Detailed Description

Abstract base class for Model Predictive Control problems.

Definition at line 97 of file control_problem.h.

#include <control_problem.h>

Inheritance diagram for humoto::MPC:

Public Member Functions
virtual void	guessSolution (Solution &solution_guess, const Solution &old_solution) const
	Guess solution. More...

void	initSolutionStructure (humoto::Solution &solution) const
	Initialize structure of the given solution based on the internally stored solution structure. More...

virtual void	log (humoto::Logger &, const LogEntryName &, const std::string &) const =0

Protected Member Functions
	MPC ()

	~MPC ()
	Protected destructor: prevent destruction of the child classes through a base pointer. More...

Static Protected Member Functions
template<int t_num_vars, int t_num_controls, typename t_AMatrix , typename t_BMatrix , etools::MatrixSparsityType::Type t_bmatrix_sparsity_type>
static void	condense (etools::GenericBlockMatrix< t_num_vars, t_num_vars > &S, etools::BlockMatrix< t_num_vars, t_num_controls, t_bmatrix_sparsity_type > &U, const std::vector< t_AMatrix > &A, const std::vector< t_BMatrix > &B)
	Create the condensed matrices (S,U) of a Model Predictive Control problem such that X = Sx0 + Uu. More...

template<typename t_AMatrix , typename t_BMatrix >
static void	condense (Eigen::MatrixXd &S, Eigen::MatrixXd &U, const std::vector< t_AMatrix > &A, const std::vector< t_BMatrix > &B)
	Create the condensed matrices (S,U) of a Model Predictive Control problem such that X = Sx0 + Uu. More...

template<int t_num_vars, int t_num_outputs, typename t_DMatrix , typename t_EMatrix >
static void	condenseOutput (etools::GenericBlockMatrix< t_num_outputs, t_num_vars > &Ox, std::vector< etools::LeftLowerTriangularBlockMatrix< t_num_outputs, etools::MatrixBlockSizeType::DYNAMIC > > &Ou, const std::vector< t_DMatrix > &D, const std::vector< t_EMatrix > &E, const etools::GenericBlockMatrix< t_num_vars, t_num_vars > &Ux, const std::vector< etools::LeftLowerTriangularBlockMatrix< t_num_vars, etools::MatrixBlockSizeType::DYNAMIC > > &Uu)
	Condense output of the system. More...

template<typename t_DMatrix , typename t_EMatrix >
static void	condenseOutput (Eigen::MatrixXd &Ox, Eigen::MatrixXd &Ou, const t_DMatrix &D, const t_EMatrix &E, const Eigen::MatrixXd &Ux, const Eigen::MatrixXd &Uu)
	Condense output of the system. More...

template<int t_num_vars, int t_num_controls, int t_num_outputs, typename t_DMatrix , typename t_EMatrix >
static void	condenseOutput (etools::GenericBlockMatrix< t_num_outputs, t_num_vars > &Ox, etools::LeftLowerTriangularBlockMatrix< t_num_outputs, t_num_controls > &Ou, const std::vector< t_DMatrix > &D, const std::vector< t_EMatrix > &E, const etools::GenericBlockMatrix< t_num_vars, t_num_vars > &Ux, const etools::LeftLowerTriangularBlockMatrix< t_num_vars, t_num_controls > &Uu)
	Condense output of the system. More...

static void	condenseTimeInvariant (Eigen::MatrixXd &S, Eigen::MatrixXd &U, const std::size_t preview_horizon_len, const Eigen::MatrixXd &A, const Eigen::MatrixXd &B)
	Create the condensed matrices (S,U) of a Time Invariant (constant A,B) Model Predictive Control problem such that X = Sx0 + Uu. More...

Protected Attributes
SolutionStructure	sol_structure_

Constructor & Destructor Documentation

◆ ~MPC()

humoto::MPC::~MPC ( )

inlineprotected

Protected destructor: prevent destruction of the child classes through a base pointer.

Definition at line 104 of file control_problem.h.

◆ MPC()

humoto::MPC::MPC ( )

inlineprotected

Definition at line 105 of file control_problem.h.

Member Function Documentation

◆ condense() [1/2]

template<int t_num_vars, int t_num_controls, typename t_AMatrix , typename t_BMatrix , etools::MatrixSparsityType::Type t_bmatrix_sparsity_type>

static void humoto::MPC::condense	(	etools::GenericBlockMatrix< t_num_vars, t_num_vars > &	S,
		etools::BlockMatrix< t_num_vars, t_num_controls, t_bmatrix_sparsity_type > &	U,
		const std::vector< t_AMatrix > &	A,
		const std::vector< t_BMatrix > &	B
	)

inlinestaticprotected

Create the condensed matrices (S,U) of a Model Predictive Control problem such that X = S*x0 + U*u.

Template Parameters

t_num_vars	number of variables
t_num_controls	number of controls
t_AMatrix	A matrix, should be an Eigen matrix or a scalar
t_BMatrix	B matrix, should be an Eigen matrix

Parameters

[out]	S
[out]	U
[in]	A
[in]	B

Definition at line 321 of file control_problem.h.

◆ condense() [2/2]

template<typename t_AMatrix , typename t_BMatrix >

static void humoto::MPC::condense	(	Eigen::MatrixXd &	S,
		Eigen::MatrixXd &	U,
		const std::vector< t_AMatrix > &	A,
		const std::vector< t_BMatrix > &	B
	)

inlinestaticprotected

Create the condensed matrices (S,U) of a Model Predictive Control problem such that X = S*x0 + U*u.

Template Parameters

t_AMatrix	A matrix, should be an Eigen matrix or a scalar
t_BMatrix	B matrix, should be an Eigen matrix

Parameters

[out]	S
[out]	U
[in]	A
[in]	B

Definition at line 378 of file control_problem.h.

◆ condenseOutput() [1/3]

template<int t_num_vars, int t_num_outputs, typename t_DMatrix , typename t_EMatrix >

static void humoto::MPC::condenseOutput	(	etools::GenericBlockMatrix< t_num_outputs, t_num_vars > &	Ox,
		std::vector< etools::LeftLowerTriangularBlockMatrix< t_num_outputs, etools::MatrixBlockSizeType::DYNAMIC > > &	Ou,
		const std::vector< t_DMatrix > &	D,
		const std::vector< t_EMatrix > &	E,
		const etools::GenericBlockMatrix< t_num_vars, t_num_vars > &	Ux,
		const std::vector< etools::LeftLowerTriangularBlockMatrix< t_num_vars, etools::MatrixBlockSizeType::DYNAMIC > > &	Uu
	)

inlinestaticprotected

Condense output of the system.

output = Ox*x0 + Ou*(u0,...,uN)

Template Parameters

t_num_vars	number of state variables
t_num_outputs	number of output variables
t_DMatrix	D matrix, should be an Eigen matrix or a scalar
t_EMatrix	E matrix, should be an Eigen matrix or a scalar

Parameters

[out]	Ox	matrix Ox
[out]	Ou	vector of Ou matrices
[in]	D	vector of D matrices
[in]	E	vector of E matrices
[in]	Ux	matrix Ux
[in]	Uu	vector of Uu matrices

Definition at line 129 of file control_problem.h.

◆ condenseOutput() [2/3]

template<typename t_DMatrix , typename t_EMatrix >

static void humoto::MPC::condenseOutput	(	Eigen::MatrixXd &	Ox,
		Eigen::MatrixXd &	Ou,
		const t_DMatrix &	D,
		const t_EMatrix &	E,
		const Eigen::MatrixXd &	Ux,
		const Eigen::MatrixXd &	Uu
	)

inlinestaticprotected

Condense output of the system.

output = Ox*x0 + Ou*(u0,...,uN)

Template Parameters

t_num_vars	number of state variables
t_num_controls	number of control variables
t_num_outputs	number of output variables
t_DMatrix	D matrix, should be an Eigen matrix or a scalar
t_EMatrix	E matrix, should be an Eigen matrix or a scalar

Parameters

[out]	Ox	matrix Ox
[out]	Ou	matrix Ou
[in]	D	D matrix
[in]	E	E matrix
[in]	Ux	matrix Ux
[in]	Uu	matrix Uu

Definition at line 209 of file control_problem.h.

◆ condenseOutput() [3/3]

template<int t_num_vars, int t_num_controls, int t_num_outputs, typename t_DMatrix , typename t_EMatrix >

static void humoto::MPC::condenseOutput	(	etools::GenericBlockMatrix< t_num_outputs, t_num_vars > &	Ox,
		etools::LeftLowerTriangularBlockMatrix< t_num_outputs, t_num_controls > &	Ou,
		const std::vector< t_DMatrix > &	D,
		const std::vector< t_EMatrix > &	E,
		const etools::GenericBlockMatrix< t_num_vars, t_num_vars > &	Ux,
		const etools::LeftLowerTriangularBlockMatrix< t_num_vars, t_num_controls > &	Uu
	)

inlinestaticprotected

Condense output of the system.

output = Ox*x0 + Ou*(u0,...,uN)

Template Parameters

t_num_vars	number of state variables
t_num_controls	number of control variables
t_num_outputs	number of output variables
t_DMatrix	D matrix, should be an Eigen matrix or a scalar
t_EMatrix	E matrix, should be an Eigen matrix or a scalar

Parameters

[out]	Ox	matrix Ox
[out]	Ou	matrix Ou
[in]	D	vector of D matrices
[in]	E	vector of E matrices
[in]	Ux	matrix Ux
[in]	Uu	matrix Uu

Definition at line 268 of file control_problem.h.

◆ condenseTimeInvariant()

static void humoto::MPC::condenseTimeInvariant	(	Eigen::MatrixXd &	S,
		Eigen::MatrixXd &	U,
		const std::size_t	preview_horizon_len,
		const Eigen::MatrixXd &	A,
		const Eigen::MatrixXd &	B
	)

inlinestaticprotected

Create the condensed matrices (S,U) of a Time Invariant (constant A,B) Model Predictive Control problem such that X = S*x0 + U*u.

Parameters

[out]	S
[out]	U
[in]	preview_horizon_len	length of the preview horizon
[in]	A
[in]	B

Definition at line 428 of file control_problem.h.

◆ guessSolution()

virtual void humoto::ControlProblem::guessSolution	(	Solution &	solution_guess,
		const Solution &	old_solution
	)		const

inlinevirtualinherited

Guess solution.

Parameters

[out]	solution_guess	solution guess
[in]	old_solution	old solution

Attention: This method is called automatically. Can (and often should) be redefined in derived classes.

Reimplemented in humoto::pepper_mpc::MPCforMG, and humoto::wpg04::MPCforWPG.

Definition at line 82 of file control_problem.h.

◆ initSolutionStructure()

void humoto::ControlProblem::initSolutionStructure ( humoto::Solution & solution ) const

inlineinherited

Initialize structure of the given solution based on the internally stored solution structure.

Parameters

[out] solution solution

Attention: This method is called automatically.

Definition at line 64 of file control_problem.h.

◆ log()

virtual void humoto::ControlProblem::log	(	humoto::Logger &	,
		const LogEntryName &	,
		const std::string &
	)		const

pure virtualinherited

Implemented in humoto::pepper_mpc::MPCforMG, humoto::wpg04::MPCforWPG, and humoto::pepper_ik::WholeBodyController< t_features >.

Member Data Documentation

◆ sol_structure_

SolutionStructure humoto::ControlProblem::sol_structure_

protectedinherited

Definition at line 43 of file control_problem.h.

The documentation for this class was generated from the following file:

core/include/humoto/control_problem.h

Detailed Description

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ ~MPC()

◆ MPC()

Member Function Documentation

◆ condense() [1/2]

◆ condense() [2/2]

◆ condenseOutput() [1/3]

◆ condenseOutput() [2/3]

◆ condenseOutput() [3/3]

◆ condenseTimeInvariant()

◆ guessSolution()

◆ initSolutionStructure()

◆ log()

Member Data Documentation

◆ sol_structure_