> integrationMethod) -> bool
auto setControlPeriod(double period) -> bool
auto setAdditionalStateMeshPoints(const std::vector<double>& stateMeshes) -> bool
auto setAdditionalControlMeshPoints(const std::vector<double>& controlMeshes) -> bool
auto setOptimizer(std::shared_ptr<optimization::Optimizer> optimizer) -> bool
auto setInitialState(const VectorDynSize& initialState) -> bool
auto setGuesses(std::shared_ptr<optimalcontrol::TimeVaryingVector> stateGuesses, std::shared_ptr<optimalcontrol::TimeVaryingVector> controlGuesses) -> bool
auto getTimings(std::vector<double>& stateEvaluations, std::vector<double>& controlEvaluations) -> bool
auto getPossibleTimings(std::vector<double>& stateEvaluations, std::vector<double>& controlEvaluations) -> bool
auto solve() -> bool override
auto getSolution(std::vector<VectorDynSize>& states, std::vector<VectorDynSize>& controls) -> bool
void resetTranscription()
void addConstraintsHessianRegularization(double regularization)
void disableConstraintsHessianRegularization()
void addCostsHessianRegularization(double regularization)
void disableCostsHessianRegularization()