iDynTree::optimalcontrol::integrators::Integrator class
#include <iDynTree/Integrator.h>

The Integrator base class.

Inherit publicly from this class in order to specify a custom integration method.

Constructors, destructors, conversion operators

Integrator(): Integrator default constructor.
Integrator(const std::shared_ptr<iDynTree::optimalcontrol::DynamicalSystem> dynamicalSystem): Integrator constructor.
Integrator(const Integrator& other) deleted
~Integrator() virtual

Public functions

auto integrate(double initialTime, double finalTime) -> bool pure virtual: Integrate the dynamical system with specified integration bounds.
auto setMaximumStepSize(const double dT) -> bool: Specify the maximum integration step size.
auto maximumStepSize() const -> double: Return the maximum step size set with setMaximumStepSize.
auto setDynamicalSystem(const std::shared_ptr<iDynTree::optimalcontrol::DynamicalSystem> dynamicalSystem) -> bool: Set the DynamicalSystem to be considered.
auto dynamicalSystem() const -> const std::weak_ptr<DynamicalSystem>: Weak pointer to the specified DynamicalSystem.
auto getSolution(double time, VectorDynSize& solution) const -> bool virtual: Retrieve integration solution at a specified time.
auto getFullSolution() const -> const std::vector<SolutionElement>& virtual: Retrieve the full buffer of SolutionElement.
void clearSolution() virtual: Clear the solution buffer.
auto evaluateCollocationConstraint(double time, const std::vector<VectorDynSize>& collocationPoints, const std::vector<VectorDynSize>& controlInputs, double dT, VectorDynSize& constraintValue) -> bool virtual: Evaluate the collocation constraint.
auto evaluateCollocationConstraintJacobian(double time, const std::vector<VectorDynSize>& collocationPoints, const std::vector<VectorDynSize>& controlInputs, double dT, std::vector<MatrixDynSize>& stateJacobianValues, std::vector<MatrixDynSize>& controlJacobianValues) -> bool virtual
auto getCollocationConstraintJacobianStateSparsity(std::vector<SparsityStructure>& stateJacobianSparsity) -> bool virtual
auto getCollocationConstraintJacobianControlSparsity(std::vector<SparsityStructure>& controlJacobianSparsity) -> bool virtual
auto evaluateCollocationConstraintSecondDerivatives(double time, const std::vector<VectorDynSize>& collocationPoints, const std::vector<VectorDynSize>& controlInputs, double dT, const VectorDynSize& lambda, CollocationHessianMap& stateSecondDerivative, CollocationHessianMap& controlSecondDerivative, CollocationHessianMap& stateControlSecondDerivative) -> bool virtual
auto getCollocationConstraintSecondDerivativeWRTStateSparsity(CollocationHessianSparsityMap& stateDerivativeSparsity) -> bool virtual
auto getCollocationConstraintSecondDerivativeWRTControlSparsity(CollocationHessianSparsityMap& controlDerivativeSparsity) -> bool virtual
auto getCollocationConstraintSecondDerivativeWRTStateControlSparsity(CollocationHessianSparsityMap& stateControlDerivativeSparsity) -> bool virtual
auto info() const -> const IntegratorInfo&

Protected functions

auto interpolatePoints(const std::vector<SolutionElement>::const_iterator& first, const std::vector<SolutionElement>::const_iterator& second, double time, VectorDynSize& outputPoint) const -> bool virtual
auto allocateBuffers() -> bool virtual

Protected variables

double m_dTmax
std::shared_ptr<DynamicalSystem> m_dynamicalSystem_ptr
std::vector<SolutionElement> m_solution
std::shared_ptr<IntegratorInfoData> m_infoData
IntegratorInfo m_info

Function documentation

iDynTree::optimalcontrol::integrators::Integrator::Integrator()

Integrator default constructor.

This constructor allows to create an Integrator object without specifying a DynamicalSystem yet. This has to be done via the method setDynamicalSystem before calling the integrate method.

iDynTree::optimalcontrol::integrators::Integrator::Integrator(const std::shared_ptr<iDynTree::optimalcontrol::DynamicalSystem> dynamicalSystem)

Integrator constructor.

Parameters
dynamicalSystem in	Pointer to the DynamicalSystem to be integrated.

bool iDynTree::optimalcontrol::integrators::Integrator::integrate(double initialTime, double finalTime) pure virtual

Integrate the dynamical system with specified integration bounds.

Parameters
initialTime in	Lower integration bound.
finalTime in	Upper integration bound.
Returns	true if successfull.

This method should be implemented by the custom integrator.

bool iDynTree::optimalcontrol::integrators::Integrator::setMaximumStepSize(const double dT)

Specify the maximum integration step size.

Parameters
dT in	The masimum step size.
Returns	true if successfull, false otherwise (for example if dT is not strictly positive)

This parameter is considered when integrating a DynamicalSystem.

bool iDynTree::optimalcontrol::integrators::Integrator::setDynamicalSystem(const std::shared_ptr<iDynTree::optimalcontrol::DynamicalSystem> dynamicalSystem)

Set the DynamicalSystem to be considered.

Parameters
dynamicalSystem in	The dynamical system pointer
Returns	true if successfull, false otherwise, for example if a DynamicalSystem was already set.

This methods changes the dynamical system only if it was not already set.

bool iDynTree::optimalcontrol::integrators::Integrator::getSolution(double time, VectorDynSize& solution) const virtual

Retrieve integration solution at a specified time.

Parameters
time in	Instant of interest.
solution	State corresponding to the specified time.
Returns	true if successfull.

The method integrate should have been called first, and time should be within the integration bounds, otherwise returns false.

It sould not be necessary to override this method.

const std::vector<SolutionElement>& iDynTree::optimalcontrol::integrators::Integrator::getFullSolution() const virtual

Retrieve the full buffer of SolutionElement.

Returns	A const reference to the internal buffer contaning the full output of the integration routine.