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+
+ + + + + + +
+
MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
MPCLeafSystem.hpp
+
+
+
1 #pragma once
+
2 
+
3 #include "drake/systems/framework/leaf_system.h"
+
4 #include "MPC.hpp"
+
5 #include "System.hpp"
+
6 
+
7 namespace mimpc::simulation {
+
8  template<class MPCType> requires std::derived_from<MPCType, MPC<typename MPCType::SYSTEM_TYPE, typename MPCType::SOLVER_TYPE>>
+
9  class MPCLeafSystem : public drake::systems::LeafSystem<double> {
+
10  public:
+
11 
+
12  MPCLeafSystem(MPCType &reacsaSolver, double control_dt,
+
13  const MPCType::SYSTEM_TYPE::StateVec &state_constraints_lb,
+
14  const MPCType::SYSTEM_TYPE::StateVec &state_constraints_ub);
+
15 
+
16  ~MPCLeafSystem() override;
+
17 
+
18  private:
+
19  MPCType &reacsa_solver_;
+
20  double control_dt_;
+
21  MPCType::SYSTEM_TYPE::StateVec state_constraints_lb_;
+
22  MPCType::SYSTEM_TYPE::StateVec state_constraints_ub_;
+
23 
+
24  drake::systems::InputPort<double> *plant_out_port_;
+
25  drake::systems::OutputPort<double> *mpc_time_port_;
+
26  drake::systems::OutputPort<double> *control_out_port_;
+
27  drake::systems::DiscreteStateIndex control_out_state_;
+
28  drake::systems::DiscreteStateIndex mpc_time_out_state_;
+
29 
+
30  drake::systems::EventStatus discreteUpdate(const drake::systems::Context<double> &context,
+
31  drake::systems::DiscreteValues<double> *discrete_state) const;
+
32 
+
33  };
+
34 }
+
35 #include "MPCLeafSystem.tpp"
+
System.hpp
Abstract class to represent system dynamics.
+
mimpc::simulation::MPCLeafSystem
Definition: MPCLeafSystem.hpp:9
+
+ +
+Generated by doxygen 1.9.1 +
+ + diff --git a/MPC_8hpp_source.html b/MPC_8hpp_source.html new file mode 100644 index 0000000..1c4a329 --- /dev/null +++ b/MPC_8hpp_source.html @@ -0,0 +1,123 @@ + + + + + + + +MIMPC++: include/MPC.hpp Source File + + + + + + + + + + + +
+
+ + + + + + +
+
MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
MPC.hpp
+
+
+
1 #pragma once
+
2 
+
3 #include "Solver.hpp"
+
4 #include <type_traits>
+
5 #include <concepts>
+
6 
+
7 namespace mimpc {
+
14  template<class SystemType, class SolverType> requires
+
15  std::derived_from<SystemType, System<SystemType::NUM_STATES, SystemType::NUM_CONT_INPUTS, SystemType::NUM_BIN_INPUTS>> &&
+
16  std::derived_from<SolverType, Solver<SystemType, SolverType::PRED_STEPS, SolverType::MIN_STEPS_ON, SolverType::MIN_STEPS_OFF, SolverType::MAX_STEPS_ON, SolverType::NUM_STEPS_SOLVER_DELAY, SolverType::INTEGRATION_SCHEME>>
+
17  class MPC {
+
18  public:
+
19  using SYSTEM_TYPE = SystemType;
+
20  using SOLVER_TYPE = SolverType;
+
21  private:
+
22  SolverType &solver_;
+
23  Eigen::Matrix<double, SystemType::NUM_STATES, SolverType::PRED_STEPS + 1, Eigen::RowMajor> last_x_;
+
24  Eigen::Matrix<double, SystemType::NUM_CONT_INPUTS +
+
25  SystemType::NUM_BIN_INPUTS, SolverType::PRED_STEPS, Eigen::RowMajor> last_u_;
+
26  Eigen::Matrix<double,
+
27  SystemType::NUM_CONT_INPUTS + SystemType::NUM_BIN_INPUTS,
+
28  SolverType::history_depth + SolverType::NUM_STEPS_SOLVER_DELAY> history_;
+
29  public:
+
35  explicit MPC(SolverType &solver);
+
36 
+
46  SOLVER_RETURN control(const SystemType::StateVec &state, SystemType::InputVec &input, std::string &stats);
+
47 
+
48  virtual ~MPC() = default;
+
49  };
+
50 };
+
51 
+
52 #include "MPC.tpp"
+
Solver.hpp
Abstract class that represents any solver interface and provides a low-lever mpc solver interface.
+
mimpc::SOLVER_RETURN
SOLVER_RETURN
Definition: Solver.hpp:18
+
mimpc::MPC
Definition: MPC.hpp:17
+
mimpc::MPC::control
SOLVER_RETURN control(const SystemType::StateVec &state, SystemType::InputVec &input, std::string &stats)
+
mimpc::MPC::MPC
MPC(SolverType &solver)
+
+ +
+Generated by doxygen 1.9.1 +
+ + diff --git a/REACSA_8hpp_source.html b/REACSA_8hpp_source.html new file mode 100644 index 0000000..e3c59e5 --- /dev/null +++ b/REACSA_8hpp_source.html @@ -0,0 +1,141 @@ + + + + + + + +MIMPC++: include/systems/REACSA.hpp Source File + + + + + + + + + + + +
+
+ + + + + + +
+
MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
REACSA.hpp
+
+
+
1 #pragma once
+
2 
+
3 #include "../System.hpp"
+
4 #include "REACSA_constants.h"
+
5 namespace mimpc::systems {
+
6  using SystemSized = System<7, 1, 8>;
+
7 
+
8  class REACSA : public SystemSized {
+
9  private:
+
10  const double system_m_;
+
11  const double body_Izz_;
+
12  const double rw_Izz_;
+
13  const double r_;
+
14  const double f_nom;
+
15 
+
16  SystemSized::AMatrix A_;
+
17  SystemSized::BMatrix B_;
+
18  public:
+
19 
+
20  REACSA(double systemM, double bodyIzz, double rwIzz, double r, double fNom);
+
21 
+
22  REACSA();
+
23 
+
24  virtual ~REACSA() = default;
+
25 
+
26  SystemSized::AMatrix getA(const SystemSized::StateVec &state) const override;
+
27 
+
28  SystemSized::BMatrix getB(const SystemSized::StateVec &state) const override;
+
29 
+
30  void updateA(const SystemSized::StateVec &state,
+
31  std::function<void(unsigned int, unsigned int, double)> &changeAval) const override;
+
32 
+
33  void updateB(const SystemSized::StateVec &state,
+
34  std::function<void(unsigned int, unsigned int, double)> &changeBval) const override;
+
35 
+
36  static double get_angular_velocity_bound(double rw_speed_final_bound);
+
37 
+
38  static void get_limitcycle_v_bounds(unsigned int num_break_thrusts, double &v_bound, double &x_bound);
+
39 
+
40  static double
+
41  get_angular_velocity_bound(double body_Izz, double rw_Izz, double rw_speed_max, double rw_speed_final_bound);
+
42 
+
43  static void
+
44  get_limitcycle_v_bounds(unsigned int num_break_thrusts, double system_m, double f_nom, double t_min_on,
+
45  double t_min_off, double t_max_on, double &v_bound, double &x_bound);
+
46 
+
47  };
+
48 }
+
49 
+
mimpc::System
Definition: System.hpp:32
+
mimpc::systems::REACSA
Definition: REACSA.hpp:8
+
mimpc::systems::REACSA::updateB
void updateB(const SystemSized::StateVec &state, std::function< void(unsigned int, unsigned int, double)> &changeBval) const override
+
mimpc::systems::REACSA::getB
SystemSized::BMatrix getB(const SystemSized::StateVec &state) const override
+
mimpc::systems::REACSA::getA
SystemSized::AMatrix getA(const SystemSized::StateVec &state) const override
+
mimpc::systems::REACSA::updateA
void updateA(const SystemSized::StateVec &state, std::function< void(unsigned int, unsigned int, double)> &changeAval) const override
+
+ +
+Generated by doxygen 1.9.1 +
+ + diff --git a/SCIPSolver_8hpp_source.html b/SCIPSolver_8hpp_source.html new file mode 100644 index 0000000..1bc97d8 --- /dev/null +++ b/SCIPSolver_8hpp_source.html @@ -0,0 +1,202 @@ + + + + + + + +MIMPC++: include/solvers/SCIPSolver.hpp Source File + + + + + + + + + + + +
+
+ + + + + + +
+
MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
SCIPSolver.hpp
+
+
+
1 #pragma once
+
2 
+
3 #include <scip/scip.h>
+
4 #include <scip/scipdefplugins.h>
+
5 #include <array>
+
6 #include <type_traits>
+
7 #include <concepts>
+
8 
+
9 #include "../Solver.hpp"
+
10 
+
11 namespace mimpc {
+
12 
+
16  template<class SystemType, int N, int min_steps_on, int min_steps_off, int max_steps_on, int num_steps_solver_delay, INTEGRATION_SCHEME integration_scheme> requires
+
17  std::derived_from<SystemType, System<SystemType::NUM_STATES, SystemType::NUM_CONT_INPUTS, SystemType::NUM_BIN_INPUTS>>
+
18  class SCIPSolver
+
19  : public Solver<SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme> {
+
20  public:
+
21  using SolverBase = Solver<SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme>;
+
22  private:
+
23  SCIP *scip_problem_;
+
24  std::array<std::array<SCIP_VAR *, N + 1>, SystemType::NUM_STATES> scip_state_vars_;
+
25  std::array<std::array<SCIP_VAR *, N>, SystemType::NUM_INPUTS> scip_input_vars_;
+
26  std::array<std::array<SCIP_CONS *, SystemType::NUM_STATES>, N> scip_dynamic_const_;
+
27  std::array<std::array<SCIP_CONS *,
+
28  SolverBase::history_depth + N -
+
29  max_steps_on>, SystemType::NUM_BIN_INPUTS> scip_pattern_timing_max_const_;
+
30  std::array<std::array<SCIP_CONS *, 1 + N - 2>, SystemType::NUM_BIN_INPUTS> scip_pattern_timing_min_const_;
+
31 
+
32  std::array<std::array<SCIP_VAR *, N + 1>, SystemType::NUM_STATES> scip_T_state_;
+
33  std::array<std::array<SCIP_VAR *, N>, SystemType::NUM_INPUTS> scip_T_input_;
+
34  std::array<std::array<SCIP_CONS *, N + 1>, SystemType::NUM_STATES> scip_Tconsp_state_;
+
35  std::array<std::array<SCIP_CONS *, N + 1>, SystemType::NUM_STATES> scip_Tconsm_state_;
+
36  std::array<std::array<SCIP_CONS *, N>, SystemType::NUM_INPUTS> scip_Tconsp_input_;
+
37  std::array<std::array<SCIP_CONS *, N>, SystemType::NUM_INPUTS> scip_Tconsm_input_;
+
38 
+
39 
+
40  std::array<std::array<SCIP_VAR *, N + 1>, SystemType::NUM_STATES> scip_QuadCostErr_states_;
+
41  std::array<std::array<SCIP_CONS *, N + 1>, SystemType::NUM_STATES> scip_QuadCostErrCons_states_;
+
42 
+
43  SCIP_CONS *scip_QuadCostCons_;
+
44  SCIP_Var *scip_QuadCostSum_;
+
45 
+
46  COST_TYPE cost_type_;
+
47  bool compensate_controller_delay_;
+
48 
+
49  const SystemType &system_;
+
50  double system_dt_;
+
51  Eigen::Vector<double, SystemType::NUM_STATES> state_;
+
52  Eigen::Vector<double, SystemType::NUM_STATES> state_cost_weights_;
+
53  Eigen::Vector<double, SystemType::NUM_STATES> final_state_cost_weights_;
+
54  Eigen::Vector<double, SystemType::NUM_INPUTS> input_cost_weights_;
+
55  Eigen::Vector<double, SystemType::NUM_STATES> set_point_;
+
56 
+
57  void setCost(COST_TYPE cost_type) override;
+
58 
+
59  public:
+
60 
+
71  SCIPSolver(const typename SystemType::StateVec &state_weights,
+
72  const typename SystemType::StateVec &final_weights,
+
73  const typename SystemType::InputVec &input_weights, const typename SystemType::StateVec &set_point,
+
74  COST_TYPE cost_type,
+
75  const SystemType &system, double system_dt);
+
76 
+
77  virtual ~SCIPSolver();
+
78 
+
79  void addInputConstraintOnIndex(int index, double lb, double ub) override;
+
80 
+
81  void addStateConstraintOnIndex(int index, double lb, double ub) override;
+
82 
+
83  void addInputConstraintOnStep(int step, const typename SystemType::InputVec &lb,
+
84  const typename SystemType::InputVec &ub) override;
+
85 
+
86  void addStateConstraintOnStep(int step, const typename SystemType::StateVec &lb,
+
87  const typename SystemType::StateVec &ub) override;
+
88 
+
89  void setFinalWeights(const typename SystemType::StateVec &final_weights) override;
+
90 
+
91  void setStateWeights(const typename SystemType::StateVec &state_weights) override;
+
92 
+
93  void setInputWeights(const typename SystemType::InputVec &state_weights) override;
+
94 
+
95  void setSetPoint(const typename SystemType::StateVec &set_point) override;
+
96 
+
97  void setState(const typename SystemType::StateVec &state) override;
+
98 
+
99  void setInputHistory(
+
100  const typename Eigen::Matrix<double, SystemType::NUM_INPUTS, SolverBase::history_depth> &bin_input_hist) override;
+
101 
+
102  void setNextInputs(const typename Eigen::Matrix<double,
+
103  SystemType::NUM_INPUTS, num_steps_solver_delay> &next_inputs) override;
+
104 
+
105  void setSolverTimeLimit(double max_seconds) override;
+
106 
+
107  SOLVER_RETURN
+
108  solve(const typename Eigen::Matrix<double, SystemType::NUM_INPUTS, N, Eigen::RowMajor> &last_open_loop_input,
+
109  const typename Eigen::Matrix<double, SystemType::NUM_STATES,
+
110  N + 1, Eigen::RowMajor> &last_open_loop_state,
+
111  typename Eigen::Matrix<double, SystemType::NUM_INPUTS, N, Eigen::RowMajor> &open_loop_input,
+
112  typename Eigen::Matrix<double, SystemType::NUM_STATES,
+
113  N + 1, Eigen::RowMajor> &open_loop_state) const override;
+
114 
+
115  unsigned int getStepsToCompensateControllerDelay() override;
+
116  };
+
117 };
+
118 
+
119 #include "SCIPSolver.tpp"
+
mimpc::SOLVER_RETURN
SOLVER_RETURN
Definition: Solver.hpp:18
+
mimpc::COST_TYPE
COST_TYPE
Definition: Solver.hpp:40
+
mimpc::SCIPSolver
Definition: SCIPSolver.hpp:19
+
mimpc::SCIPSolver::setSolverTimeLimit
void setSolverTimeLimit(double max_seconds) override
+
mimpc::SCIPSolver::addStateConstraintOnIndex
void addStateConstraintOnIndex(int index, double lb, double ub) override
+
mimpc::SCIPSolver::getStepsToCompensateControllerDelay
unsigned int getStepsToCompensateControllerDelay() override
+
mimpc::SCIPSolver::addInputConstraintOnIndex
void addInputConstraintOnIndex(int index, double lb, double ub) override
+
mimpc::SCIPSolver::SCIPSolver
SCIPSolver(const typename SystemType::StateVec &state_weights, const typename SystemType::StateVec &final_weights, const typename SystemType::InputVec &input_weights, const typename SystemType::StateVec &set_point, COST_TYPE cost_type, const SystemType &system, double system_dt)
+
mimpc::Solver
Definition: Solver.hpp:83
+
mimpc::Solver::history_depth
static constexpr int history_depth
Definition: Solver.hpp:96
+
+ +
+Generated by doxygen 1.9.1 +
+ + diff --git a/Simulation_8hpp_source.html b/Simulation_8hpp_source.html new file mode 100644 index 0000000..546e49a --- /dev/null +++ b/Simulation_8hpp_source.html @@ -0,0 +1,183 @@ + + + + + + + +MIMPC++: include/sim/Simulation.hpp Source File + + + + + + + + + + + +
+
+ + + + + + +
+
MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
Simulation.hpp
+
+
+
1 //
+
2 // Created by fstark on 06.08.23.
+
3 //
+
4 
+
5 #pragma once
+
6 
+
7 #include <cnpy.h>
+
8 
+
9 #include <type_traits>
+
10 #include <concepts>
+
11 #include "System.hpp"
+
12 #include "MPC.hpp"
+
13 
+
14 #include "drake/systems/framework/diagram_builder.h"
+
15 #include "drake/common/drake_assert.h"
+
16 #include "drake/geometry/scene_graph.h"
+
17 #include "drake/multibody/parsing/parser.h"
+
18 #include "drake/multibody/plant/multibody_plant.h"
+
19 #include "drake/multibody/plant/externally_applied_spatial_force.h"
+
20 #include "drake/multibody/tree/prismatic_joint.h"
+
21 #include "drake/multibody/tree/revolute_joint.h"
+
22 #include "drake/multibody/plant/propeller.h"
+
23 #include "drake/multibody/plant/externally_applied_spatial_force_multiplexer.h"
+
24 #include "drake/systems/analysis/simulator.h"
+
25 #include "drake/systems/controllers/pid_controller.h"
+
26 #include "drake/systems/primitives/constant_vector_source.h"
+
27 #include "drake/systems/primitives/demultiplexer.h"
+
28 #include "drake/systems/primitives/matrix_gain.h"
+
29 #include "drake/systems/framework/diagram_builder.h"
+
30 #include "drake/visualization/visualization_config_functions.h"
+
31 #include "drake/systems/primitives/discrete_time_delay.h"
+
32 #include "drake/systems/primitives/vector_log_sink.h"
+
33 #include "MPCLeafSystem.hpp"
+
34 #include "VizForces.hpp"
+
35 
+
36 namespace mimpc::simulation {
+
37  template<class MPCType>
+
38  class Simulation {
+
39  using StateVec = MPCType::SYSTEM_TYPE::StateVec;
+
40  private:
+
41  MPCType::SYSTEM_TYPE::StateVec init_state_;
+
42  MPCType::SYSTEM_TYPE::StateVec target_state_;
+
43  MPCType::SYSTEM_TYPE::StateVec target_threshold_;
+
44 
+
45  MPCType::SYSTEM_TYPE::StateVec state_constraints_lb_;
+
46  MPCType::SYSTEM_TYPE::StateVec state_constraints_ub_;
+
47 
+
48  MPCType &mpc_;
+
49 
+
50  // drake
+
51  drake::systems::DiagramBuilder<double> *builder_;
+
52  drake::multibody::MultibodyPlant<double> *plant_;
+
53  drake::geometry::SceneGraph<double> *scene_graph_;
+
54 
+
55  drake::multibody::ExternallyAppliedSpatialForceMultiplexer<double> *forces_mux_;
+
56  drake::systems::Demultiplexer<double> *input_demux_;
+
57  drake::systems::DiscreteTimeDelay<double> *controller_delay_;
+
58 
+
59  drake::systems::MatrixGain<double> *state_output_matrix_;
+
60  MPCLeafSystem<MPCType> *mpc_leaf_system_;
+
61 
+
62  std::unique_ptr<drake::systems::Diagram<double>> diagram_;
+
63 
+
64 
+
65  // viz
+
66  std::shared_ptr<drake::geometry::Meshcat> meshcat_;
+
67  VizForces *forces_viz_;
+
68 
+
69  // logger
+
70  drake::systems::VectorLogSink<double> *state_logger_;
+
71  drake::systems::VectorLogSink<double> *input_logger_;
+
72 
+
73  drake::systems::Simulator<double> *simulator_;
+
74 
+
75  // TODO: check the coordinates here!
+
76  Eigen::Matrix<double, 7, 8> matrix_;
+
77 
+
78 
+
79  public:
+
80  Simulation(double delay_to_simulate, const std::string &plant_urdf_file, MPCType &mpc,
+
81  const StateVec &initState, const StateVec &targetState,
+
82  const StateVec &targetThreshold, const StateVec &stateConstraintsLb,
+
83  const StateVec &stateConstraintsUb, bool withViz, double binary_force);
+
84 
+
85  bool simulateToTarget(float time_out_seconds);
+
86 
+
87  int simulate(float for_seconds);
+
88 
+
89  void saveData(const std::string &filename);
+
90  };
+
91 };
+
92 
+
93 #include "Simulation.tpp"
+
System.hpp
Abstract class to represent system dynamics.
+
mimpc::simulation::MPCLeafSystem
Definition: MPCLeafSystem.hpp:9
+
mimpc::simulation::Simulation
Definition: Simulation.hpp:38
+
mimpc::simulation::VizForces
Definition: VizForces.hpp:21
+
+ +
+Generated by doxygen 1.9.1 +
+ + diff --git a/Solver_8hpp.html b/Solver_8hpp.html new file mode 100644 index 0000000..8e78aba --- /dev/null +++ b/Solver_8hpp.html @@ -0,0 +1,212 @@ + + + + + + + +MIMPC++: include/Solver.hpp File Reference + + + + + + + + + + + +
+
+ + + + + + +
+
MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+Classes | +Enumerations
+
+
Solver.hpp File Reference
+
+
+ +

Abstract class that represents any solver interface and provides a low-lever mpc solver interface. +More...

+
#include <eigen3/Eigen/Dense>
+#include "System.hpp"
+
+Include dependency graph for Solver.hpp:
+
+
+ + + + + +
+
+This graph shows which files directly or indirectly include this file:
+
+
+ + + + + + + +
+
+

Go to the source code of this file.

+ + + + +

+Classes

class  mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >
 
+ + + + + + + +

+Enumerations

enum  mimpc::SOLVER_RETURN { mimpc::OPTIMAL = 1 +, mimpc::NO_SOLUTION = 0 +, mimpc::TIME_LIMIT_WITH_SOLUTION = 2 +, mimpc::USER_INTERRUPT = -10 + }
 
enum  mimpc::COST_TYPE { mimpc::L1Linear = 0 +, mimpc::L2Quadratic = 1 + }
 
enum  mimpc::INTEGRATION_SCHEME { mimpc::FORWARD_EULER = 0 +, mimpc::BACKWARD_EULER = 1 + }
 
+

Detailed Description

+

Abstract class that represents any solver interface and provides a low-lever mpc solver interface.

+
Author
Franek Stark Contact: frane.nosp@m.k.st.nosp@m.ark@d.nosp@m.fki..nosp@m.de
+

Enumeration Type Documentation

+ +

◆ COST_TYPE

+ +
+
+ + + + +
enum mimpc::COST_TYPE
+
+

Types of how the system state and input error is measured

+ + + +
Enumerator
L1Linear 

Linear cost term representing the L1 Norm (absolute distance)

+
L2Quadratic 

Quadratic cost term representing the L2 Norm (euclidean distance)

+
+ +
+
+ +

◆ INTEGRATION_SCHEME

+ +
+
+ + + + +
enum mimpc::INTEGRATION_SCHEME
+
+

Ways of how the system dynamics are discretized

+ + + +
Enumerator
FORWARD_EULER 

forward (explicit) euler discretization

+
BACKWARD_EULER 

backward (implicit) euler discretization

+
+ +
+
+ +

◆ SOLVER_RETURN

+ +
+
+ + + + +
enum mimpc::SOLVER_RETURN
+
+

Solver return code definitions

+ + + + + +
Enumerator
OPTIMAL 

Optimal solution was found (within time solver limit)

+
NO_SOLUTION 

No solution was found (within time solver limit)

+
TIME_LIMIT_WITH_SOLUTION 

Suboptimal/feasible solution was found within time solver limit

+
USER_INTERRUPT 

Solver was interrupted by user (i.e. by pressing CTRL+C while solver was running)

+
+ +
+
+
+ +
+Generated by doxygen 1.9.1 +
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Fe*i#?Scd=r literal 0 HcmV?d00001 diff --git a/Solver_8hpp_source.html b/Solver_8hpp_source.html new file mode 100644 index 0000000..2ab035b --- /dev/null +++ b/Solver_8hpp_source.html @@ -0,0 +1,195 @@ + + + + + + + +MIMPC++: include/Solver.hpp Source File + + + + + + + + + + + +
+
+ + + + + + +
+
MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
Solver.hpp
+
+
+Go to the documentation of this file.
1 
+
9 #pragma once
+
10 
+
11 #include <eigen3/Eigen/Dense>
+
12 #include "System.hpp"
+
13 
+
14 namespace mimpc {
+
18  enum SOLVER_RETURN {
+
22  OPTIMAL = 1,
+
26  NO_SOLUTION = 0,
+
30  TIME_LIMIT_WITH_SOLUTION = 2,
+
34  USER_INTERRUPT = -10
+
35  };
+
36 
+
40  enum COST_TYPE {
+
44  L1Linear = 0,
+
48  L2Quadratic = 1
+
49  };
+
50 
+
54  enum INTEGRATION_SCHEME {
+
58  FORWARD_EULER = 0,
+
62  BACKWARD_EULER = 1
+
63  };
+
64 
+
81  template<class SystemType, int N, int min_steps_on, int min_steps_off, int max_steps_on, int num_steps_solver_delay, INTEGRATION_SCHEME integration_scheme> requires
+
82  std::derived_from<SystemType, System<SystemType::NUM_STATES, SystemType::NUM_CONT_INPUTS, SystemType::NUM_BIN_INPUTS>>
+
83  class Solver {
+
84  public:
+
85  using SYSTEM_TYPE = SystemType;
+
86  static constexpr auto PRED_STEPS = N;
+
87  static constexpr auto MIN_STEPS_ON = min_steps_on;
+
88  static constexpr auto MIN_STEPS_OFF = min_steps_off;
+
89  static constexpr auto MAX_STEPS_ON = max_steps_on;
+
90  static constexpr auto NUM_STEPS_SOLVER_DELAY = num_steps_solver_delay;
+
91  static constexpr auto INTEGRATION_SCHEME = integration_scheme;
+
92 
+
96  static constexpr int history_depth = std::max(
+
97  {0, max_steps_on - num_steps_solver_delay, min_steps_off - num_steps_solver_delay,
+
98  min_steps_on - num_steps_solver_delay}); //retunrs 0 or biggest of thoose
+
99  virtual ~Solver() = default;
+
100 
+
108  virtual void addInputConstraintOnIndex(int index, double lb, double ub) = 0;
+
109 
+
117  virtual void addStateConstraintOnIndex(int index, double lb, double ub) = 0;
+
118 
+
126  virtual void
+
127  addInputConstraintOnStep(int step, const SystemType::InputVec &lb, const SystemType::InputVec &ub) = 0;
+
128 
+
136  virtual void
+
137  addStateConstraintOnStep(int step, const SystemType::StateVec &lb, const SystemType::StateVec &ub) = 0;
+
138 
+
144  virtual void setFinalWeights(const SystemType::StateVec &final_weights) = 0;
+
145 
+
151  virtual void setStateWeights(const SystemType::StateVec &state_weights) = 0;
+
152 
+
158  virtual void setInputWeights(const SystemType::InputVec &state_weights) = 0;
+
159 
+
165  virtual void setCost(COST_TYPE cost_type) = 0;
+
166 
+
173  virtual void setSetPoint(const SystemType::StateVec &set_point) = 0;
+
174 
+
180  virtual void setState(const SystemType::StateVec &state) = 0;
+
181 
+
188  virtual void setInputHistory(
+
189  const Eigen::Matrix<double, SystemType::NUM_INPUTS, history_depth> &bin_input_hist) = 0;
+
190 
+
196  virtual void
+
197  setNextInputs(const Eigen::Matrix<double, SystemType::NUM_INPUTS, num_steps_solver_delay> &next_inputs) = 0;
+
198 
+
203  virtual void setSolverTimeLimit(double max_seconds) = 0;
+
204 
+
209  virtual unsigned int getStepsToCompensateControllerDelay() = 0;
+
210 
+
221  virtual SOLVER_RETURN
+
222  solve(const Eigen::Matrix<double, SystemType::NUM_INPUTS, N, Eigen::RowMajor> &last_open_loop_input,
+
223  const Eigen::Matrix<double, SystemType::NUM_STATES, N + 1, Eigen::RowMajor> &last_open_loop_state,
+
224  Eigen::Matrix<double, SystemType::NUM_INPUTS, N, Eigen::RowMajor> &open_loop_input,
+
225  Eigen::Matrix<double, SystemType::NUM_STATES, N + 1, Eigen::RowMajor> &open_loop_state) const = 0;
+
226  };
+
227 };
+
mimpc::INTEGRATION_SCHEME
INTEGRATION_SCHEME
Definition: Solver.hpp:54
+
mimpc::BACKWARD_EULER
@ BACKWARD_EULER
Definition: Solver.hpp:62
+
mimpc::FORWARD_EULER
@ FORWARD_EULER
Definition: Solver.hpp:58
+
mimpc::SOLVER_RETURN
SOLVER_RETURN
Definition: Solver.hpp:18
+
mimpc::TIME_LIMIT_WITH_SOLUTION
@ TIME_LIMIT_WITH_SOLUTION
Definition: Solver.hpp:30
+
mimpc::NO_SOLUTION
@ NO_SOLUTION
Definition: Solver.hpp:26
+
mimpc::USER_INTERRUPT
@ USER_INTERRUPT
Definition: Solver.hpp:34
+
mimpc::OPTIMAL
@ OPTIMAL
Definition: Solver.hpp:22
+
mimpc::COST_TYPE
COST_TYPE
Definition: Solver.hpp:40
+
mimpc::L2Quadratic
@ L2Quadratic
Definition: Solver.hpp:48
+
mimpc::L1Linear
@ L1Linear
Definition: Solver.hpp:44
+
System.hpp
Abstract class to represent system dynamics.
+
mimpc::Solver
Definition: Solver.hpp:83
+
mimpc::Solver::addInputConstraintOnIndex
virtual void addInputConstraintOnIndex(int index, double lb, double ub)=0
+
mimpc::Solver::addInputConstraintOnStep
virtual void addInputConstraintOnStep(int step, const SystemType::InputVec &lb, const SystemType::InputVec &ub)=0
+
mimpc::Solver::history_depth
static constexpr int history_depth
Definition: Solver.hpp:96
+
mimpc::Solver::addStateConstraintOnStep
virtual void addStateConstraintOnStep(int step, const SystemType::StateVec &lb, const SystemType::StateVec &ub)=0
+
mimpc::Solver::setState
virtual void setState(const SystemType::StateVec &state)=0
+
mimpc::Solver::getStepsToCompensateControllerDelay
virtual unsigned int getStepsToCompensateControllerDelay()=0
+
mimpc::Solver::setInputWeights
virtual void setInputWeights(const SystemType::InputVec &state_weights)=0
+
mimpc::Solver::setStateWeights
virtual void setStateWeights(const SystemType::StateVec &state_weights)=0
+
mimpc::Solver::setFinalWeights
virtual void setFinalWeights(const SystemType::StateVec &final_weights)=0
+
mimpc::Solver::addStateConstraintOnIndex
virtual void addStateConstraintOnIndex(int index, double lb, double ub)=0
+
mimpc::Solver::setCost
virtual void setCost(COST_TYPE cost_type)=0
+
mimpc::Solver::solve
virtual SOLVER_RETURN solve(const Eigen::Matrix< double, SystemType::NUM_INPUTS, N, Eigen::RowMajor > &last_open_loop_input, const Eigen::Matrix< double, SystemType::NUM_STATES, N+1, Eigen::RowMajor > &last_open_loop_state, Eigen::Matrix< double, SystemType::NUM_INPUTS, N, Eigen::RowMajor > &open_loop_input, Eigen::Matrix< double, SystemType::NUM_STATES, N+1, Eigen::RowMajor > &open_loop_state) const =0
+
mimpc::Solver::setSolverTimeLimit
virtual void setSolverTimeLimit(double max_seconds)=0
+
mimpc::Solver::setNextInputs
virtual void setNextInputs(const Eigen::Matrix< double, SystemType::NUM_INPUTS, num_steps_solver_delay > &next_inputs)=0
+
mimpc::Solver::setSetPoint
virtual void setSetPoint(const SystemType::StateVec &set_point)=0
+
mimpc::Solver::setInputHistory
virtual void setInputHistory(const Eigen::Matrix< double, SystemType::NUM_INPUTS, history_depth > &bin_input_hist)=0
+
+ +
+Generated by doxygen 1.9.1 +
+ + diff --git a/System_8hpp.html b/System_8hpp.html new file mode 100644 index 0000000..4bdfaf8 --- /dev/null +++ b/System_8hpp.html @@ -0,0 +1,126 @@ + + + + + + + +MIMPC++: include/System.hpp File Reference + + + + + + + + + + + +
+
+ + + + + + +
+
MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+Classes
+
+
System.hpp File Reference
+
+
+ +

Abstract class to represent system dynamics. +More...

+
#include <eigen3/Eigen/Dense>
+
+Include dependency graph for System.hpp:
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Go to the source code of this file.

+ + + + +

+Classes

class  mimpc::System< num_states, num_cont_inputs, num_bin_inputs >
 
+

Detailed Description

+

Abstract class to represent system dynamics.

+
Author
Franek Stark Contact: frane.nosp@m.k.st.nosp@m.ark@d.nosp@m.fki..nosp@m.de
+
+ +
+Generated by doxygen 1.9.1 +
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+
+ + + + + + +
+
MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
System.hpp
+
+
+Go to the documentation of this file.
1 
+
8 #pragma once
+
9 
+
10 #include <eigen3/Eigen/Dense>
+
11 
+
12 namespace mimpc {
+
13 
+
31  template<int num_states, int num_cont_inputs, int num_bin_inputs>
+
32  class System {
+
33  public:
+
34  static constexpr auto NUM_STATES = num_states;
+
35  static constexpr auto NUM_CONT_INPUTS = num_cont_inputs;
+
36  static constexpr auto NUM_BIN_INPUTS = num_bin_inputs;
+
37  static constexpr auto NUM_INPUTS = num_bin_inputs + num_cont_inputs;
+
38 
+
39  using AMatrix = typename Eigen::Matrix<double, num_states, num_states>;
+
40  using BMatrix = typename Eigen::Matrix<double, num_states, num_cont_inputs + num_bin_inputs>;
+
41  using StateVec = typename Eigen::Vector<double, num_states>;
+
42  using InputVec = typename Eigen::Vector<double, num_cont_inputs + num_bin_inputs>;
+
43 
+
49  virtual AMatrix getA(const StateVec &state) const = 0;
+
50 
+
56  virtual BMatrix getB(const StateVec &state) const = 0;
+
57 
+
64  virtual void
+
65  updateA(const StateVec &state, std::function<void(unsigned int, unsigned int, double)> &changeAval) const = 0;
+
66 
+
73  virtual void
+
74  updateB(const StateVec &state, std::function<void(unsigned int, unsigned int, double)> &changeBval) const = 0;
+
75  };
+
76 }
+
mimpc::System
Definition: System.hpp:32
+
mimpc::System::updateB
virtual void updateB(const StateVec &state, std::function< void(unsigned int, unsigned int, double)> &changeBval) const =0
+
mimpc::System::getA
virtual AMatrix getA(const StateVec &state) const =0
+
mimpc::System::updateA
virtual void updateA(const StateVec &state, std::function< void(unsigned int, unsigned int, double)> &changeAval) const =0
+
mimpc::System::getB
virtual BMatrix getB(const StateVec &state) const =0
+
+ +
+Generated by doxygen 1.9.1 +
+ + diff --git a/VizForces_8hpp_source.html b/VizForces_8hpp_source.html new file mode 100644 index 0000000..6922f79 --- /dev/null +++ b/VizForces_8hpp_source.html @@ -0,0 +1,135 @@ + + + + + + + +MIMPC++: include/sim/VizForces.hpp Source File + + + + + + + + + + + +
+
+ + + + + + +
+
MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
VizForces.hpp
+
+
+
1 #pragma once
+
2 
+
3 #include <math.h>
+
4 #include <fmt/format.h>
+
5 
+
6 #include "drake/systems/framework/leaf_system.h"
+
7 
+
8 #include "drake/multibody/plant/externally_applied_spatial_force.h"
+
9 #include "drake/multibody/plant/multibody_plant.h"
+
10 #include "drake/multibody/math/spatial_force.h"
+
11 
+
12 #include "drake/geometry/meshcat.h"
+
13 #include "drake/geometry/shape_specification.h"
+
14 
+
15 #include "drake/common/value.h"
+
16 
+
17 
+
18 
+
19 
+
20 namespace mimpc::simulation {
+
21  class VizForces : public drake::systems::LeafSystem<double> {
+
22 
+
23  private:
+
24  drake::multibody::MultibodyPlant<double> &plant_;
+
25  std::unique_ptr<drake::systems::Context<double>> plant_context_;
+
26  drake::geometry::Meshcat &meshcat_;
+
27 
+
28  const int num_forces_;
+
29  const std::string body_link_name_;
+
30 
+
31  const double arrow_len_multiplier_;
+
32  const double arrow_width_;
+
33 
+
34  drake::systems::InputPort<double> *body_state_input_port_;
+
35  drake::TypeSafeIndex<drake::systems::InputPortTag> forces_input_port_;
+
36 
+
37 
+
38  public:
+
39 
+
40  VizForces(drake::multibody::MultibodyPlant<double> &plant, drake::geometry::Meshcat &meshcat,
+
41  const int num_forces,
+
42  const std::string &bodyLinkName, const double arrowLenMultiplier);
+
43 
+
44  void updateArrows(const drake::systems::Context<double> &context) const;
+
45 
+
46  };
+
47 }
+
48 
+
mimpc::simulation::VizForces
Definition: VizForces.hpp:21
+
+ +
+Generated by doxygen 1.9.1 +
+ + diff --git a/annotated.html b/annotated.html new file mode 100644 index 0000000..0ee1826 --- /dev/null +++ b/annotated.html @@ -0,0 +1,97 @@ + + + + + + + +MIMPC++: Class List + + + + + + + + + + + +
+
+ + + + + + +
+
MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
+
+
+ + + + + + + +
+ +
+
+ + +
+ +
+ +
+
+
Class List
+
+
+
Here are the classes, structs, unions and interfaces with brief descriptions:
+
[detail level 123]
+ + + + + + + + + + + +
 ▼Nmimpc
 ▼Nsimulation
 CMPCLeafSystem
 CSimulation
 CVizForces
 ▼Nsystems
 CREACSA
 CMPC
 CSolver
 CSCIPSolver
 CSystem
+
+
+ +
+Generated by doxygen 1.9.1 +
+ + diff --git a/bc_s.png b/bc_s.png new file mode 100644 index 0000000000000000000000000000000000000000..224b29aa9847d5a4b3902efd602b7ddf7d33e6c2 GIT binary patch literal 676 zcmV;V0$crwP)y__>=_9%My z{n931IS})GlGUF8K#6VIbs%684A^L3@%PlP2>_sk`UWPq@f;rU*V%rPy_ekbhXT&s z(GN{DxFv}*vZp`F>S!r||M`I*nOwwKX+BC~3P5N3-)Y{65c;ywYiAh-1*hZcToLHK ztpl1xomJ+Yb}K(cfbJr2=GNOnT!UFA7Vy~fBz8?J>XHsbZoDad^8PxfSa0GDgENZS zuLCEqzb*xWX2CG*b&5IiO#NzrW*;`VC9455M`o1NBh+(k8~`XCEEoC1Ybwf;vr4K3 zg|EB<07?SOqHp9DhLpS&bzgo70I+ghB_#)K7H%AMU3v}xuyQq9&Bm~++VYhF09a+U zl7>n7Jjm$K#b*FONz~fj;I->Bf;ule1prFN9FovcDGBkpg>)O*-}eLnC{6oZHZ$o% zXKW$;0_{8hxHQ>l;_*HATI(`7t#^{$(zLe}h*mqwOc*nRY9=?Sx4OOeVIfI|0V(V2 zBrW#G7Ss9wvzr@>H*`r>zE z+e8bOBgqIgldUJlG(YUDviMB`9+DH8n-s9SXRLyJHO1!=wY^79WYZMTa(wiZ!zP66 zA~!21vmF3H2{ngD;+`6j#~6j;$*f*G_2ZD1E;9(yaw7d-QnSCpK(cR1zU3qU0000< KMNUMnLSTYoA~SLT literal 0 HcmV?d00001 diff --git a/bdwn.png b/bdwn.png new file mode 100644 index 0000000000000000000000000000000000000000..940a0b950443a0bb1b216ac03c45b8a16c955452 GIT binary patch literal 147 zcmeAS@N?(olHy`uVBq!ia0vp^>_E)H!3HEvS)PKZC{Gv1kP61Pb5HX&C2wk~_T + + + + + + +MIMPC++: Class Index + + + + + + + + + + + +
+
+ + + + + + +
+
MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
+
+
+ + + + + + + +
+ +
+
+ + +
+ +
+ +
+
+
Class Index
+
+
+
M | R | S | V
+
+
+
M
+
MPC (mimpc)
MPCLeafSystem (mimpc::simulation)
+
+
R
+
REACSA (mimpc::systems)
+
+
S
+
SCIPSolver (mimpc)
Simulation (mimpc::simulation)
Solver (mimpc)
System (mimpc)
+
+
V
+
VizForces (mimpc::simulation)
+
+
+ +
+Generated by doxygen 1.9.1 +
+ + diff --git a/classmimpc_1_1MPC-members.html b/classmimpc_1_1MPC-members.html new file mode 100644 index 0000000..2f3a8b1 --- /dev/null +++ b/classmimpc_1_1MPC-members.html @@ -0,0 +1,94 @@ + + + + + + + +MIMPC++: Member List + + + + + + + + + + + +
+
+ + + + + + +
+
MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
mimpc::MPC< SystemType, SolverType > Member List
+
+
+ +

This is the complete list of members for mimpc::MPC< SystemType, SolverType >, including all inherited members.

+ + + + + + +
control(const SystemType::StateVec &state, SystemType::InputVec &input, std::string &stats)mimpc::MPC< SystemType, SolverType >
MPC(SolverType &solver)mimpc::MPC< SystemType, SolverType >explicit
SOLVER_TYPE typedef (defined in mimpc::MPC< SystemType, SolverType >)mimpc::MPC< SystemType, SolverType >
SYSTEM_TYPE typedef (defined in mimpc::MPC< SystemType, SolverType >)mimpc::MPC< SystemType, SolverType >
~MPC()=default (defined in mimpc::MPC< SystemType, SolverType >)mimpc::MPC< SystemType, SolverType >virtual
+ +
+Generated by doxygen 1.9.1 +
+ + diff --git a/classmimpc_1_1MPC.html b/classmimpc_1_1MPC.html new file mode 100644 index 0000000..c17de7e --- /dev/null +++ b/classmimpc_1_1MPC.html @@ -0,0 +1,207 @@ + + + + + + + +MIMPC++: mimpc::MPC< SystemType, SolverType > Class Template Reference + + + + + + + + + + + +
+
+ + + + + + +
+
MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+Public Types | +Public Member Functions | +List of all members
+
+
mimpc::MPC< SystemType, SolverType > Class Template Reference
+
+
+ +

#include <MPC.hpp>

+ + + + + + +

+Public Types

+using SYSTEM_TYPE = SystemType
 
+using SOLVER_TYPE = SolverType
 
+ + + + + +

+Public Member Functions

 MPC (SolverType &solver)
 
SOLVER_RETURN control (const SystemType::StateVec &state, SystemType::InputVec &input, std::string &stats)
 
+

Detailed Description

+

template<class SystemType, class SolverType>
+class mimpc::MPC< SystemType, SolverType >

+ +

This class provides a highlevel mpc interface.

+
Template Parameters
+ + + +
SystemTypethe system type which shall be controlled by the mpc must be of type System
SolverTypethe underlying solver which solves the optimization problem, must be of type Solver
+
+
+

Constructor & Destructor Documentation

+ +

◆ MPC()

+ +
+
+
+template<class SystemType , class SolverType >
+ + + + + +
+ + + + + + + + +
mimpc::MPC< SystemType, SolverType >::MPC (SolverType & solver)
+ 		+explicit
+
+

Instantiates the MPC.

+
Parameters
+ + +
solvera reference to the instance of the underlying optimization problem. The optimization problem needs to be configured via the low level interface.
+
+
+ +
+
+

Member Function Documentation

+ +

◆ control()

+ +
+
+
+template<class SystemType , class SolverType >
+ + + + + + + + + + + + + + + + + + + + + + + + +
SOLVER_RETURN mimpc::MPC< SystemType, SolverType >::control (const SystemType::StateVec & state,
SystemType::InputVec & input,
std::string & stats 
)
+
+

Starts the solving process based on the current state and returns the optimal input.

+
Parameters
+ + + + + +
statethe current system state
inputthe optimal input
statsstatistics about the solving process
returnsthe solver status even though no solutions are already handled by this class by using the old predictions
+
+
+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.1 +
+ + diff --git a/classmimpc_1_1SCIPSolver-members.html b/classmimpc_1_1SCIPSolver-members.html new file mode 100644 index 0000000..d93db7d --- /dev/null +++ b/classmimpc_1_1SCIPSolver-members.html @@ -0,0 +1,125 @@ + + + + + + + +MIMPC++: Member List + + + + + + + + + + + +
+
+ + + + + + +
+
MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme > Member List
+
+
+ +

This is the complete list of members for mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
addInputConstraintOnIndex(int index, double lb, double ub) overridemimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >virtual
addInputConstraintOnStep(int step, const typename SystemType::InputVec &lb, const typename SystemType::InputVec &ub) override (defined in mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >)mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >
mimpc::Solver::addInputConstraintOnStep(int step, const SystemType::InputVec &lb, const SystemType::InputVec &ub)=0mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >pure virtual
addStateConstraintOnIndex(int index, double lb, double ub) overridemimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >virtual
addStateConstraintOnStep(int step, const typename SystemType::StateVec &lb, const typename SystemType::StateVec &ub) override (defined in mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >)mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >
mimpc::Solver::addStateConstraintOnStep(int step, const SystemType::StateVec &lb, const SystemType::StateVec &ub)=0mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >pure virtual
getStepsToCompensateControllerDelay() overridemimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >virtual
history_depthmimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >static
INTEGRATION_SCHEME (defined in mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >)mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >static
MAX_STEPS_ON (defined in mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >)mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >static
MIN_STEPS_OFF (defined in mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >)mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >static
MIN_STEPS_ON (defined in mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >)mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >static
NUM_STEPS_SOLVER_DELAY (defined in mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >)mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >static
PRED_STEPS (defined in mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >)mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >static
SCIPSolver(const typename SystemType::StateVec &state_weights, const typename SystemType::StateVec &final_weights, const typename SystemType::InputVec &input_weights, const typename SystemType::StateVec &set_point, COST_TYPE cost_type, const SystemType &system, double system_dt)mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >
setFinalWeights(const typename SystemType::StateVec &final_weights) override (defined in mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >)mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >
mimpc::Solver::setFinalWeights(const SystemType::StateVec &final_weights)=0mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >pure virtual
setInputHistory(const typename Eigen::Matrix< double, SystemType::NUM_INPUTS, SolverBase::history_depth > &bin_input_hist) override (defined in mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >)mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >
mimpc::Solver::setInputHistory(const Eigen::Matrix< double, SystemType::NUM_INPUTS, history_depth > &bin_input_hist)=0mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >pure virtual
setInputWeights(const typename SystemType::InputVec &state_weights) override (defined in mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >)mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >
mimpc::Solver::setInputWeights(const SystemType::InputVec &state_weights)=0mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >pure virtual
setNextInputs(const typename Eigen::Matrix< double, SystemType::NUM_INPUTS, num_steps_solver_delay > &next_inputs) override (defined in mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >)mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >
mimpc::Solver::setNextInputs(const Eigen::Matrix< double, SystemType::NUM_INPUTS, num_steps_solver_delay > &next_inputs)=0mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >pure virtual
setSetPoint(const typename SystemType::StateVec &set_point) override (defined in mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >)mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >
mimpc::Solver::setSetPoint(const SystemType::StateVec &set_point)=0mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >pure virtual
setSolverTimeLimit(double max_seconds) overridemimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >virtual
setState(const typename SystemType::StateVec &state) override (defined in mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >)mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >
mimpc::Solver::setState(const SystemType::StateVec &state)=0mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >pure virtual
setStateWeights(const typename SystemType::StateVec &state_weights) override (defined in mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >)mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >
mimpc::Solver::setStateWeights(const SystemType::StateVec &state_weights)=0mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >pure virtual
solve(const typename Eigen::Matrix< double, SystemType::NUM_INPUTS, N, Eigen::RowMajor > &last_open_loop_input, const typename Eigen::Matrix< double, SystemType::NUM_STATES, N+1, Eigen::RowMajor > &last_open_loop_state, typename Eigen::Matrix< double, SystemType::NUM_INPUTS, N, Eigen::RowMajor > &open_loop_input, typename Eigen::Matrix< double, SystemType::NUM_STATES, N+1, Eigen::RowMajor > &open_loop_state) const override (defined in mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >)mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >
mimpc::Solver::solve(const Eigen::Matrix< double, SystemType::NUM_INPUTS, N, Eigen::RowMajor > &last_open_loop_input, const Eigen::Matrix< double, SystemType::NUM_STATES, N+1, Eigen::RowMajor > &last_open_loop_state, Eigen::Matrix< double, SystemType::NUM_INPUTS, N, Eigen::RowMajor > &open_loop_input, Eigen::Matrix< double, SystemType::NUM_STATES, N+1, Eigen::RowMajor > &open_loop_state) const =0mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >pure virtual
SolverBase typedef (defined in mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >)mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >
SYSTEM_TYPE typedef (defined in mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >)mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >
~SCIPSolver() (defined in mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >)mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >virtual
~Solver()=default (defined in mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >)mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >virtual
+ +
+Generated by doxygen 1.9.1 +
+ + diff --git a/classmimpc_1_1SCIPSolver.html b/classmimpc_1_1SCIPSolver.html new file mode 100644 index 0000000..8801784 --- /dev/null +++ b/classmimpc_1_1SCIPSolver.html @@ -0,0 +1,467 @@ + + + + + + + +MIMPC++: mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme > Class Template Reference + + + + + + + + + + + +
+
+ + + + + + +
+
MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+Public Types | +Public Member Functions | +List of all members
+
+
mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme > Class Template Reference
+
+
+ +

#include <SCIPSolver.hpp>

+
+Inheritance diagram for mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >:
+
+
Inheritance graph
+ + + + +
[legend]
+
+Collaboration diagram for mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >:
+
+
Collaboration graph
+ + + + +
[legend]
+ + + + + + + +

+Public Types

+using SolverBase = Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >
 
- Public Types inherited from mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >
+using SYSTEM_TYPE = SystemType
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 SCIPSolver (const typename SystemType::StateVec &state_weights, const typename SystemType::StateVec &final_weights, const typename SystemType::InputVec &input_weights, const typename SystemType::StateVec &set_point, COST_TYPE cost_type, const SystemType &system, double system_dt)
 
void addInputConstraintOnIndex (int index, double lb, double ub) override
 
void addStateConstraintOnIndex (int index, double lb, double ub) override
 
+void addInputConstraintOnStep (int step, const typename SystemType::InputVec &lb, const typename SystemType::InputVec &ub) override
 
+void addStateConstraintOnStep (int step, const typename SystemType::StateVec &lb, const typename SystemType::StateVec &ub) override
 
+void setFinalWeights (const typename SystemType::StateVec &final_weights) override
 
+void setStateWeights (const typename SystemType::StateVec &state_weights) override
 
+void setInputWeights (const typename SystemType::InputVec &state_weights) override
 
+void setSetPoint (const typename SystemType::StateVec &set_point) override
 
+void setState (const typename SystemType::StateVec &state) override
 
+void setInputHistory (const typename Eigen::Matrix< double, SystemType::NUM_INPUTS, SolverBase::history_depth > &bin_input_hist) override
 
+void setNextInputs (const typename Eigen::Matrix< double, SystemType::NUM_INPUTS, num_steps_solver_delay > &next_inputs) override
 
void setSolverTimeLimit (double max_seconds) override
 
+SOLVER_RETURN solve (const typename Eigen::Matrix< double, SystemType::NUM_INPUTS, N, Eigen::RowMajor > &last_open_loop_input, const typename Eigen::Matrix< double, SystemType::NUM_STATES, N+1, Eigen::RowMajor > &last_open_loop_state, typename Eigen::Matrix< double, SystemType::NUM_INPUTS, N, Eigen::RowMajor > &open_loop_input, typename Eigen::Matrix< double, SystemType::NUM_STATES, N+1, Eigen::RowMajor > &open_loop_state) const override
 
unsigned int getStepsToCompensateControllerDelay () override
 
- Public Member Functions inherited from mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >
virtual void addInputConstraintOnStep (int step, const SystemType::InputVec &lb, const SystemType::InputVec &ub)=0
 
virtual void addStateConstraintOnStep (int step, const SystemType::StateVec &lb, const SystemType::StateVec &ub)=0
 
virtual void setFinalWeights (const SystemType::StateVec &final_weights)=0
 
virtual void setStateWeights (const SystemType::StateVec &state_weights)=0
 
virtual void setInputWeights (const SystemType::InputVec &state_weights)=0
 
virtual void setSetPoint (const SystemType::StateVec &set_point)=0
 
virtual void setState (const SystemType::StateVec &state)=0
 
virtual void setInputHistory (const Eigen::Matrix< double, SystemType::NUM_INPUTS, history_depth > &bin_input_hist)=0
 
virtual void setNextInputs (const Eigen::Matrix< double, SystemType::NUM_INPUTS, num_steps_solver_delay > &next_inputs)=0
 
virtual SOLVER_RETURN solve (const Eigen::Matrix< double, SystemType::NUM_INPUTS, N, Eigen::RowMajor > &last_open_loop_input, const Eigen::Matrix< double, SystemType::NUM_STATES, N+1, Eigen::RowMajor > &last_open_loop_state, Eigen::Matrix< double, SystemType::NUM_INPUTS, N, Eigen::RowMajor > &open_loop_input, Eigen::Matrix< double, SystemType::NUM_STATES, N+1, Eigen::RowMajor > &open_loop_state) const =0
 
+ + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Static Public Attributes inherited from mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >
+static constexpr auto PRED_STEPS = N
 
+static constexpr auto MIN_STEPS_ON = min_steps_on
 
+static constexpr auto MIN_STEPS_OFF = min_steps_off
 
+static constexpr auto MAX_STEPS_ON = max_steps_on
 
+static constexpr auto NUM_STEPS_SOLVER_DELAY = num_steps_solver_delay
 
+static constexpr auto INTEGRATION_SCHEME = integration_scheme
 
static constexpr int history_depth
 
+

Detailed Description

+

template<class SystemType, int N, int min_steps_on, int min_steps_off, int max_steps_on, int num_steps_solver_delay, INTEGRATION_SCHEME integration_scheme>
+class mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >

+ +

Provides a solver based on the open source SCIP Solver (https://scipopt.org/)

+

Constructor & Destructor Documentation

+ +

◆ SCIPSolver()

+ +
+
+
+template<class SystemType , int N, int min_steps_on, int min_steps_off, int max_steps_on, int num_steps_solver_delay, INTEGRATION_SCHEME integration_scheme>
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >::SCIPSolver (const typename SystemType::StateVec & state_weights,
const typename SystemType::StateVec & final_weights,
const typename SystemType::InputVec & input_weights,
const typename SystemType::StateVec & set_point,
COST_TYPE cost_type,
const SystemType & system,
double system_dt 
)
+
+

Initializes a new SCIP Solver

Parameters
+ + + + + + + + +
state_weightsvector that contains the weights for each state error
final_weightsvector that contains the final weights for each state error
input_weightsvector that contains the input weights
set_pointthe target state
cost_typethe type of the cost function
systemthe concrete system
system_dtthe timestep with which the system dynamics are discretized
+
+
+ +
+
+

Member Function Documentation

+ +

◆ addInputConstraintOnIndex()

+ +
+
+
+template<class SystemType , int N, int min_steps_on, int min_steps_off, int max_steps_on, int num_steps_solver_delay, INTEGRATION_SCHEME integration_scheme>
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
void mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >::addInputConstraintOnIndex (int index,
double lb,
double ub 
)
+ 		+overridevirtual
+
+

Adds or replaces the bounding box constraint to the input variable with given index to all discrete time steps.

+
Parameters
+ + + + +
indexindex of the respective input variable in the input vector
lblower bound
ubupper bound
+
+
+ +

Implements mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >.

+ +
+
+ +

◆ addStateConstraintOnIndex()

+ +
+
+
+template<class SystemType , int N, int min_steps_on, int min_steps_off, int max_steps_on, int num_steps_solver_delay, INTEGRATION_SCHEME integration_scheme>
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
void mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >::addStateConstraintOnIndex (int index,
double lb,
double ub 
)
+ 		+overridevirtual
+
+

Adds or replaces the bounding box constraint to the state variable with given index to all discrete time steps.

+
Parameters
+ + + + +
indexindex of the respective state variable in the state vector
lblower bound
ubupper bound
+
+
+ +

Implements mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >.

+ +
+
+ +

◆ getStepsToCompensateControllerDelay()

+ +
+
+
+template<class SystemType , int N, int min_steps_on, int min_steps_off, int max_steps_on, int num_steps_solver_delay, INTEGRATION_SCHEME integration_scheme>
+ + + + + +
+ + + + + + + +
unsigned int mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >::getStepsToCompensateControllerDelay ()
+ 		+overridevirtual
+
+

Returns the index at which the next input calculated by solve() has to be taken, in order to correct respect the solver delay compensation. Most of the times this value should refer to #num_steps_solver_delay

Returns
num_steps_solver_delay
+ +

Implements mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >.

+ +
+
+ +

◆ setSolverTimeLimit()

+ +
+
+
+template<class SystemType , int N, int min_steps_on, int min_steps_off, int max_steps_on, int num_steps_solver_delay, INTEGRATION_SCHEME integration_scheme>
+ + + + + +
+ + + + + + + + +
void mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >::setSolverTimeLimit (double max_seconds)
+ 		+overridevirtual
+
+

Sets the maximum time that the solver will try to find the optimal solution when solve is called. If the maximum time is reached, the best solution found so far will be returned.

Parameters
+ + +
max_seconds
+
+
+ +

Implements mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.1 +
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+
+ + + + + + +
+
MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme > Member List
+
+
+ +

This is the complete list of members for mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + +
addInputConstraintOnIndex(int index, double lb, double ub)=0mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >pure virtual
addInputConstraintOnStep(int step, const SystemType::InputVec &lb, const SystemType::InputVec &ub)=0mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >pure virtual
addStateConstraintOnIndex(int index, double lb, double ub)=0mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >pure virtual
addStateConstraintOnStep(int step, const SystemType::StateVec &lb, const SystemType::StateVec &ub)=0mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >pure virtual
getStepsToCompensateControllerDelay()=0mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >pure virtual
history_depthmimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >static
INTEGRATION_SCHEME (defined in mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >)mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >static
MAX_STEPS_ON (defined in mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >)mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >static
MIN_STEPS_OFF (defined in mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >)mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >static
MIN_STEPS_ON (defined in mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >)mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >static
NUM_STEPS_SOLVER_DELAY (defined in mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >)mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >static
PRED_STEPS (defined in mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >)mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >static
setCost(COST_TYPE cost_type)=0mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >pure virtual
setFinalWeights(const SystemType::StateVec &final_weights)=0mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >pure virtual
setInputHistory(const Eigen::Matrix< double, SystemType::NUM_INPUTS, history_depth > &bin_input_hist)=0mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >pure virtual
setInputWeights(const SystemType::InputVec &state_weights)=0mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >pure virtual
setNextInputs(const Eigen::Matrix< double, SystemType::NUM_INPUTS, num_steps_solver_delay > &next_inputs)=0mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >pure virtual
setSetPoint(const SystemType::StateVec &set_point)=0mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >pure virtual
setSolverTimeLimit(double max_seconds)=0mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >pure virtual
setState(const SystemType::StateVec &state)=0mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >pure virtual
setStateWeights(const SystemType::StateVec &state_weights)=0mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >pure virtual
solve(const Eigen::Matrix< double, SystemType::NUM_INPUTS, N, Eigen::RowMajor > &last_open_loop_input, const Eigen::Matrix< double, SystemType::NUM_STATES, N+1, Eigen::RowMajor > &last_open_loop_state, Eigen::Matrix< double, SystemType::NUM_INPUTS, N, Eigen::RowMajor > &open_loop_input, Eigen::Matrix< double, SystemType::NUM_STATES, N+1, Eigen::RowMajor > &open_loop_state) const =0mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >pure virtual
SYSTEM_TYPE typedef (defined in mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >)mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >
~Solver()=default (defined in mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >)mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >virtual
+ +
+Generated by doxygen 1.9.1 +
+ + diff --git a/classmimpc_1_1Solver.html b/classmimpc_1_1Solver.html new file mode 100644 index 0000000..419d131 --- /dev/null +++ b/classmimpc_1_1Solver.html @@ -0,0 +1,839 @@ + + + + + + + +MIMPC++: mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme > Class Template Reference + + + + + + + + + + + +
+
+ + + + + + +
+
MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+Public Types | +Public Member Functions | +Static Public Attributes | +List of all members
+
+
mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme > Class Template Referenceabstract
+
+
+ +

#include <Solver.hpp>

+
+Inheritance diagram for mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >:
+
+
Inheritance graph
+ + + + +
[legend]
+ + + + +

+Public Types

+using SYSTEM_TYPE = SystemType
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

virtual void addInputConstraintOnIndex (int index, double lb, double ub)=0
 
virtual void addStateConstraintOnIndex (int index, double lb, double ub)=0
 
virtual void addInputConstraintOnStep (int step, const SystemType::InputVec &lb, const SystemType::InputVec &ub)=0
 
virtual void addStateConstraintOnStep (int step, const SystemType::StateVec &lb, const SystemType::StateVec &ub)=0
 
virtual void setFinalWeights (const SystemType::StateVec &final_weights)=0
 
virtual void setStateWeights (const SystemType::StateVec &state_weights)=0
 
virtual void setInputWeights (const SystemType::InputVec &state_weights)=0
 
virtual void setCost (COST_TYPE cost_type)=0
 
virtual void setSetPoint (const SystemType::StateVec &set_point)=0
 
virtual void setState (const SystemType::StateVec &state)=0
 
virtual void setInputHistory (const Eigen::Matrix< double, SystemType::NUM_INPUTS, history_depth > &bin_input_hist)=0
 
virtual void setNextInputs (const Eigen::Matrix< double, SystemType::NUM_INPUTS, num_steps_solver_delay > &next_inputs)=0
 
virtual void setSolverTimeLimit (double max_seconds)=0
 
virtual unsigned int getStepsToCompensateControllerDelay ()=0
 
virtual SOLVER_RETURN solve (const Eigen::Matrix< double, SystemType::NUM_INPUTS, N, Eigen::RowMajor > &last_open_loop_input, const Eigen::Matrix< double, SystemType::NUM_STATES, N+1, Eigen::RowMajor > &last_open_loop_state, Eigen::Matrix< double, SystemType::NUM_INPUTS, N, Eigen::RowMajor > &open_loop_input, Eigen::Matrix< double, SystemType::NUM_STATES, N+1, Eigen::RowMajor > &open_loop_state) const =0
 
+ + + + + + + + + + + + + + + +

+Static Public Attributes

+static constexpr auto PRED_STEPS = N
 
+static constexpr auto MIN_STEPS_ON = min_steps_on
 
+static constexpr auto MIN_STEPS_OFF = min_steps_off
 
+static constexpr auto MAX_STEPS_ON = max_steps_on
 
+static constexpr auto NUM_STEPS_SOLVER_DELAY = num_steps_solver_delay
 
+static constexpr auto INTEGRATION_SCHEME = integration_scheme
 
static constexpr int history_depth
 
+

Detailed Description

+

template<class SystemType, int N, int min_steps_on, int min_steps_off, int max_steps_on, int num_steps_solver_delay, INTEGRATION_SCHEME integration_scheme>
+class mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >

+ +

This defines abstract base class defines a wrapper around any mixed integer solver and defines a low level solver interface to be used within an mpc. For a highlevel interface refer to MPC, which takes any Solver implementation as a template argument.

+

The solver discretizes the time into time steps of same length.

+
Template Parameters
+ + + + + + + + +
SystemTyperefers to the system dynamics and must be a class implementing System
Nprediction horizon
min_steps_onnumber of discrete time steps that the binary inputs have to stay on
min_steps_offnumber of discrete time steps that the binary inputs have to stay off
max_steps_onmaximum number of discrete time steps that the binary inputs can stay on
num_steps_solver_delaynumber of discrete time steps that are solver delay, referring to the time delay from the time point system is at a current state (which will be set by setState()) and the time point at which the optimal input returned by solve() is applied to the system. This delay is compensated by predicting the systems state based on the inputs that will be applied during this delay time. This inputs are set via setNextInputs() and can be for example taken from the previous open loop prediction. Obviously, the optimal input predicted by the solver and returned by solve() is the one at num_steps_solver_delay in the next open loop prediction, as the first refer to the predicted states during the delay. The correct index for the next input can be aquired using getStepsToCompensateControllerDelay().
integration_schemediscretization method
+
+
+

Member Function Documentation

+ +

◆ addInputConstraintOnIndex()

+ +
+
+
+template<class SystemType , int N, int min_steps_on, int min_steps_off, int max_steps_on, int num_steps_solver_delay, INTEGRATION_SCHEME integration_scheme>
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
virtual void mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >::addInputConstraintOnIndex (int index,
double lb,
double ub 
)
+ 		+pure virtual
+
+

Adds or replaces the bounding box constraint to the input variable with given index to all discrete time steps.

+
Parameters
+ + + + +
indexindex of the respective input variable in the input vector
lblower bound
ubupper bound
+
+
+ +

Implemented in mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >.

+ +
+
+ +

◆ addInputConstraintOnStep()

+ +
+
+
+template<class SystemType , int N, int min_steps_on, int min_steps_off, int max_steps_on, int num_steps_solver_delay, INTEGRATION_SCHEME integration_scheme>
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
virtual void mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >::addInputConstraintOnStep (int step,
const SystemType::InputVec & lb,
const SystemType::InputVec & ub 
)
+ 		+pure virtual
+
+

Adds or replaces the bounding box constraint to the input vector at given time step

+
Parameters
+ + + + +
steptime step 0<=step<=N
lblower bound
ubupper bound
+
+
+ +
+
+ +

◆ addStateConstraintOnIndex()

+ +
+
+
+template<class SystemType , int N, int min_steps_on, int min_steps_off, int max_steps_on, int num_steps_solver_delay, INTEGRATION_SCHEME integration_scheme>
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
virtual void mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >::addStateConstraintOnIndex (int index,
double lb,
double ub 
)
+ 		+pure virtual
+
+

Adds or replaces the bounding box constraint to the state variable with given index to all discrete time steps.

+
Parameters
+ + + + +
indexindex of the respective state variable in the state vector
lblower bound
ubupper bound
+
+
+ +

Implemented in mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >.

+ +
+
+ +

◆ addStateConstraintOnStep()

+ +
+
+
+template<class SystemType , int N, int min_steps_on, int min_steps_off, int max_steps_on, int num_steps_solver_delay, INTEGRATION_SCHEME integration_scheme>
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
virtual void mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >::addStateConstraintOnStep (int step,
const SystemType::StateVec & lb,
const SystemType::StateVec & ub 
)
+ 		+pure virtual
+
+

Adds or replaces the bounding box constraint to the state vector at given time step

+
Parameters
+ + + + +
steptime step 0<=step<=N
lblower bound
ubupper bound
+
+
+ +
+
+ +

◆ getStepsToCompensateControllerDelay()

+ +
+
+
+template<class SystemType , int N, int min_steps_on, int min_steps_off, int max_steps_on, int num_steps_solver_delay, INTEGRATION_SCHEME integration_scheme>
+ + + + + +
+ + + + + + + +
virtual unsigned int mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >::getStepsToCompensateControllerDelay ()
+ 		+pure virtual
+
+

Returns the index at which the next input calculated by solve() has to be taken, in order to correct respect the solver delay compensation. Most of the times this value should refer to #num_steps_solver_delay

Returns
num_steps_solver_delay
+ +

Implemented in mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >.

+ +
+
+ +

◆ setCost()

+ +
+
+
+template<class SystemType , int N, int min_steps_on, int min_steps_off, int max_steps_on, int num_steps_solver_delay, INTEGRATION_SCHEME integration_scheme>
+ + + + + +
+ + + + + + + + +
virtual void mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >::setCost (COST_TYPE cost_type)
+ 		+pure virtual
+
+

Sets the error function type

+
Parameters
+ + +
cost_typeerror function type
+
+
+ +
+
+ +

◆ setFinalWeights()

+ +
+
+
+template<class SystemType , int N, int min_steps_on, int min_steps_off, int max_steps_on, int num_steps_solver_delay, INTEGRATION_SCHEME integration_scheme>
+ + + + + +
+ + + + + + + + +
virtual void mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >::setFinalWeights (const SystemType::StateVec & final_weights)
+ 		+pure virtual
+
+

Sets the state error weights of the final predicted state

+
Parameters
+ + +
final_weightsweight vector where each vector element refers to the respective state vector element
+
+
+ +
+
+ +

◆ setInputHistory()

+ +
+
+
+template<class SystemType , int N, int min_steps_on, int min_steps_off, int max_steps_on, int num_steps_solver_delay, INTEGRATION_SCHEME integration_scheme>
+ + + + + +
+ + + + + + + + +
virtual void mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >::setInputHistory (const Eigen::Matrix< double, SystemType::NUM_INPUTS, history_depth > & bin_input_hist)
+ 		+pure virtual
+
+

Sets the input history of past inputs. This is necessary in order to respect the timing constraints.

+
Parameters
+ + +
bin_input_histinput history matrix, where the first index refers to the input vector element and the second index to the history time step. Thereby index 0 refers to the most past element, and index history_depth refers to the current time step.
+
+
+ +
+
+ +

◆ setInputWeights()

+ +
+
+
+template<class SystemType , int N, int min_steps_on, int min_steps_off, int max_steps_on, int num_steps_solver_delay, INTEGRATION_SCHEME integration_scheme>
+ + + + + +
+ + + + + + + + +
virtual void mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >::setInputWeights (const SystemType::InputVec & state_weights)
+ 		+pure virtual
+
+

Sets the input weights of all intermediate predicted inputs

+
Parameters
+ + +
state_weightsweight vector where each vector element refers to the respective input vector element
+
+
+ +
+
+ +

◆ setNextInputs()

+ +
+
+
+template<class SystemType , int N, int min_steps_on, int min_steps_off, int max_steps_on, int num_steps_solver_delay, INTEGRATION_SCHEME integration_scheme>
+ + + + + +
+ + + + + + + + +
virtual void mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >::setNextInputs (const Eigen::Matrix< double, SystemType::NUM_INPUTS, num_steps_solver_delay > & next_inputs)
+ 		+pure virtual
+
+

Sets the inputs that the will be applied to the system during the solver delay, in order to predicts the systems behaviour while the solver optimizes the next input

+
Parameters
+ + +
next_inputsinput sequence
+
+
+ +
+
+ +

◆ setSetPoint()

+ +
+
+
+template<class SystemType , int N, int min_steps_on, int min_steps_off, int max_steps_on, int num_steps_solver_delay, INTEGRATION_SCHEME integration_scheme>
+ + + + + +
+ + + + + + + + +
virtual void mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >::setSetPoint (const SystemType::StateVec & set_point)
+ 		+pure virtual
+
+

Sets the state set point. The state error is then calculated by applying the error function (as defined by setCost) to the difference between the current or predicted state and the set point. Each state error vector element is weighted by the state and final weights as specified by setStateWeights and setFinalWeights

+
Parameters
+ + +
set_pointthe state set point
+
+
+ +
+
+ +

◆ setSolverTimeLimit()

+ +
+
+
+template<class SystemType , int N, int min_steps_on, int min_steps_off, int max_steps_on, int num_steps_solver_delay, INTEGRATION_SCHEME integration_scheme>
+ + + + + +
+ + + + + + + + +
virtual void mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >::setSolverTimeLimit (double max_seconds)
+ 		+pure virtual
+
+

Sets the maximum time that the solver will try to find the optimal solution when solve is called. If the maximum time is reached, the best solution found so far will be returned.

Parameters
+ + +
max_seconds
+
+
+ +

Implemented in mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >.

+ +
+
+ +

◆ setState()

+ +
+
+
+template<class SystemType , int N, int min_steps_on, int min_steps_off, int max_steps_on, int num_steps_solver_delay, INTEGRATION_SCHEME integration_scheme>
+ + + + + +
+ + + + + + + + +
virtual void mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >::setState (const SystemType::StateVec & state)
+ 		+pure virtual
+
+

Sets the current system state which is then used to do the optimization and prediction process.

+
Parameters
+ + +
statesystem state
+
+
+ +
+
+ +

◆ setStateWeights()

+ +
+
+
+template<class SystemType , int N, int min_steps_on, int min_steps_off, int max_steps_on, int num_steps_solver_delay, INTEGRATION_SCHEME integration_scheme>
+ + + + + +
+ + + + + + + + +
virtual void mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >::setStateWeights (const SystemType::StateVec & state_weights)
+ 		+pure virtual
+
+

Sets the state error weights of all intermediate predicted states

+
Parameters
+ + +
state_weightsweight vector where each vector element refers to the respective state vector element
+
+
+ +
+
+ +

◆ solve()

+ +
+
+
+template<class SystemType , int N, int min_steps_on, int min_steps_off, int max_steps_on, int num_steps_solver_delay, INTEGRATION_SCHEME integration_scheme>
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
virtual SOLVER_RETURN mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >::solve (const Eigen::Matrix< double, SystemType::NUM_INPUTS, N, Eigen::RowMajor > & last_open_loop_input,
const Eigen::Matrix< double, SystemType::NUM_STATES, N+1, Eigen::RowMajor > & last_open_loop_state,
Eigen::Matrix< double, SystemType::NUM_INPUTS, N, Eigen::RowMajor > & open_loop_input,
Eigen::Matrix< double, SystemType::NUM_STATES, N+1, Eigen::RowMajor > & open_loop_state 
) const
+ 		+pure virtual
+
+

Starts the solving process in order to find the optimal input and state sequence. Given the cost function and constraints. If a time limit as been set with setSolverTimeLimit, the method will return after that time with no or the best solution found so far.

+
Parameters
+ + + + + +
last_open_loop_inputan optimal open loop input sequence (i.e. from last iteration) that is used to warm start the solver
last_open_loop_statean optimal open loop state sequence (i.e. from last iteration) that is used to warm start the solver
open_loop_inputthe optimal/suboptimal input sequence found by the solver, depending on the delay compensation the next input is at discrete time step getStepsToCompensateControllerDelay()
open_loop_statethe optimal/suboptimal state sequence found by the solver
+
+
+
Returns
The return state indicates if the solution is optimal, suboptimal or no solution was found
+ +
+
+

Member Data Documentation

+ +

◆ history_depth

+ +
+
+
+template<class SystemType , int N, int min_steps_on, int min_steps_off, int max_steps_on, int num_steps_solver_delay, INTEGRATION_SCHEME integration_scheme>
+ + + + + +
+ + + + +
constexpr int mimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >::history_depth
+ 		+staticconstexpr
+
+Initial value:
= std::max(
+
{0, max_steps_on - num_steps_solver_delay, min_steps_off - num_steps_solver_delay,
+
min_steps_on - num_steps_solver_delay})
+

Gives, based on the timing constraints the number of past discrete time steps that the optimization problem needs to know

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.1 +
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+
+ + + + + + +
+
MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
mimpc::System< num_states, num_cont_inputs, num_bin_inputs > Member List
+
+
+ +

This is the complete list of members for mimpc::System< num_states, num_cont_inputs, num_bin_inputs >, including all inherited members.

+ + + + + + + + + + + + + +
AMatrix typedef (defined in mimpc::System< num_states, num_cont_inputs, num_bin_inputs >)mimpc::System< num_states, num_cont_inputs, num_bin_inputs >
BMatrix typedef (defined in mimpc::System< num_states, num_cont_inputs, num_bin_inputs >)mimpc::System< num_states, num_cont_inputs, num_bin_inputs >
getA(const StateVec &state) const =0mimpc::System< num_states, num_cont_inputs, num_bin_inputs >pure virtual
getB(const StateVec &state) const =0mimpc::System< num_states, num_cont_inputs, num_bin_inputs >pure virtual
InputVec typedef (defined in mimpc::System< num_states, num_cont_inputs, num_bin_inputs >)mimpc::System< num_states, num_cont_inputs, num_bin_inputs >
NUM_BIN_INPUTS (defined in mimpc::System< num_states, num_cont_inputs, num_bin_inputs >)mimpc::System< num_states, num_cont_inputs, num_bin_inputs >static
NUM_CONT_INPUTS (defined in mimpc::System< num_states, num_cont_inputs, num_bin_inputs >)mimpc::System< num_states, num_cont_inputs, num_bin_inputs >static
NUM_INPUTS (defined in mimpc::System< num_states, num_cont_inputs, num_bin_inputs >)mimpc::System< num_states, num_cont_inputs, num_bin_inputs >static
NUM_STATES (defined in mimpc::System< num_states, num_cont_inputs, num_bin_inputs >)mimpc::System< num_states, num_cont_inputs, num_bin_inputs >static
StateVec typedef (defined in mimpc::System< num_states, num_cont_inputs, num_bin_inputs >)mimpc::System< num_states, num_cont_inputs, num_bin_inputs >
updateA(const StateVec &state, std::function< void(unsigned int, unsigned int, double)> &changeAval) const =0mimpc::System< num_states, num_cont_inputs, num_bin_inputs >pure virtual
updateB(const StateVec &state, std::function< void(unsigned int, unsigned int, double)> &changeBval) const =0mimpc::System< num_states, num_cont_inputs, num_bin_inputs >pure virtual
+ +
+Generated by doxygen 1.9.1 +
+ + diff --git a/classmimpc_1_1System.html b/classmimpc_1_1System.html new file mode 100644 index 0000000..4fcb44a --- /dev/null +++ b/classmimpc_1_1System.html @@ -0,0 +1,336 @@ + + + + + + + +MIMPC++: mimpc::System< num_states, num_cont_inputs, num_bin_inputs > Class Template Reference + + + + + + + + + + + +
+
+ + + + + + +
+
MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+Public Types | +Public Member Functions | +Static Public Attributes | +List of all members
+
+
mimpc::System< num_states, num_cont_inputs, num_bin_inputs > Class Template Referenceabstract
+
+
+ +

#include <System.hpp>

+
+Inheritance diagram for mimpc::System< num_states, num_cont_inputs, num_bin_inputs >:
+
+
Inheritance graph
+ + + + +
[legend]
+ + + + + + + + + + +

+Public Types

+using AMatrix = typename Eigen::Matrix< double, num_states, num_states >
 
+using BMatrix = typename Eigen::Matrix< double, num_states, num_cont_inputs+num_bin_inputs >
 
+using StateVec = typename Eigen::Vector< double, num_states >
 
+using InputVec = typename Eigen::Vector< double, num_cont_inputs+num_bin_inputs >
 
+ + + + + + + + + +

+Public Member Functions

virtual AMatrix getA (const StateVec &state) const =0
 
virtual BMatrix getB (const StateVec &state) const =0
 
virtual void updateA (const StateVec &state, std::function< void(unsigned int, unsigned int, double)> &changeAval) const =0
 
virtual void updateB (const StateVec &state, std::function< void(unsigned int, unsigned int, double)> &changeBval) const =0
 
+ + + + + + + + + +

+Static Public Attributes

+static constexpr auto NUM_STATES = num_states
 
+static constexpr auto NUM_CONT_INPUTS = num_cont_inputs
 
+static constexpr auto NUM_BIN_INPUTS = num_bin_inputs
 
+static constexpr auto NUM_INPUTS = num_bin_inputs + num_cont_inputs
 
+

Detailed Description

+

template<int num_states, int num_cont_inputs, int num_bin_inputs>
+class mimpc::System< num_states, num_cont_inputs, num_bin_inputs >

+ +

In this library the system Dynamics are represented as \( \mathbf{\dot{x}} = \mathbf{A} \mathbf{x} + \mathbf{B} \mathbf{u} \), where

    +
  • system dynamics \(\mathbf{A}\)
    • +
  • input dynamics \(\mathbf{B}\)
    • +
  • system state is \(\mathbf{x} \in \mathbb{R}^{\text{num_states}}\)
    • +
  • system input consists of a continuous and binary part \(\mathbf{u} = \left[\mathbf{u}_\text{cont}^T,\mathbf{u}^T_\text{bin}\right]^T\), \(\mathbf{u}_\text{cont} \in \mathbb{R}^{\text{num_cont_inputs}}\) and \(\mathbf{u}_\text{cont} \in \left\{0,1\right\}^{\text{num_bin_inputs}}\)
    • +
+

This class represents the system dynamics by offering functions that return the matrices \(A,B\) in order to allow a state dependend linearization. When the MPC needs to know the system state, it will call the functions getA() or getB() to retrieve the full state matrix based on the current state. In order to avoid computational overhead when the systems state has changed the functions updateA() or updateB() are used in order to retrieve only the matrix values that change due to linearization.

+

To define the dynamics of a system, this abstract class has to be by a class which returns the linearized system dynamics as specified. The (SCIPSolver) or (MPC) can than be instantiated with the system dynamics as a template argument.

+
Template Parameters
+ + + + +
num_statesNumber of system states
num_cont_inputsNumber of continuous inputs
num_bin_inputsNumber of binary inputs
+
+
+

Member Function Documentation

+ +

◆ getA()

+ +
+
+
+template<int num_states, int num_cont_inputs, int num_bin_inputs>
+ + + + + +
+ + + + + + + + +
virtual AMatrix mimpc::System< num_states, num_cont_inputs, num_bin_inputs >::getA (const StateVec & state) const
+ 		+pure virtual
+
+

Linearizes and returns the system dynamics as matrix A

Parameters
+ + +
statestate to linearize the system around
+
+
+
Returns
system matrix A
+ +

Implemented in mimpc::systems::REACSA.

+ +
+
+ +

◆ getB()

+ +
+
+
+template<int num_states, int num_cont_inputs, int num_bin_inputs>
+ + + + + +
+ + + + + + + + +
virtual BMatrix mimpc::System< num_states, num_cont_inputs, num_bin_inputs >::getB (const StateVec & state) const
+ 		+pure virtual
+
+

Linearizes and returns the system input dynamics as a matrix B

Parameters
+ + +
statestate to linearize the system around
+
+
+
Returns
input matrix B
+ +

Implemented in mimpc::systems::REACSA.

+ +
+
+ +

◆ updateA()

+ +
+
+
+template<int num_states, int num_cont_inputs, int num_bin_inputs>
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual void mimpc::System< num_states, num_cont_inputs, num_bin_inputs >::updateA (const StateVec & state,
std::function< void(unsigned int, unsigned int, double)> & changeAval 
) const
+ 		+pure virtual
+
+

Updates the states of the linearized system matrix A based on a new state

Parameters
+ + + +
statestate to linearize the system around
changeAvalcallback function that will called for each matrix element which changes due to linearization around the new state. The callback function will be called with parameters (row index, column index, value). The values that are not updated are assumed to stay as returned by getA()
+
+
+ +

Implemented in mimpc::systems::REACSA.

+ +
+
+ +

◆ updateB()

+ +
+
+
+template<int num_states, int num_cont_inputs, int num_bin_inputs>
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual void mimpc::System< num_states, num_cont_inputs, num_bin_inputs >::updateB (const StateVec & state,
std::function< void(unsigned int, unsigned int, double)> & changeBval 
) const
+ 		+pure virtual
+
+

Updates the states of the linearized system matrix B based on a new state

Parameters
+ + + +
statestate to linearize the system around
changeAvalcallback function that will called for each matrix element which changes due to linearization around the new state. The callback function will be called with parameter (row index, column index, value). The values that are not updated are assumed to stay as returned by getB()
+
+
+ +

Implemented in mimpc::systems::REACSA.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.1 +
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+
MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
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mimpc::simulation::MPCLeafSystem< MPCType > Member List
+
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+ +

This is the complete list of members for mimpc::simulation::MPCLeafSystem< MPCType >, including all inherited members.

+ + + +
MPCLeafSystem(MPCType &reacsaSolver, double control_dt, const MPCType::SYSTEM_TYPE::StateVec &state_constraints_lb, const MPCType::SYSTEM_TYPE::StateVec &state_constraints_ub) (defined in mimpc::simulation::MPCLeafSystem< MPCType >)mimpc::simulation::MPCLeafSystem< MPCType >
~MPCLeafSystem() override (defined in mimpc::simulation::MPCLeafSystem< MPCType >)mimpc::simulation::MPCLeafSystem< MPCType >
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+ + diff --git a/classmimpc_1_1simulation_1_1MPCLeafSystem.html b/classmimpc_1_1simulation_1_1MPCLeafSystem.html new file mode 100644 index 0000000..b0ba9be --- /dev/null +++ b/classmimpc_1_1simulation_1_1MPCLeafSystem.html @@ -0,0 +1,117 @@ + + + + + + + +MIMPC++: mimpc::simulation::MPCLeafSystem< MPCType > Class Template Reference + + + + + + + + + + + +
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+ + + + + + +
+
MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
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+Public Member Functions | +List of all members
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mimpc::simulation::MPCLeafSystem< MPCType > Class Template Reference
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+Inheritance diagram for mimpc::simulation::MPCLeafSystem< MPCType >:
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Inheritance graph
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[legend]
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+Collaboration diagram for mimpc::simulation::MPCLeafSystem< MPCType >:
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Collaboration graph
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[legend]
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+Public Member Functions

+ MPCLeafSystem (MPCType &reacsaSolver, double control_dt, const MPCType::SYSTEM_TYPE::StateVec &state_constraints_lb, const MPCType::SYSTEM_TYPE::StateVec &state_constraints_ub)
 
+
The documentation for this class was generated from the following file: +
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+Generated by doxygen 1.9.1 +
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MIMPC++ +
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A fast typesafe Mixed Integer MPC C++ library
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mimpc::simulation::Simulation< MPCType > Member List
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This is the complete list of members for mimpc::simulation::Simulation< MPCType >, including all inherited members.

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saveData(const std::string &filename) (defined in mimpc::simulation::Simulation< MPCType >)mimpc::simulation::Simulation< MPCType >
simulate(float for_seconds) (defined in mimpc::simulation::Simulation< MPCType >)mimpc::simulation::Simulation< MPCType >
simulateToTarget(float time_out_seconds) (defined in mimpc::simulation::Simulation< MPCType >)mimpc::simulation::Simulation< MPCType >
Simulation(double delay_to_simulate, const std::string &plant_urdf_file, MPCType &mpc, const StateVec &initState, const StateVec &targetState, const StateVec &targetThreshold, const StateVec &stateConstraintsLb, const StateVec &stateConstraintsUb, bool withViz, double binary_force) (defined in mimpc::simulation::Simulation< MPCType >)mimpc::simulation::Simulation< MPCType >
+ +
+Generated by doxygen 1.9.1 +
+ + diff --git a/classmimpc_1_1simulation_1_1Simulation.html b/classmimpc_1_1simulation_1_1Simulation.html new file mode 100644 index 0000000..76d1b53 --- /dev/null +++ b/classmimpc_1_1simulation_1_1Simulation.html @@ -0,0 +1,108 @@ + + + + + + + +MIMPC++: mimpc::simulation::Simulation< MPCType > Class Template Reference + + + + + + + + + + + +
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+
MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
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+Public Member Functions | +List of all members
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mimpc::simulation::Simulation< MPCType > Class Template Reference
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+Public Member Functions

+ Simulation (double delay_to_simulate, const std::string &plant_urdf_file, MPCType &mpc, const StateVec &initState, const StateVec &targetState, const StateVec &targetThreshold, const StateVec &stateConstraintsLb, const StateVec &stateConstraintsUb, bool withViz, double binary_force)
 
+bool simulateToTarget (float time_out_seconds)
 
+int simulate (float for_seconds)
 
+void saveData (const std::string &filename)
 
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.1 +
+ + diff --git a/classmimpc_1_1simulation_1_1VizForces-members.html b/classmimpc_1_1simulation_1_1VizForces-members.html new file mode 100644 index 0000000..b2ade52 --- /dev/null +++ b/classmimpc_1_1simulation_1_1VizForces-members.html @@ -0,0 +1,91 @@ + + + + + + + +MIMPC++: Member List + + + + + + + + + + + +
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MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
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+
+
mimpc::simulation::VizForces Member List
+
+
+ +

This is the complete list of members for mimpc::simulation::VizForces, including all inherited members.

+ + + +
updateArrows(const drake::systems::Context< double > &context) const (defined in mimpc::simulation::VizForces)mimpc::simulation::VizForces
VizForces(drake::multibody::MultibodyPlant< double > &plant, drake::geometry::Meshcat &meshcat, const int num_forces, const std::string &bodyLinkName, const double arrowLenMultiplier) (defined in mimpc::simulation::VizForces)mimpc::simulation::VizForces
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+Generated by doxygen 1.9.1 +
+ + diff --git a/classmimpc_1_1simulation_1_1VizForces.html b/classmimpc_1_1simulation_1_1VizForces.html new file mode 100644 index 0000000..233c34c --- /dev/null +++ b/classmimpc_1_1simulation_1_1VizForces.html @@ -0,0 +1,120 @@ + + + + + + + +MIMPC++: mimpc::simulation::VizForces Class Reference + + + + + + + + + + + +
+
+ + + + + + +
+
MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
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+Public Member Functions | +List of all members
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mimpc::simulation::VizForces Class Reference
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+Inheritance diagram for mimpc::simulation::VizForces:
+
+
Inheritance graph
+ + + + +
[legend]
+
+Collaboration diagram for mimpc::simulation::VizForces:
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+
Collaboration graph
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[legend]
+ + + + + + +

+Public Member Functions

+ VizForces (drake::multibody::MultibodyPlant< double > &plant, drake::geometry::Meshcat &meshcat, const int num_forces, const std::string &bodyLinkName, const double arrowLenMultiplier)
 
+void updateArrows (const drake::systems::Context< double > &context) const
 
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.1 +
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MIMPC++ +
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A fast typesafe Mixed Integer MPC C++ library
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mimpc::systems::REACSA Member List
+
+
+ +

This is the complete list of members for mimpc::systems::REACSA, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + +
AMatrix typedef (defined in mimpc::System< num_states, num_cont_inputs, num_bin_inputs >)mimpc::System< num_states, num_cont_inputs, num_bin_inputs >
BMatrix typedef (defined in mimpc::System< num_states, num_cont_inputs, num_bin_inputs >)mimpc::System< num_states, num_cont_inputs, num_bin_inputs >
get_angular_velocity_bound(double rw_speed_final_bound) (defined in mimpc::systems::REACSA)mimpc::systems::REACSAstatic
get_angular_velocity_bound(double body_Izz, double rw_Izz, double rw_speed_max, double rw_speed_final_bound) (defined in mimpc::systems::REACSA)mimpc::systems::REACSAstatic
get_limitcycle_v_bounds(unsigned int num_break_thrusts, double &v_bound, double &x_bound) (defined in mimpc::systems::REACSA)mimpc::systems::REACSAstatic
get_limitcycle_v_bounds(unsigned int num_break_thrusts, double system_m, double f_nom, double t_min_on, double t_min_off, double t_max_on, double &v_bound, double &x_bound) (defined in mimpc::systems::REACSA)mimpc::systems::REACSAstatic
getA(const SystemSized::StateVec &state) const overridemimpc::systems::REACSAvirtual
getB(const SystemSized::StateVec &state) const overridemimpc::systems::REACSAvirtual
InputVec typedef (defined in mimpc::System< num_states, num_cont_inputs, num_bin_inputs >)mimpc::System< num_states, num_cont_inputs, num_bin_inputs >
NUM_BIN_INPUTS (defined in mimpc::System< num_states, num_cont_inputs, num_bin_inputs >)mimpc::System< num_states, num_cont_inputs, num_bin_inputs >static
NUM_CONT_INPUTS (defined in mimpc::System< num_states, num_cont_inputs, num_bin_inputs >)mimpc::System< num_states, num_cont_inputs, num_bin_inputs >static
NUM_INPUTS (defined in mimpc::System< num_states, num_cont_inputs, num_bin_inputs >)mimpc::System< num_states, num_cont_inputs, num_bin_inputs >static
NUM_STATES (defined in mimpc::System< num_states, num_cont_inputs, num_bin_inputs >)mimpc::System< num_states, num_cont_inputs, num_bin_inputs >static
REACSA(double systemM, double bodyIzz, double rwIzz, double r, double fNom) (defined in mimpc::systems::REACSA)mimpc::systems::REACSA
REACSA() (defined in mimpc::systems::REACSA)mimpc::systems::REACSA
StateVec typedef (defined in mimpc::System< num_states, num_cont_inputs, num_bin_inputs >)mimpc::System< num_states, num_cont_inputs, num_bin_inputs >
updateA(const SystemSized::StateVec &state, std::function< void(unsigned int, unsigned int, double)> &changeAval) const overridemimpc::systems::REACSAvirtual
updateB(const SystemSized::StateVec &state, std::function< void(unsigned int, unsigned int, double)> &changeBval) const overridemimpc::systems::REACSAvirtual
~REACSA()=default (defined in mimpc::systems::REACSA)mimpc::systems::REACSAvirtual
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+Generated by doxygen 1.9.1 +
+ + diff --git a/classmimpc_1_1systems_1_1REACSA.html b/classmimpc_1_1systems_1_1REACSA.html new file mode 100644 index 0000000..7773de4 --- /dev/null +++ b/classmimpc_1_1systems_1_1REACSA.html @@ -0,0 +1,331 @@ + + + + + + + +MIMPC++: mimpc::systems::REACSA Class Reference + + + + + + + + + + + +
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MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
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+Public Member Functions | +Static Public Member Functions | +List of all members
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+
mimpc::systems::REACSA Class Reference
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+
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+Inheritance diagram for mimpc::systems::REACSA:
+
+
Inheritance graph
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[legend]
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+Collaboration diagram for mimpc::systems::REACSA:
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Collaboration graph
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+Public Member Functions

+ REACSA (double systemM, double bodyIzz, double rwIzz, double r, double fNom)
 
SystemSized::AMatrix getA (const SystemSized::StateVec &state) const override
 
SystemSized::BMatrix getB (const SystemSized::StateVec &state) const override
 
void updateA (const SystemSized::StateVec &state, std::function< void(unsigned int, unsigned int, double)> &changeAval) const override
 
void updateB (const SystemSized::StateVec &state, std::function< void(unsigned int, unsigned int, double)> &changeBval) const override
 
+ + + + + + + + + +

+Static Public Member Functions

+static double get_angular_velocity_bound (double rw_speed_final_bound)
 
+static void get_limitcycle_v_bounds (unsigned int num_break_thrusts, double &v_bound, double &x_bound)
 
+static double get_angular_velocity_bound (double body_Izz, double rw_Izz, double rw_speed_max, double rw_speed_final_bound)
 
+static void get_limitcycle_v_bounds (unsigned int num_break_thrusts, double system_m, double f_nom, double t_min_on, double t_min_off, double t_max_on, double &v_bound, double &x_bound)
 
+ + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from mimpc::System< num_states, num_cont_inputs, num_bin_inputs >
+using AMatrix = typename Eigen::Matrix< double, num_states, num_states >
 
+using BMatrix = typename Eigen::Matrix< double, num_states, num_cont_inputs+num_bin_inputs >
 
+using StateVec = typename Eigen::Vector< double, num_states >
 
+using InputVec = typename Eigen::Vector< double, num_cont_inputs+num_bin_inputs >
 
- Static Public Attributes inherited from mimpc::System< num_states, num_cont_inputs, num_bin_inputs >
+static constexpr auto NUM_STATES = num_states
 
+static constexpr auto NUM_CONT_INPUTS = num_cont_inputs
 
+static constexpr auto NUM_BIN_INPUTS = num_bin_inputs
 
+static constexpr auto NUM_INPUTS = num_bin_inputs + num_cont_inputs
 
+

Member Function Documentation

+ +

◆ getA()

+ +
+
+ + + + + +
+ + + + + + + + +
SystemSized::AMatrix mimpc::systems::REACSA::getA (const SystemSized::StateVec & state) const
+ 		+overridevirtual
+
+

Linearizes and returns the system dynamics as matrix A

Parameters
+ + +
statestate to linearize the system around
+
+
+
Returns
system matrix A
+ +

Implements mimpc::System< num_states, num_cont_inputs, num_bin_inputs >.

+ +
+
+ +

◆ getB()

+ +
+
+ + + + + +
+ + + + + + + + +
SystemSized::BMatrix mimpc::systems::REACSA::getB (const SystemSized::StateVec & state) const
+ 		+overridevirtual
+
+

Linearizes and returns the system input dynamics as a matrix B

Parameters
+ + +
statestate to linearize the system around
+
+
+
Returns
input matrix B
+ +

Implements mimpc::System< num_states, num_cont_inputs, num_bin_inputs >.

+ +
+
+ +

◆ updateA()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
void mimpc::systems::REACSA::updateA (const SystemSized::StateVec & state,
std::function< void(unsigned int, unsigned int, double)> & changeAval 
) const
+ 		+overridevirtual
+
+

Updates the states of the linearized system matrix A based on a new state

Parameters
+ + + +
statestate to linearize the system around
changeAvalcallback function that will called for each matrix element which changes due to linearization around the new state. The callback function will be called with parameters (row index, column index, value). The values that are not updated are assumed to stay as returned by getA()
+
+
+ +

Implements mimpc::System< num_states, num_cont_inputs, num_bin_inputs >.

+ +
+
+ +

◆ updateB()

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+ + + + + + + + + + + + + + + + + + +
void mimpc::systems::REACSA::updateB (const SystemSized::StateVec & state,
std::function< void(unsigned int, unsigned int, double)> & changeBval 
) const
+ 		+overridevirtual
+
+

Updates the states of the linearized system matrix B based on a new state

Parameters
+ + + +
statestate to linearize the system around
changeAvalcallback function that will called for each matrix element which changes due to linearization around the new state. The callback function will be called with parameter (row index, column index, value). The values that are not updated are assumed to stay as returned by getB()
+
+
+ +

Implements mimpc::System< num_states, num_cont_inputs, num_bin_inputs >.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.1 +
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MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
+
+
+ + + + + + + + +
+
+ + +
+ +
+ + +
+
+
+
systems Directory Reference
+
+
+
+Directory dependency graph for systems:
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+
include/systems
+ + + + +
+
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file  Solver.hpp [code]
 Abstract class that represents any solver interface and provides a low-lever mpc solver interface.
 
file  System.hpp [code]
 Abstract class to represent system dynamics.
 
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+} + +a.navtab { + font-weight: bold; +} + +div.qindex{ + text-align: center; + width: 100%; + line-height: 140%; + font-size: 130%; + color: #A0A0A0; +} + +dt.alphachar{ + font-size: 180%; + font-weight: bold; +} + +.alphachar a{ + color: black; +} + +.alphachar a:hover, .alphachar a:visited{ + text-decoration: none; +} + +.classindex dl { + padding: 25px; + column-count:1 +} + +.classindex dd { + display:inline-block; + margin-left: 50px; + width: 90%; + line-height: 1.15em; +} + +.classindex dl.odd { + background-color: #F8F9FC; +} + +@media(min-width: 1120px) { + .classindex dl { + column-count:2 + } +} + +@media(min-width: 1320px) { + .classindex dl { + column-count:3 + } +} + + +/* @group Link Styling */ + +a { + color: #3D578C; + font-weight: normal; + text-decoration: none; +} + +.contents a:visited { + color: #4665A2; +} + +a:hover { + text-decoration: underline; +} + +.contents a.qindexHL:visited { + color: #FFFFFF; +} + +a.el { + font-weight: bold; +} + +a.elRef { +} + +a.code, a.code:visited, a.line, a.line:visited { + color: #4665A2; +} + +a.codeRef, a.codeRef:visited, a.lineRef, a.lineRef:visited { + color: #4665A2; +} + +/* @end */ + +dl.el { + margin-left: -1cm; +} + +ul { + overflow: hidden; /*Fixed: list item bullets overlap floating elements*/ +} + +#side-nav ul { + overflow: visible; /* reset ul rule for scroll bar in GENERATE_TREEVIEW window */ +} + +#main-nav ul { + overflow: visible; /* reset ul rule for the navigation bar drop down lists */ +} + +.fragment { + text-align: left; + direction: ltr; + overflow-x: auto; /*Fixed: fragment lines overlap floating elements*/ + overflow-y: hidden; +} + +pre.fragment { + border: 1px solid #C4CFE5; + background-color: #FBFCFD; + padding: 4px 6px; + margin: 4px 8px 4px 2px; + overflow: auto; + word-wrap: break-word; + font-size: 9pt; + line-height: 125%; + font-family: monospace, fixed; + font-size: 105%; +} + +div.fragment { + padding: 0 0 1px 0; /*Fixed: last line underline overlap border*/ + margin: 4px 8px 4px 2px; + background-color: #FBFCFD; + border: 1px solid #C4CFE5; +} + +div.line { + font-family: monospace, fixed; + font-size: 13px; + min-height: 13px; + line-height: 1.0; + text-wrap: unrestricted; + white-space: -moz-pre-wrap; /* Moz */ + white-space: -pre-wrap; /* Opera 4-6 */ + white-space: -o-pre-wrap; /* Opera 7 */ + white-space: pre-wrap; /* CSS3 */ + word-wrap: break-word; /* IE 5.5+ */ + text-indent: -53px; + padding-left: 53px; + padding-bottom: 0px; + margin: 0px; + -webkit-transition-property: background-color, box-shadow; + -webkit-transition-duration: 0.5s; + -moz-transition-property: background-color, box-shadow; + -moz-transition-duration: 0.5s; + -ms-transition-property: background-color, box-shadow; + -ms-transition-duration: 0.5s; + -o-transition-property: background-color, box-shadow; + -o-transition-duration: 0.5s; + transition-property: background-color, box-shadow; + transition-duration: 0.5s; +} + +div.line:after { + content:"\000A"; + white-space: pre; +} + +div.line.glow { + background-color: cyan; + box-shadow: 0 0 10px cyan; +} + + +span.lineno { + padding-right: 4px; + text-align: right; + border-right: 2px solid #0F0; + background-color: #E8E8E8; + white-space: pre; +} +span.lineno a { + background-color: #D8D8D8; +} + +span.lineno a:hover { + background-color: #C8C8C8; +} + +.lineno { + -webkit-touch-callout: none; + -webkit-user-select: none; + -khtml-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; +} + +div.ah, span.ah { + background-color: black; + font-weight: bold; + color: #FFFFFF; + margin-bottom: 3px; + margin-top: 3px; + padding: 0.2em; + border: solid thin #333; + border-radius: 0.5em; + -webkit-border-radius: .5em; + -moz-border-radius: .5em; + box-shadow: 2px 2px 3px #999; + -webkit-box-shadow: 2px 2px 3px #999; + -moz-box-shadow: rgba(0, 0, 0, 0.15) 2px 2px 2px; + background-image: -webkit-gradient(linear, left top, left bottom, from(#eee), to(#000),color-stop(0.3, #444)); + background-image: -moz-linear-gradient(center top, #eee 0%, #444 40%, #000 110%); +} + +div.classindex ul { + list-style: none; + padding-left: 0; +} + +div.classindex span.ai { + display: inline-block; +} + +div.groupHeader { + margin-left: 16px; + margin-top: 12px; + font-weight: bold; +} + +div.groupText { + margin-left: 16px; + font-style: italic; +} + +body { + background-color: white; + color: black; + margin: 0; +} + +div.contents { + margin-top: 10px; + margin-left: 12px; + margin-right: 8px; +} + +td.indexkey { + background-color: #EBEFF6; + font-weight: bold; + border: 1px solid #C4CFE5; + margin: 2px 0px 2px 0; + padding: 2px 10px; + white-space: nowrap; + vertical-align: top; +} + +td.indexvalue { + background-color: #EBEFF6; + border: 1px solid #C4CFE5; + padding: 2px 10px; + margin: 2px 0px; +} + +tr.memlist { + background-color: #EEF1F7; +} + +p.formulaDsp { + text-align: center; +} + +img.formulaDsp { + +} + +img.formulaInl, img.inline { + vertical-align: middle; +} + +div.center { + text-align: center; + margin-top: 0px; + margin-bottom: 0px; + padding: 0px; +} + +div.center img { + border: 0px; +} + +address.footer { + text-align: right; + padding-right: 12px; +} + +img.footer { + border: 0px; + vertical-align: middle; +} + +/* @group Code Colorization */ + +span.keyword { + color: #008000 +} + +span.keywordtype { + color: #604020 +} + +span.keywordflow { + color: #e08000 +} + +span.comment { + color: #800000 +} + +span.preprocessor { + color: #806020 +} + +span.stringliteral { + color: #002080 +} + +span.charliteral { + color: #008080 +} + +span.vhdldigit { + color: #ff00ff +} + +span.vhdlchar { + color: #000000 +} + +span.vhdlkeyword { + color: #700070 +} + +span.vhdllogic { + color: #ff0000 +} + +blockquote { + background-color: #F7F8FB; + border-left: 2px solid #9CAFD4; + margin: 0 24px 0 4px; + padding: 0 12px 0 16px; +} + +blockquote.DocNodeRTL { + border-left: 0; + border-right: 2px solid #9CAFD4; + margin: 0 4px 0 24px; + padding: 0 16px 0 12px; +} + +/* @end */ + +/* +.search { + color: #003399; + font-weight: bold; +} + +form.search { + margin-bottom: 0px; + margin-top: 0px; +} + +input.search { + font-size: 75%; + color: #000080; + font-weight: normal; + background-color: #e8eef2; +} +*/ + +td.tiny { + font-size: 75%; +} + +.dirtab { + padding: 4px; + border-collapse: collapse; + border: 1px solid #A3B4D7; +} + +th.dirtab { + background: #EBEFF6; + font-weight: bold; +} + +hr { + height: 0px; + border: none; + border-top: 1px solid #4A6AAA; +} + +hr.footer { + height: 1px; +} + +/* @group Member Descriptions */ + +table.memberdecls { + border-spacing: 0px; + padding: 0px; +} + +.memberdecls td, .fieldtable tr { + -webkit-transition-property: background-color, box-shadow; + -webkit-transition-duration: 0.5s; + -moz-transition-property: background-color, box-shadow; + -moz-transition-duration: 0.5s; + -ms-transition-property: background-color, box-shadow; + -ms-transition-duration: 0.5s; + -o-transition-property: background-color, box-shadow; + -o-transition-duration: 0.5s; + transition-property: background-color, box-shadow; + transition-duration: 0.5s; +} + +.memberdecls td.glow, .fieldtable tr.glow { + background-color: cyan; + box-shadow: 0 0 15px cyan; +} + +.mdescLeft, .mdescRight, +.memItemLeft, .memItemRight, +.memTemplItemLeft, .memTemplItemRight, .memTemplParams { + background-color: #F9FAFC; + border: none; + margin: 4px; + padding: 1px 0 0 8px; +} + +.mdescLeft, .mdescRight { + padding: 0px 8px 4px 8px; + color: #555; +} + +.memSeparator { + border-bottom: 1px solid #DEE4F0; + line-height: 1px; + margin: 0px; + padding: 0px; +} + +.memItemLeft, .memTemplItemLeft { + white-space: nowrap; +} + +.memItemRight, .memTemplItemRight { + width: 100%; +} + +.memTemplParams { + color: #4665A2; + white-space: nowrap; + font-size: 80%; +} + +/* @end */ + +/* @group Member Details */ + +/* Styles for detailed member documentation */ + +.memtitle { + padding: 8px; + border-top: 1px solid #A8B8D9; + border-left: 1px solid #A8B8D9; + border-right: 1px solid #A8B8D9; + border-top-right-radius: 4px; + border-top-left-radius: 4px; + margin-bottom: -1px; + background-image: url('nav_f.png'); + background-repeat: repeat-x; + background-color: #E2E8F2; + line-height: 1.25; + font-weight: 300; + float:left; +} + +.permalink +{ + font-size: 65%; + display: inline-block; + vertical-align: middle; +} + +.memtemplate { + font-size: 80%; + color: #4665A2; + font-weight: normal; + margin-left: 9px; +} + +.memnav { + background-color: #EBEFF6; + border: 1px solid #A3B4D7; + text-align: center; + margin: 2px; + margin-right: 15px; + padding: 2px; +} + +.mempage { + width: 100%; +} + +.memitem { + padding: 0; + margin-bottom: 10px; + margin-right: 5px; + -webkit-transition: box-shadow 0.5s linear; + -moz-transition: box-shadow 0.5s linear; + -ms-transition: box-shadow 0.5s linear; + -o-transition: box-shadow 0.5s linear; + transition: box-shadow 0.5s linear; + display: table !important; + width: 100%; +} + +.memitem.glow { + box-shadow: 0 0 15px cyan; +} + +.memname { + font-weight: 400; + margin-left: 6px; +} + +.memname td { + vertical-align: bottom; +} + +.memproto, dl.reflist dt { + border-top: 1px solid #A8B8D9; + border-left: 1px solid #A8B8D9; + border-right: 1px solid #A8B8D9; + padding: 6px 0px 6px 0px; + color: #253555; + font-weight: bold; + text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9); + background-color: #DFE5F1; + /* opera specific markup */ + box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); + border-top-right-radius: 4px; + /* firefox specific markup */ + -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px; + -moz-border-radius-topright: 4px; + /* webkit specific markup */ + -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); + -webkit-border-top-right-radius: 4px; + +} + +.overload { + font-family: "courier new",courier,monospace; + font-size: 65%; +} + +.memdoc, dl.reflist dd { + border-bottom: 1px solid #A8B8D9; + border-left: 1px solid #A8B8D9; + border-right: 1px solid #A8B8D9; + padding: 6px 10px 2px 10px; + background-color: #FBFCFD; + border-top-width: 0; + background-image:url('nav_g.png'); + background-repeat:repeat-x; + background-color: #FFFFFF; + /* opera specific markup */ + border-bottom-left-radius: 4px; + border-bottom-right-radius: 4px; + box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); + /* firefox specific markup */ + -moz-border-radius-bottomleft: 4px; + -moz-border-radius-bottomright: 4px; + -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px; + /* webkit specific markup */ + -webkit-border-bottom-left-radius: 4px; + -webkit-border-bottom-right-radius: 4px; + -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); +} + +dl.reflist dt { + padding: 5px; +} + +dl.reflist dd { + margin: 0px 0px 10px 0px; + padding: 5px; +} + +.paramkey { + text-align: right; +} + +.paramtype { + white-space: nowrap; +} + +.paramname { + color: #602020; + white-space: nowrap; +} +.paramname em { + font-style: normal; +} +.paramname code { + line-height: 14px; +} + +.params, .retval, .exception, .tparams { + margin-left: 0px; + padding-left: 0px; +} + +.params .paramname, .retval .paramname, .tparams .paramname, .exception .paramname { + font-weight: bold; + vertical-align: top; +} + +.params .paramtype, .tparams .paramtype { + font-style: italic; + vertical-align: top; +} + +.params .paramdir, .tparams .paramdir { + font-family: "courier new",courier,monospace; + vertical-align: top; +} + +table.mlabels { + border-spacing: 0px; +} + +td.mlabels-left { + width: 100%; + padding: 0px; +} + +td.mlabels-right { + vertical-align: bottom; + padding: 0px; + white-space: nowrap; +} + +span.mlabels { + margin-left: 8px; +} + +span.mlabel { + background-color: #728DC1; + border-top:1px solid #5373B4; + border-left:1px solid #5373B4; + border-right:1px solid #C4CFE5; + border-bottom:1px solid #C4CFE5; + text-shadow: none; + color: white; + margin-right: 4px; + padding: 2px 3px; + border-radius: 3px; + font-size: 7pt; + white-space: nowrap; + vertical-align: middle; +} + + + +/* @end */ + +/* these are for tree view inside a (index) page */ + +div.directory { + margin: 10px 0px; + border-top: 1px solid #9CAFD4; + border-bottom: 1px solid #9CAFD4; + width: 100%; +} + +.directory table { + border-collapse:collapse; +} + +.directory td { + margin: 0px; + padding: 0px; + vertical-align: top; +} + +.directory td.entry { + white-space: nowrap; + padding-right: 6px; + padding-top: 3px; +} + +.directory td.entry a { + outline:none; +} + +.directory td.entry a img { + border: none; +} + +.directory td.desc { + width: 100%; + padding-left: 6px; + padding-right: 6px; + padding-top: 3px; + border-left: 1px solid rgba(0,0,0,0.05); +} + +.directory tr.even { + padding-left: 6px; + background-color: #F7F8FB; +} + +.directory img { + vertical-align: -30%; +} + +.directory .levels { + white-space: nowrap; + width: 100%; + text-align: right; + font-size: 9pt; +} + +.directory .levels span { + cursor: pointer; + padding-left: 2px; + padding-right: 2px; + color: #3D578C; +} + +.arrow { + color: #9CAFD4; + -webkit-user-select: none; + -khtml-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; + cursor: pointer; + font-size: 80%; + display: inline-block; + width: 16px; + height: 22px; +} + +.icon { + font-family: Arial, Helvetica; + font-weight: bold; + font-size: 12px; + height: 14px; + width: 16px; + display: inline-block; + background-color: #728DC1; + color: white; + text-align: center; + border-radius: 4px; + margin-left: 2px; + margin-right: 2px; +} + +.icona { + width: 24px; + height: 22px; + display: inline-block; +} + +.iconfopen { + width: 24px; + height: 18px; + margin-bottom: 4px; + background-image:url('folderopen.png'); + background-position: 0px -4px; + background-repeat: repeat-y; + vertical-align:top; + display: inline-block; +} + +.iconfclosed { + width: 24px; + height: 18px; + margin-bottom: 4px; + background-image:url('folderclosed.png'); + background-position: 0px -4px; + background-repeat: repeat-y; + vertical-align:top; + display: inline-block; +} + +.icondoc { + width: 24px; + height: 18px; + margin-bottom: 4px; + background-image:url('doc.png'); + background-position: 0px -4px; + background-repeat: repeat-y; + vertical-align:top; + display: inline-block; +} + +table.directory { + font: 400 14px Roboto,sans-serif; +} + +/* @end */ + +div.dynheader { + margin-top: 8px; + -webkit-touch-callout: none; + -webkit-user-select: none; + -khtml-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; +} + +address { + font-style: normal; + color: #2A3D61; +} + +table.doxtable caption { + caption-side: top; +} + +table.doxtable { + border-collapse:collapse; + margin-top: 4px; + margin-bottom: 4px; +} + +table.doxtable td, table.doxtable th { + border: 1px solid #2D4068; + padding: 3px 7px 2px; +} + +table.doxtable th { + background-color: #374F7F; + color: #FFFFFF; + font-size: 110%; + padding-bottom: 4px; + padding-top: 5px; +} + +table.fieldtable { + /*width: 100%;*/ + margin-bottom: 10px; + border: 1px solid #A8B8D9; + border-spacing: 0px; + -moz-border-radius: 4px; + -webkit-border-radius: 4px; + border-radius: 4px; + -moz-box-shadow: rgba(0, 0, 0, 0.15) 2px 2px 2px; + -webkit-box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15); + box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15); +} + +.fieldtable td, .fieldtable th { + padding: 3px 7px 2px; +} + +.fieldtable td.fieldtype, .fieldtable td.fieldname { + white-space: nowrap; + border-right: 1px solid #A8B8D9; + border-bottom: 1px solid #A8B8D9; + vertical-align: top; +} + +.fieldtable td.fieldname { + padding-top: 3px; +} + +.fieldtable td.fielddoc { + border-bottom: 1px solid #A8B8D9; + /*width: 100%;*/ +} + +.fieldtable td.fielddoc p:first-child { + margin-top: 0px; +} + +.fieldtable td.fielddoc p:last-child { + margin-bottom: 2px; +} + +.fieldtable tr:last-child td { + border-bottom: none; +} + +.fieldtable th { + background-image:url('nav_f.png'); + background-repeat:repeat-x; + background-color: #E2E8F2; + font-size: 90%; + color: #253555; + padding-bottom: 4px; + padding-top: 5px; + text-align:left; + font-weight: 400; + -moz-border-radius-topleft: 4px; + -moz-border-radius-topright: 4px; + -webkit-border-top-left-radius: 4px; + -webkit-border-top-right-radius: 4px; + border-top-left-radius: 4px; + border-top-right-radius: 4px; + border-bottom: 1px solid #A8B8D9; +} + + +.tabsearch { + top: 0px; + left: 10px; + height: 36px; + background-image: url('tab_b.png'); + z-index: 101; + overflow: hidden; + font-size: 13px; +} + +.navpath ul +{ + font-size: 11px; + background-image:url('tab_b.png'); + background-repeat:repeat-x; + background-position: 0 -5px; + height:30px; + line-height:30px; + color:#8AA0CC; + border:solid 1px #C2CDE4; + overflow:hidden; + margin:0px; + padding:0px; +} + +.navpath li +{ + list-style-type:none; + float:left; + padding-left:10px; + padding-right:15px; + background-image:url('bc_s.png'); + background-repeat:no-repeat; + background-position:right; + color:#364D7C; +} + +.navpath li.navelem a +{ + height:32px; + display:block; + text-decoration: none; + outline: none; + color: #283A5D; + font-family: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif; + text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9); + text-decoration: none; +} + +.navpath li.navelem a:hover +{ + color:#6884BD; +} + +.navpath li.footer +{ + list-style-type:none; + float:right; + padding-left:10px; + padding-right:15px; + background-image:none; + background-repeat:no-repeat; + background-position:right; + color:#364D7C; + font-size: 8pt; +} + + +div.summary +{ + float: right; + font-size: 8pt; + padding-right: 5px; + width: 50%; + text-align: right; +} + +div.summary a +{ + white-space: nowrap; +} + +table.classindex +{ + margin: 10px; + white-space: nowrap; + margin-left: 3%; + margin-right: 3%; + width: 94%; + border: 0; + border-spacing: 0; + padding: 0; +} + +div.ingroups +{ + font-size: 8pt; + width: 50%; + text-align: left; +} + +div.ingroups a +{ + white-space: nowrap; +} + +div.header +{ + background-image:url('nav_h.png'); + background-repeat:repeat-x; + background-color: #F9FAFC; + margin: 0px; + border-bottom: 1px solid #C4CFE5; +} + +div.headertitle +{ + padding: 5px 5px 5px 10px; +} + +.PageDocRTL-title div.headertitle { + text-align: right; + direction: rtl; +} + +dl { + padding: 0 0 0 0; +} + +/* dl.note, dl.warning, dl.attention, dl.pre, dl.post, dl.invariant, dl.deprecated, dl.todo, dl.test, dl.bug, dl.examples */ +dl.section { + margin-left: 0px; + padding-left: 0px; +} + +dl.section.DocNodeRTL { + margin-right: 0px; + padding-right: 0px; +} + +dl.note { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #D0C000; +} + +dl.note.DocNodeRTL { + margin-left: 0; + padding-left: 0; + border-left: 0; + margin-right: -7px; + padding-right: 3px; + border-right: 4px solid; + border-color: #D0C000; +} + +dl.warning, dl.attention { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #FF0000; +} + +dl.warning.DocNodeRTL, dl.attention.DocNodeRTL { + margin-left: 0; + padding-left: 0; + border-left: 0; + margin-right: -7px; + padding-right: 3px; + border-right: 4px solid; + border-color: #FF0000; +} + +dl.pre, dl.post, dl.invariant { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #00D000; +} + +dl.pre.DocNodeRTL, dl.post.DocNodeRTL, dl.invariant.DocNodeRTL { + margin-left: 0; + padding-left: 0; + border-left: 0; + margin-right: -7px; + padding-right: 3px; + border-right: 4px solid; + border-color: #00D000; +} + +dl.deprecated { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #505050; +} + +dl.deprecated.DocNodeRTL { + margin-left: 0; + padding-left: 0; + border-left: 0; + margin-right: -7px; + padding-right: 3px; + border-right: 4px solid; + border-color: #505050; +} + +dl.todo { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #00C0E0; +} + +dl.todo.DocNodeRTL { + margin-left: 0; + padding-left: 0; + border-left: 0; + margin-right: -7px; + padding-right: 3px; + border-right: 4px solid; + border-color: #00C0E0; +} + +dl.test { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #3030E0; +} + +dl.test.DocNodeRTL { + margin-left: 0; + padding-left: 0; + border-left: 0; + margin-right: -7px; + padding-right: 3px; + border-right: 4px solid; + border-color: #3030E0; +} + +dl.bug { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #C08050; +} + +dl.bug.DocNodeRTL { + margin-left: 0; + padding-left: 0; + border-left: 0; + margin-right: -7px; + padding-right: 3px; + border-right: 4px solid; + border-color: #C08050; +} + +dl.section dd { + margin-bottom: 6px; +} + + +#projectlogo +{ + text-align: center; + vertical-align: bottom; + border-collapse: separate; +} + +#projectlogo img +{ + border: 0px none; +} + +#projectalign +{ + vertical-align: middle; +} + +#projectname +{ + font: 300% Tahoma, Arial,sans-serif; + margin: 0px; + padding: 2px 0px; +} + +#projectbrief +{ + font: 120% Tahoma, Arial,sans-serif; + margin: 0px; + padding: 0px; +} + +#projectnumber +{ + font: 50% Tahoma, Arial,sans-serif; + margin: 0px; + padding: 0px; +} + +#titlearea +{ + padding: 0px; + margin: 0px; + width: 100%; 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IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + @licend The above is the entire license notice for the JavaScript code in this file + */ +function toggleVisibility(linkObj) +{ + var base = $(linkObj).attr('id'); + var summary = $('#'+base+'-summary'); + var content = $('#'+base+'-content'); + var trigger = $('#'+base+'-trigger'); + var src=$(trigger).attr('src'); + if (content.is(':visible')===true) { + content.hide(); + summary.show(); + $(linkObj).addClass('closed').removeClass('opened'); + $(trigger).attr('src',src.substring(0,src.length-8)+'closed.png'); + } else { + content.show(); + summary.hide(); + $(linkObj).removeClass('closed').addClass('opened'); + $(trigger).attr('src',src.substring(0,src.length-10)+'open.png'); + } + return false; +} + +function updateStripes() +{ + $('table.directory tr'). + removeClass('even').filter(':visible:even').addClass('even'); +} + +function toggleLevel(level) +{ + $('table.directory tr').each(function() { + var l = this.id.split('_').length-1; + var i = $('#img'+this.id.substring(3)); + var a = $('#arr'+this.id.substring(3)); + if (l + + + + + + +MIMPC++: File List + + + + + + + + + + + +
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MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
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+ + +
+ +
+ +
+
+
File List
+
+
+
Here is a list of all documented files with brief descriptions:
+
[detail level 123]
+ + + + + + + + + + + + +
 ▼ include
 ▼ sim
 MPCLeafSystem.hpp
 Simulation.hpp
 VizForces.hpp
 ▼ solvers
 SCIPSolver.hpp
 ▼ systems
 REACSA.hpp
 MPC.hpp
 Solver.hppAbstract class that represents any solver interface and provides a low-lever mpc solver interface
 System.hppAbstract class to represent system dynamics
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+
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MIMPC++ +
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A fast typesafe Mixed Integer MPC C++ library
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Here is a list of all documented class members with links to the class documentation for each member:
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- a -

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MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
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+Generated by doxygen 1.9.1 +
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MIMPC++ +
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A fast typesafe Mixed Integer MPC C++ library
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MIMPC++ +
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A fast typesafe Mixed Integer MPC C++ library
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Graph Legend
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This page explains how to interpret the graphs that are generated by doxygen.

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/* Class not documented with doxygen comments */
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/*! Class that is used by the Inherited class */
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/*! Super class that inherits a number of other classes */
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class Inherited : public PublicBase,
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100644 index 0000000..6379954 --- /dev/null +++ b/hierarchy.html @@ -0,0 +1,97 @@ + + + + + + + +MIMPC++: Class Hierarchy + + + + + + + + + + + +
+
+ + + + + + +
+
MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
+
+
+ + + + + + + +
+ +
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+ + +
+ +
+ +
+
+
Class Hierarchy
+
+
+
+

Go to the graphical class hierarchy

+This inheritance list is sorted roughly, but not completely, alphabetically:
+
[detail level 12]
+ + + + + + + + + +
 ▼Cdrake::systems::LeafSystem
 Cmimpc::simulation::MPCLeafSystem< MPCType >
 Cmimpc::simulation::VizForces
 Cmimpc::MPC< SystemType, SolverType >
 Cmimpc::simulation::Simulation< MPCType >
 ▼Cmimpc::Solver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >
 Cmimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >
 ▼Cmimpc::System< num_states, num_cont_inputs, num_bin_inputs >
 Cmimpc::systems::REACSA
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+
+ +
+Generated by doxygen 1.9.1 +
+ + diff --git a/index.html b/index.html new file mode 100644 index 0000000..2274364 --- /dev/null +++ b/index.html @@ -0,0 +1,157 @@ + + + + + + + +MIMPC++: MIMPC++ + + + + + + + + + + + +
+
+ + + + + + +
+
MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
+
+
+ + + + + + + +
+ +
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+ + +
+ +
+ +
+
+
MIMPC++
+
+
+

A fast typesafe Mixed Integer Model Predictive Control C++ library

+

+

+Description

+

Full documentation under: Documentation

+

The library was originally developed as a fast implementation of an MPC for European Space Agency's free-floating platform REACSA which is controlled by a continuous actuated Reaction Wheel and eight binary actuated thrusters under dwell time constraints.

+

This project contains:

    +
  1. The MIMPC library that has been designed to provide a fast MPC for any system that combines continuous and binary actuators under dwell time constraints.
    2. +
  2. A Simulator that provides a simulation based on Drake toolbox that simulates the free-floating platform REACSA controlled by the MPC.
    3. +
  3. Example code (examples/) that shows how to use the library together with the simulator.
    4. +
+

+Documentation

+

Full documentation under: Documentation

+

+Installation

+

Please refer to the installation instructions. For simple use a [Dockerfile](Dockerfile) is available. To build and run the container simply run:

docker build -t mimpc .
+

To directly run the example run:

docker run -it --init --network="host" mimpc build/reacsamimpc
+

Or simply launch the container and play around:

docker run -it --network="host" mimpc
+

(Note that when trying to stop the controller in docker CTRL+C might get cought, making it nececarry to press it 5 times to enforce termination.)

+

+Usage

+

+Run examples

+

When the simulation and examples have been built, run ./build/reacsamimpc within the repos root folder. It starts a few tests with the simulated free-floating platform REACSA and safes the results. The simulation creates a visualisation that can be rendered by opening (http://localhost:7000) in any browser.

+

+Use the library

+

To get a fully working MIMPC for your own system the system dynamics have to be specified by deriving from mimpc::System. The library provides next to mimpc::System two main interfaces:

    +
  • mimpc::Solver is the low level interface in which the dwell time constraints, the cost function and the system constraints can be specified. It also provides the functionality to set the current state, solve the problem and retrieve the optimal solution. Currently, the library with mimpc::SCIPSolver only contains one Solver which implements this lowe level interface. It is based on the open source SCIP solver (https://scipopt.org/). To integrate your favourite solver, derive from mimpc::Solver
    • +
  • mimpc::MPC is the high level interface which warps a configured mimpc::Solver implementation and wraps the typical MPC control loop into a simpler interface.
    • +
+

+Authors

+ +

Feel free to contact us if you have questions about the library or examples. Enjoy!

+

+Acknowledgments

+

The authors would like to thank the support of the projects M-RoCk (Grant No.: FKZ 01IW21002), AAPLE (Grant Number: 50WK2275) and COOPERANTS (Grant No.: 68GX21003H). Further many thanks to the University of Lübeck and especially the Institute for Electrical Engineering in Medicine, the Underactuated Robotics Lab and European Space Agencies Orbital Robotics Lab for the collaboration.

+


+
+

+

+License

+

This work has been released under the BSD 3-Clause License. Details and terms of use are specified in the LICENSE file within this repository. Note that we do not publish third-party software, hence software packages from other developers are released under their very own terms and conditions, e.g. Stable baselines (MIT License) and Tensorflow (Apache License v2.0). If you install third-party software packages along with this repo ensure that you follow each individual license agreement.

+

+Citation

+

Please cite one of the following works:

+

[1] F. Stark, S. Vyas, G. Schildbach, and F. Kirchner, “Mixed Integer Model Predictive Control for a free-floating platform with binary and continuous actuation,” in Procceding of CEAS Conference on Guidance, Navigation and Control 2024 (EuroGNC 2024), Bristol, 2024.

@inproceedings{stark_mixed_2024,
+
address = {Bristol},
+
title = {Mixed {Integer} {Model} {Predictive} {Control} for a free-floating platform with binary and continuous actuation},
+
volume = {2024},
+
author = {Stark, Franek and Vyas, Shubham and Schildbach, Georg and Kirchner, Frank},
+
year = {2024},
+
}
+

[2] F. Stark, S. Vyas, G. Schildbach, and F. Kirchner, “Linear Model Predictive Control for a planar free-floating platform: A comparison of binary input constraint formulations,” in Proccedings of 17th Symposium on Advanced Space Technologies in Robotics and Automation, Oct. 2023. doi: 10.48550/arXiv.2312.10788.

@inproceedings{stark_linear_2023,
+
title = {Linear {Model} {Predictive} {Control} for a planar free-floating platform: {A} comparison of binary input constraint formulations},
+
volume = {17},
+
copyright = {All rights reserved},
+
doi = {10.48550/arXiv.2312.10788},
+
booktitle = {Proccedings of 17th {Symposium} on {Advanced} {Space} {Technologies} in {Robotics} and {Automation}},
+
author = {Stark, Franek and Vyas, Shubham and Schildbach, Georg and Kirchner, Frank},
+
month = oct,
+
year = {2023},
+
}
+

[3] F. Stark, “Model Predictive Control for 3-dof free floating platform with binary actuated thrusters and reaction wheel,” Master Thesis, Univerität zu Lübeck, Lübeck, Germany, 2023.

@mastersthesis{stark_model_2023,
+
address = {Lübeck, Germany},
+
title = {Model {Predictive} {Control} for 3-dof free floating platform with binary actuated thrusters and reaction wheel},
+
school = {Univerität zu Lübeck},
+
author = {Stark, Franek},
+
month = oct,
+
year = {2023},
+
}
+
+
+ +
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+
+ + + + + + +
+
MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
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+
+ + + + + + + +
+ +
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+ + +
+ +
+ +
+
+
Class Hierarchy
+
+
+
+

Go to the textual class hierarchy

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+ +
+Generated by doxygen 1.9.1 +
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orientationchange":$.proxy(this.winResize,this)},i)),this.opts.subIndicators&&(this.$subArrow=$("").addClass("sub-arrow"),this.opts.subIndicatorsText&&this.$subArrow.html(this.opts.subIndicatorsText)),initMouseDetection()}if(this.$firstSub=this.$root.find("ul").each(function(){e.menuInit($(this))}).eq(0),this.$firstLink=this.$root.find("a").eq(0),this.opts.markCurrentItem){var s=/(index|default)\.[^#\?\/]*/i,o=/#.*/,a=window.location.href.replace(s,""),n=a.replace(o,"");this.$root.find("a").each(function(){var t=this.href.replace(s,""),i=$(this);(t==a||t==n)&&(i.addClass("current"),e.opts.markCurrentTree&&i.parentsUntil("[data-smartmenus-id]","ul").each(function(){$(this).dataSM("parent-a").addClass("current")}))})}this.wasCollapsible=this.isCollapsible()},destroy:function(t){if(!t){var e=".smartmenus";this.$root.removeData("smartmenus").removeAttr("data-smartmenus-id").removeDataSM("level").off(e),e+=this.rootId,$(document).off(e),$(window).off(e),this.opts.subIndicators&&(this.$subArrow=null)}this.menuHideAll();var i=this;this.$root.find("ul").each(function(){var t=$(this);t.dataSM("scroll-arrows")&&t.dataSM("scroll-arrows").remove(),t.dataSM("shown-before")&&((i.opts.subMenusMinWidth||i.opts.subMenusMaxWidth)&&t.css({width:"",minWidth:"",maxWidth:""}).removeClass("sm-nowrap"),t.dataSM("scroll-arrows")&&t.dataSM("scroll-arrows").remove(),t.css({zIndex:"",top:"",left:"",marginLeft:"",marginTop:"",display:""})),0==(t.attr("id")||"").indexOf(i.accessIdPrefix)&&t.removeAttr("id")}).removeDataSM("in-mega").removeDataSM("shown-before").removeDataSM("scroll-arrows").removeDataSM("parent-a").removeDataSM("level").removeDataSM("beforefirstshowfired").removeAttr("role").removeAttr("aria-hidden").removeAttr("aria-labelledby").removeAttr("aria-expanded"),this.$root.find("a.has-submenu").each(function(){var t=$(this);0==t.attr("id").indexOf(i.accessIdPrefix)&&t.removeAttr("id")}).removeClass("has-submenu").removeDataSM("sub").removeAttr("aria-haspopup").removeAttr("aria-controls").removeAttr("aria-expanded").closest("li").removeDataSM("sub"),this.opts.subIndicators&&this.$root.find("span.sub-arrow").remove(),this.opts.markCurrentItem&&this.$root.find("a.current").removeClass("current"),t||(this.$root=null,this.$firstLink=null,this.$firstSub=null,this.$disableOverlay&&(this.$disableOverlay.remove(),this.$disableOverlay=null),menuTrees.splice($.inArray(this,menuTrees),1))},disable:function(t){if(!this.disabled){if(this.menuHideAll(),!t&&!this.opts.isPopup&&this.$root.is(":visible")){var e=this.$root.offset();this.$disableOverlay=$('
').css({position:"absolute",top:e.top,left:e.left,width:this.$root.outerWidth(),height:this.$root.outerHeight(),zIndex:this.getStartZIndex(!0),opacity:0}).appendTo(document.body)}this.disabled=!0}},docClick:function(t){return this.$touchScrollingSub?(this.$touchScrollingSub=null,void 0):((this.visibleSubMenus.length&&!$.contains(this.$root[0],t.target)||$(t.target).closest("a").length)&&this.menuHideAll(),void 0)},docTouchEnd:function(){if(this.lastTouch){if(!(!this.visibleSubMenus.length||void 0!==this.lastTouch.x2&&this.lastTouch.x1!=this.lastTouch.x2||void 0!==this.lastTouch.y2&&this.lastTouch.y1!=this.lastTouch.y2||this.lastTouch.target&&$.contains(this.$root[0],this.lastTouch.target))){this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0);var t=this;this.hideTimeout=setTimeout(function(){t.menuHideAll()},350)}this.lastTouch=null}},docTouchMove:function(t){if(this.lastTouch){var e=t.originalEvent.touches[0];this.lastTouch.x2=e.pageX,this.lastTouch.y2=e.pageY}},docTouchStart:function(t){var e=t.originalEvent.touches[0];this.lastTouch={x1:e.pageX,y1:e.pageY,target:e.target}},enable:function(){this.disabled&&(this.$disableOverlay&&(this.$disableOverlay.remove(),this.$disableOverlay=null),this.disabled=!1)},getClosestMenu:function(t){for(var e=$(t).closest("ul");e.dataSM("in-mega");)e=e.parent().closest("ul");return e[0]||null},getHeight:function(t){return this.getOffset(t,!0)},getOffset:function(t,e){var i;"none"==t.css("display")&&(i={position:t[0].style.position,visibility:t[0].style.visibility},t.css({position:"absolute",visibility:"hidden"}).show());var s=t[0].getBoundingClientRect&&t[0].getBoundingClientRect(),o=s&&(e?s.height||s.bottom-s.top:s.width||s.right-s.left);return o||0===o||(o=e?t[0].offsetHeight:t[0].offsetWidth),i&&t.hide().css(i),o},getStartZIndex:function(t){var e=parseInt(this[t?"$root":"$firstSub"].css("z-index"));return!t&&isNaN(e)&&(e=parseInt(this.$root.css("z-index"))),isNaN(e)?1:e},getTouchPoint:function(t){return t.touches&&t.touches[0]||t.changedTouches&&t.changedTouches[0]||t},getViewport:function(t){var e=t?"Height":"Width",i=document.documentElement["client"+e],s=window["inner"+e];return s&&(i=Math.min(i,s)),i},getViewportHeight:function(){return this.getViewport(!0)},getViewportWidth:function(){return this.getViewport()},getWidth:function(t){return this.getOffset(t)},handleEvents:function(){return!this.disabled&&this.isCSSOn()},handleItemEvents:function(t){return this.handleEvents()&&!this.isLinkInMegaMenu(t)},isCollapsible:function(){return"static"==this.$firstSub.css("position")},isCSSOn:function(){return"inline"!=this.$firstLink.css("display")},isFixed:function(){var t="fixed"==this.$root.css("position");return t||this.$root.parentsUntil("body").each(function(){return"fixed"==$(this).css("position")?(t=!0,!1):void 0}),t},isLinkInMegaMenu:function(t){return $(this.getClosestMenu(t[0])).hasClass("mega-menu")},isTouchMode:function(){return!mouse||this.opts.noMouseOver||this.isCollapsible()},itemActivate:function(t,e){var i=t.closest("ul"),s=i.dataSM("level");if(s>1&&(!this.activatedItems[s-2]||this.activatedItems[s-2][0]!=i.dataSM("parent-a")[0])){var o=this;$(i.parentsUntil("[data-smartmenus-id]","ul").get().reverse()).add(i).each(function(){o.itemActivate($(this).dataSM("parent-a"))})}if((!this.isCollapsible()||e)&&this.menuHideSubMenus(this.activatedItems[s-1]&&this.activatedItems[s-1][0]==t[0]?s:s-1),this.activatedItems[s-1]=t,this.$root.triggerHandler("activate.smapi",t[0])!==!1){var a=t.dataSM("sub");a&&(this.isTouchMode()||!this.opts.showOnClick||this.clickActivated)&&this.menuShow(a)}},itemBlur:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&this.$root.triggerHandler("blur.smapi",e[0])},itemClick:function(t){var e=$(t.currentTarget);if(this.handleItemEvents(e)){if(this.$touchScrollingSub&&this.$touchScrollingSub[0]==e.closest("ul")[0])return this.$touchScrollingSub=null,t.stopPropagation(),!1;if(this.$root.triggerHandler("click.smapi",e[0])===!1)return!1;var i=$(t.target).is(".sub-arrow"),s=e.dataSM("sub"),o=s?2==s.dataSM("level"):!1,a=this.isCollapsible(),n=/toggle$/.test(this.opts.collapsibleBehavior),r=/link$/.test(this.opts.collapsibleBehavior),h=/^accordion/.test(this.opts.collapsibleBehavior);if(s&&!s.is(":visible")){if((!r||!a||i)&&(this.opts.showOnClick&&o&&(this.clickActivated=!0),this.itemActivate(e,h),s.is(":visible")))return this.focusActivated=!0,!1}else if(a&&(n||i))return this.itemActivate(e,h),this.menuHide(s),n&&(this.focusActivated=!1),!1;return this.opts.showOnClick&&o||e.hasClass("disabled")||this.$root.triggerHandler("select.smapi",e[0])===!1?!1:void 0}},itemDown:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&e.dataSM("mousedown",!0)},itemEnter:function(t){var e=$(t.currentTarget);if(this.handleItemEvents(e)){if(!this.isTouchMode()){this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0);var i=this;this.showTimeout=setTimeout(function(){i.itemActivate(e)},this.opts.showOnClick&&1==e.closest("ul").dataSM("level")?1:this.opts.showTimeout)}this.$root.triggerHandler("mouseenter.smapi",e[0])}},itemFocus:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&(!this.focusActivated||this.isTouchMode()&&e.dataSM("mousedown")||this.activatedItems.length&&this.activatedItems[this.activatedItems.length-1][0]==e[0]||this.itemActivate(e,!0),this.$root.triggerHandler("focus.smapi",e[0]))},itemLeave:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&(this.isTouchMode()||(e[0].blur(),this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0)),e.removeDataSM("mousedown"),this.$root.triggerHandler("mouseleave.smapi",e[0]))},menuHide:function(t){if(this.$root.triggerHandler("beforehide.smapi",t[0])!==!1&&(canAnimate&&t.stop(!0,!0),"none"!=t.css("display"))){var e=function(){t.css("z-index","")};this.isCollapsible()?canAnimate&&this.opts.collapsibleHideFunction?this.opts.collapsibleHideFunction.call(this,t,e):t.hide(this.opts.collapsibleHideDuration,e):canAnimate&&this.opts.hideFunction?this.opts.hideFunction.call(this,t,e):t.hide(this.opts.hideDuration,e),t.dataSM("scroll")&&(this.menuScrollStop(t),t.css({"touch-action":"","-ms-touch-action":"","-webkit-transform":"",transform:""}).off(".smartmenus_scroll").removeDataSM("scroll").dataSM("scroll-arrows").hide()),t.dataSM("parent-a").removeClass("highlighted").attr("aria-expanded","false"),t.attr({"aria-expanded":"false","aria-hidden":"true"});var i=t.dataSM("level");this.activatedItems.splice(i-1,1),this.visibleSubMenus.splice($.inArray(t,this.visibleSubMenus),1),this.$root.triggerHandler("hide.smapi",t[0])}},menuHideAll:function(){this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0);for(var t=this.opts.isPopup?1:0,e=this.visibleSubMenus.length-1;e>=t;e--)this.menuHide(this.visibleSubMenus[e]);this.opts.isPopup&&(canAnimate&&this.$root.stop(!0,!0),this.$root.is(":visible")&&(canAnimate&&this.opts.hideFunction?this.opts.hideFunction.call(this,this.$root):this.$root.hide(this.opts.hideDuration))),this.activatedItems=[],this.visibleSubMenus=[],this.clickActivated=!1,this.focusActivated=!1,this.zIndexInc=0,this.$root.triggerHandler("hideAll.smapi")},menuHideSubMenus:function(t){for(var e=this.activatedItems.length-1;e>=t;e--){var i=this.activatedItems[e].dataSM("sub");i&&this.menuHide(i)}},menuInit:function(t){if(!t.dataSM("in-mega")){t.hasClass("mega-menu")&&t.find("ul").dataSM("in-mega",!0);for(var e=2,i=t[0];(i=i.parentNode.parentNode)!=this.$root[0];)e++;var s=t.prevAll("a").eq(-1);s.length||(s=t.prevAll().find("a").eq(-1)),s.addClass("has-submenu").dataSM("sub",t),t.dataSM("parent-a",s).dataSM("level",e).parent().dataSM("sub",t);var o=s.attr("id")||this.accessIdPrefix+ ++this.idInc,a=t.attr("id")||this.accessIdPrefix+ ++this.idInc;s.attr({id:o,"aria-haspopup":"true","aria-controls":a,"aria-expanded":"false"}),t.attr({id:a,role:"group","aria-hidden":"true","aria-labelledby":o,"aria-expanded":"false"}),this.opts.subIndicators&&s[this.opts.subIndicatorsPos](this.$subArrow.clone())}},menuPosition:function(t){var e,i,s=t.dataSM("parent-a"),o=s.closest("li"),a=o.parent(),n=t.dataSM("level"),r=this.getWidth(t),h=this.getHeight(t),u=s.offset(),l=u.left,c=u.top,d=this.getWidth(s),m=this.getHeight(s),p=$(window),f=p.scrollLeft(),v=p.scrollTop(),b=this.getViewportWidth(),S=this.getViewportHeight(),g=a.parent().is("[data-sm-horizontal-sub]")||2==n&&!a.hasClass("sm-vertical"),M=this.opts.rightToLeftSubMenus&&!o.is("[data-sm-reverse]")||!this.opts.rightToLeftSubMenus&&o.is("[data-sm-reverse]"),w=2==n?this.opts.mainMenuSubOffsetX:this.opts.subMenusSubOffsetX,T=2==n?this.opts.mainMenuSubOffsetY:this.opts.subMenusSubOffsetY;if(g?(e=M?d-r-w:w,i=this.opts.bottomToTopSubMenus?-h-T:m+T):(e=M?w-r:d-w,i=this.opts.bottomToTopSubMenus?m-T-h:T),this.opts.keepInViewport){var y=l+e,I=c+i;if(M&&f>y?e=g?f-y+e:d-w:!M&&y+r>f+b&&(e=g?f+b-r-y+e:w-r),g||(S>h&&I+h>v+S?i+=v+S-h-I:(h>=S||v>I)&&(i+=v-I)),g&&(I+h>v+S+.49||v>I)||!g&&h>S+.49){var x=this;t.dataSM("scroll-arrows")||t.dataSM("scroll-arrows",$([$('')[0],$('')[0]]).on({mouseenter:function(){t.dataSM("scroll").up=$(this).hasClass("scroll-up"),x.menuScroll(t)},mouseleave:function(e){x.menuScrollStop(t),x.menuScrollOut(t,e)},"mousewheel DOMMouseScroll":function(t){t.preventDefault()}}).insertAfter(t));var A=".smartmenus_scroll";if(t.dataSM("scroll",{y:this.cssTransforms3d?0:i-m,step:1,itemH:m,subH:h,arrowDownH:this.getHeight(t.dataSM("scroll-arrows").eq(1))}).on(getEventsNS({mouseover:function(e){x.menuScrollOver(t,e)},mouseout:function(e){x.menuScrollOut(t,e)},"mousewheel DOMMouseScroll":function(e){x.menuScrollMousewheel(t,e)}},A)).dataSM("scroll-arrows").css({top:"auto",left:"0",marginLeft:e+(parseInt(t.css("border-left-width"))||0),width:r-(parseInt(t.css("border-left-width"))||0)-(parseInt(t.css("border-right-width"))||0),zIndex:t.css("z-index")}).eq(g&&this.opts.bottomToTopSubMenus?0:1).show(),this.isFixed()){var C={};C[touchEvents?"touchstart touchmove touchend":"pointerdown pointermove pointerup MSPointerDown MSPointerMove MSPointerUp"]=function(e){x.menuScrollTouch(t,e)},t.css({"touch-action":"none","-ms-touch-action":"none"}).on(getEventsNS(C,A))}}}t.css({top:"auto",left:"0",marginLeft:e,marginTop:i-m})},menuScroll:function(t,e,i){var s,o=t.dataSM("scroll"),a=t.dataSM("scroll-arrows"),n=o.up?o.upEnd:o.downEnd;if(!e&&o.momentum){if(o.momentum*=.92,s=o.momentum,.5>s)return this.menuScrollStop(t),void 0}else s=i||(e||!this.opts.scrollAccelerate?this.opts.scrollStep:Math.floor(o.step));var r=t.dataSM("level");if(this.activatedItems[r-1]&&this.activatedItems[r-1].dataSM("sub")&&this.activatedItems[r-1].dataSM("sub").is(":visible")&&this.menuHideSubMenus(r-1),o.y=o.up&&o.y>=n||!o.up&&n>=o.y?o.y:Math.abs(n-o.y)>s?o.y+(o.up?s:-s):n,t.css(this.cssTransforms3d?{"-webkit-transform":"translate3d(0, "+o.y+"px, 0)",transform:"translate3d(0, "+o.y+"px, 0)"}:{marginTop:o.y}),mouse&&(o.up&&o.y>o.downEnd||!o.up&&o.y0;t.dataSM("scroll-arrows").eq(i?0:1).is(":visible")&&(t.dataSM("scroll").up=i,this.menuScroll(t,!0))}e.preventDefault()},menuScrollOut:function(t,e){mouse&&(/^scroll-(up|down)/.test((e.relatedTarget||"").className)||(t[0]==e.relatedTarget||$.contains(t[0],e.relatedTarget))&&this.getClosestMenu(e.relatedTarget)==t[0]||t.dataSM("scroll-arrows").css("visibility","hidden"))},menuScrollOver:function(t,e){if(mouse&&!/^scroll-(up|down)/.test(e.target.className)&&this.getClosestMenu(e.target)==t[0]){this.menuScrollRefreshData(t);var i=t.dataSM("scroll"),s=$(window).scrollTop()-t.dataSM("parent-a").offset().top-i.itemH;t.dataSM("scroll-arrows").eq(0).css("margin-top",s).end().eq(1).css("margin-top",s+this.getViewportHeight()-i.arrowDownH).end().css("visibility","visible")}},menuScrollRefreshData:function(t){var e=t.dataSM("scroll"),i=$(window).scrollTop()-t.dataSM("parent-a").offset().top-e.itemH;this.cssTransforms3d&&(i=-(parseFloat(t.css("margin-top"))-i)),$.extend(e,{upEnd:i,downEnd:i+this.getViewportHeight()-e.subH})},menuScrollStop:function(t){return this.scrollTimeout?(cancelAnimationFrame(this.scrollTimeout),this.scrollTimeout=0,t.dataSM("scroll").step=1,!0):void 0},menuScrollTouch:function(t,e){if(e=e.originalEvent,isTouchEvent(e)){var i=this.getTouchPoint(e);if(this.getClosestMenu(i.target)==t[0]){var s=t.dataSM("scroll");if(/(start|down)$/i.test(e.type))this.menuScrollStop(t)?(e.preventDefault(),this.$touchScrollingSub=t):this.$touchScrollingSub=null,this.menuScrollRefreshData(t),$.extend(s,{touchStartY:i.pageY,touchStartTime:e.timeStamp});else if(/move$/i.test(e.type)){var o=void 0!==s.touchY?s.touchY:s.touchStartY;if(void 0!==o&&o!=i.pageY){this.$touchScrollingSub=t;var a=i.pageY>o;void 0!==s.up&&s.up!=a&&$.extend(s,{touchStartY:i.pageY,touchStartTime:e.timeStamp}),$.extend(s,{up:a,touchY:i.pageY}),this.menuScroll(t,!0,Math.abs(i.pageY-o))}e.preventDefault()}else void 0!==s.touchY&&((s.momentum=15*Math.pow(Math.abs(i.pageY-s.touchStartY)/(e.timeStamp-s.touchStartTime),2))&&(this.menuScrollStop(t),this.menuScroll(t),e.preventDefault()),delete s.touchY)}}},menuShow:function(t){if((t.dataSM("beforefirstshowfired")||(t.dataSM("beforefirstshowfired",!0),this.$root.triggerHandler("beforefirstshow.smapi",t[0])!==!1))&&this.$root.triggerHandler("beforeshow.smapi",t[0])!==!1&&(t.dataSM("shown-before",!0),canAnimate&&t.stop(!0,!0),!t.is(":visible"))){var e=t.dataSM("parent-a"),i=this.isCollapsible();if((this.opts.keepHighlighted||i)&&e.addClass("highlighted"),i)t.removeClass("sm-nowrap").css({zIndex:"",width:"auto",minWidth:"",maxWidth:"",top:"",left:"",marginLeft:"",marginTop:""});else{if(t.css("z-index",this.zIndexInc=(this.zIndexInc||this.getStartZIndex())+1),(this.opts.subMenusMinWidth||this.opts.subMenusMaxWidth)&&(t.css({width:"auto",minWidth:"",maxWidth:""}).addClass("sm-nowrap"),this.opts.subMenusMinWidth&&t.css("min-width",this.opts.subMenusMinWidth),this.opts.subMenusMaxWidth)){var s=this.getWidth(t);t.css("max-width",this.opts.subMenusMaxWidth),s>this.getWidth(t)&&t.removeClass("sm-nowrap").css("width",this.opts.subMenusMaxWidth)}this.menuPosition(t)}var o=function(){t.css("overflow","")};i?canAnimate&&this.opts.collapsibleShowFunction?this.opts.collapsibleShowFunction.call(this,t,o):t.show(this.opts.collapsibleShowDuration,o):canAnimate&&this.opts.showFunction?this.opts.showFunction.call(this,t,o):t.show(this.opts.showDuration,o),e.attr("aria-expanded","true"),t.attr({"aria-expanded":"true","aria-hidden":"false"}),this.visibleSubMenus.push(t),this.$root.triggerHandler("show.smapi",t[0])}},popupHide:function(t){this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0);var e=this;this.hideTimeout=setTimeout(function(){e.menuHideAll()},t?1:this.opts.hideTimeout)},popupShow:function(t,e){if(!this.opts.isPopup)return alert('SmartMenus jQuery Error:\n\nIf you want to show this menu via the "popupShow" method, set the isPopup:true option.'),void 0;if(this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0),this.$root.dataSM("shown-before",!0),canAnimate&&this.$root.stop(!0,!0),!this.$root.is(":visible")){this.$root.css({left:t,top:e});var i=this,s=function(){i.$root.css("overflow","")};canAnimate&&this.opts.showFunction?this.opts.showFunction.call(this,this.$root,s):this.$root.show(this.opts.showDuration,s),this.visibleSubMenus[0]=this.$root}},refresh:function(){this.destroy(!0),this.init(!0)},rootKeyDown:function(t){if(this.handleEvents())switch(t.keyCode){case 27:var e=this.activatedItems[0];if(e){this.menuHideAll(),e[0].focus();var i=e.dataSM("sub");i&&this.menuHide(i)}break;case 32:var s=$(t.target);if(s.is("a")&&this.handleItemEvents(s)){var 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+1,115 @@ + + + + + + + +MIMPC++: Installation + + + + + + + + + + + +
+
+ + + + + + +
+
MIMPC++ +
+
A fast typesafe Mixed Integer MPC C++ library
+
+
+ + + + + + + + +
+
+ + +
+ +
+ +
+
+
+
Installation
+
+
+

The full blueprint to install the lib and the examples is also available in the (Dockerfile).

+

+Dependencies

+

+Library

+

+SCIP Solver

+

Refer to the instructions in https://scipopt.org/index.php#download. There are precompiled packages available. Otherwise, install from sources.

+

+EigenLib

+

Eigen is a header lib, available at https://eigen.tuxfamily.org/. For Ubuntu there is also a package available:

sudo apt install libeigen3-dev
+

+LibFMT

+

Follow instructions in https://fmt.dev/latest/usage.html#building-the-library and https://fmt.dev/latest/usage.html#installing-the-library

+

+Simulator and Example

+

+Drake

+

Follow instructions in https://drake.mit.edu/installation.html

+

+Cnpy

+

Follow the instructions in https://github.com/rogersce/cnpy

+

+ZLIB

+

Install ZLIB available on https://www.zlib.net/. For Ubuntu there is also a package available:

sudo apt install zlib1g-dev
+

+Build and install

+
mkdir build
+
cmake -DBuildSim=ON -DBuildExamples=ON ..
+
make
+
sudo make install
+

The cmake flags BuildSim and BuildExamples control weather the free floating satellite simulation and the example project based on Drake should be installed as well.

+
+
+ +
+Generated by doxygen 1.9.1 +
+ + diff --git a/menu.js b/menu.js new file mode 100644 index 0000000..2fe2214 --- /dev/null +++ b/menu.js @@ -0,0 +1,51 @@ +/* + @licstart The following is the entire license notice for the JavaScript code in this file. + + The MIT License (MIT) + + Copyright (C) 1997-2020 by Dimitri van Heesch + + Permission is hereby granted, free of charge, to any person obtaining a copy of this software + and associated documentation files (the "Software"), to deal in the Software without restriction, + including without limitation the rights to use, copy, modify, merge, publish, distribute, + sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all copies or + substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + @licend The above is the entire license notice for the JavaScript code in this file + */ +function initMenu(relPath,searchEnabled,serverSide,searchPage,search) { + function makeTree(data,relPath) { + var result=''; + if ('children' in data) { + result+=''; + } + return result; + } + + $('#main-nav').append(makeTree(menudata,relPath)); + $('#main-nav').children(':first').addClass('sm sm-dox').attr('id','main-menu'); + if (searchEnabled) { + if (serverSide) { + $('#main-menu').append('
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    +
    + + + + + + +
    +
    MIMPC++ +
    +
    A fast typesafe Mixed Integer MPC C++ library
    +
    +
    + + + + + + + +
    + +
    +
    + + +
    + +
    + +
    +
    +
    Related Pages
    +
    +
    +
    Here is a list of all related documentation pages:
    + + +
     Installation
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    +Generated by doxygen 1.9.1 +
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    +
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    + + diff --git a/search/functions_5.js b/search/functions_5.js new file mode 100644 index 0000000..8b0804b --- /dev/null +++ b/search/functions_5.js @@ -0,0 +1,5 @@ +var searchData= +[ + ['updatea_74',['updateA',['../classmimpc_1_1System.html#aea99836a1635a5f506528b677fedf633',1,'mimpc::System::updateA()'],['../classmimpc_1_1systems_1_1REACSA.html#aa6cffe6f4d0bd2d55bb114383252ff55',1,'mimpc::systems::REACSA::updateA()']]], + ['updateb_75',['updateB',['../classmimpc_1_1System.html#a83ac2c559bccc0439f72b8bfbd5d1dc3',1,'mimpc::System::updateB()'],['../classmimpc_1_1systems_1_1REACSA.html#a16615cede0e3a95f5598d9b999e7a74d',1,'mimpc::systems::REACSA::updateB()']]] +]; diff --git a/search/mag_sel.svg b/search/mag_sel.svg new file mode 100644 index 0000000..03626f6 --- /dev/null +++ b/search/mag_sel.svg @@ -0,0 +1,74 @@ + + + + + + + + image/svg+xml + + + + + + + + + + + diff --git a/search/nomatches.html b/search/nomatches.html new file mode 100644 index 0000000..2b9360b --- /dev/null +++ b/search/nomatches.html @@ -0,0 +1,13 @@ + + + + + + + + +
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    + + diff --git a/search/pages_0.js b/search/pages_0.js new file mode 100644 index 0000000..09c0e73 --- /dev/null +++ b/search/pages_0.js @@ -0,0 +1,4 @@ +var searchData= +[ + ['installation_88',['Installation',['../md_INSTALL.html',1,'']]] +]; diff --git a/search/pages_1.html b/search/pages_1.html new file mode 100644 index 0000000..a0fb679 --- /dev/null +++ b/search/pages_1.html @@ -0,0 +1,37 @@ + + + + + + + + + + +
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    + + diff --git a/search/pages_1.js b/search/pages_1.js new file mode 100644 index 0000000..c513fe6 --- /dev/null +++ b/search/pages_1.js @@ -0,0 +1,4 @@ +var searchData= +[ + ['mimpc_2b_2b_89',['MIMPC++',['../index.html',1,'']]] +]; diff --git a/search/search.css b/search/search.css new file mode 100644 index 0000000..9074198 --- /dev/null +++ b/search/search.css @@ -0,0 +1,257 @@ +/*---------------- Search Box */ + +#MSearchBox { + white-space : nowrap; + background: white; + border-radius: 0.65em; + box-shadow: inset 0.5px 0.5px 3px 0px #555; + z-index: 102; +} + +#MSearchBox .left { + display: inline-block; + vertical-align: middle; + height: 1.4em; +} + +#MSearchSelect { + display: inline-block; + vertical-align: middle; + height: 1.4em; + padding: 0 0 0 0.3em; + margin: 0; +} + +#MSearchField { + display: inline-block; + vertical-align: middle; + width: 7.5em; + height: 1.1em; + margin: 0 0.15em; + padding: 0; + line-height: 1em; + border:none; + color: #909090; + outline: none; + font-family: Arial, Verdana, sans-serif; + -webkit-border-radius: 0px; + border-radius: 0px; + background: none; +} + + +#MSearchBox .right { + display: inline-block; + vertical-align: middle; + width: 1.4em; + height: 1.4em; +} + +#MSearchClose { + display: none; + font-size: inherit; + background : none; + border: none; + margin: 0; + padding: 0; + outline: none; + +} + +#MSearchCloseImg { + height: 1.4em; + padding: 0.3em; + margin: 0; +} + +.MSearchBoxActive #MSearchField { + color: #000000; +} + +#main-menu > li:last-child { + /* This
  • object is the parent of the search bar */ + display: flex; + justify-content: center; + align-items: center; + height: 36px; + margin-right: 1em; +} + +/*---------------- Search filter selection */ + +#MSearchSelectWindow { + display: none; + position: absolute; + left: 0; top: 0; + border: 1px solid #90A5CE; + background-color: #F9FAFC; + z-index: 10001; + padding-top: 4px; + padding-bottom: 4px; + -moz-border-radius: 4px; + -webkit-border-top-left-radius: 4px; + -webkit-border-top-right-radius: 4px; + -webkit-border-bottom-left-radius: 4px; + -webkit-border-bottom-right-radius: 4px; + -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); +} + +.SelectItem { + font: 8pt Arial, Verdana, sans-serif; + padding-left: 2px; + padding-right: 12px; + border: 0px; +} + +span.SelectionMark { + margin-right: 4px; + font-family: monospace; + outline-style: none; + text-decoration: none; +} + +a.SelectItem { + display: block; + outline-style: none; + color: #000000; + text-decoration: none; + padding-left: 6px; + padding-right: 12px; +} + +a.SelectItem:focus, +a.SelectItem:active { + color: #000000; + outline-style: none; + text-decoration: none; +} + +a.SelectItem:hover { + color: #FFFFFF; + background-color: #3D578C; + outline-style: none; + text-decoration: none; + cursor: pointer; + display: block; +} + +/*---------------- Search results window */ + +iframe#MSearchResults { + width: 60ex; + height: 15em; +} + +#MSearchResultsWindow { + display: none; + position: absolute; + left: 0; top: 0; + border: 1px solid #000; + background-color: #EEF1F7; + z-index:10000; +} + +/* ----------------------------------- */ + + +#SRIndex { + clear:both; + padding-bottom: 15px; +} + +.SREntry { + font-size: 10pt; + padding-left: 1ex; +} + +.SRPage .SREntry { + font-size: 8pt; + padding: 1px 5px; +} + +body.SRPage { + margin: 5px 2px; +} + +.SRChildren { + padding-left: 3ex; padding-bottom: .5em +} + +.SRPage .SRChildren { + display: none; +} + +.SRSymbol { + font-weight: bold; + color: #425E97; + font-family: Arial, Verdana, sans-serif; + text-decoration: none; + outline: none; +} + +a.SRScope { + display: block; + color: #425E97; + font-family: Arial, Verdana, sans-serif; + text-decoration: none; + outline: none; +} + +a.SRSymbol:focus, a.SRSymbol:active, +a.SRScope:focus, a.SRScope:active { + text-decoration: underline; +} + +span.SRScope { + padding-left: 4px; + font-family: Arial, Verdana, sans-serif; +} + +.SRPage .SRStatus { + padding: 2px 5px; + font-size: 8pt; + font-style: italic; + font-family: Arial, Verdana, sans-serif; +} + +.SRResult { + display: none; +} + +div.searchresults { + margin-left: 10px; + margin-right: 10px; +} + +/*---------------- External search page results */ + +.searchresult { + background-color: #F0F3F8; +} + +.pages b { + color: white; + padding: 5px 5px 3px 5px; + background-image: url("../tab_a.png"); + background-repeat: repeat-x; + text-shadow: 0 1px 1px #000000; +} + +.pages { + line-height: 17px; + margin-left: 4px; + text-decoration: none; +} + +.hl { + font-weight: bold; +} + +#searchresults { + margin-bottom: 20px; +} + +.searchpages { + margin-top: 10px; +} + diff --git a/search/search.js b/search/search.js new file mode 100644 index 0000000..fb226f7 --- /dev/null +++ b/search/search.js @@ -0,0 +1,816 @@ +/* + @licstart The following is the entire license notice for the JavaScript code in this file. + + The MIT License (MIT) + + Copyright (C) 1997-2020 by Dimitri van Heesch + + Permission is hereby granted, free of charge, to any person obtaining a copy of this software + and associated documentation files (the "Software"), to deal in the Software without restriction, + including without limitation the rights to use, copy, modify, merge, publish, distribute, + sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all copies or + substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + @licend The above is the entire license notice for the JavaScript code in this file + */ +function convertToId(search) +{ + var result = ''; + for (i=0;i do a search + { + this.Search(); + } + } + + this.OnSearchSelectKey = function(evt) + { + var e = (evt) ? evt : window.event; // for IE + if (e.keyCode==40 && this.searchIndex0) // Up + { + this.searchIndex--; + this.OnSelectItem(this.searchIndex); + } + else if (e.keyCode==13 || e.keyCode==27) + { + this.OnSelectItem(this.searchIndex); + this.CloseSelectionWindow(); + this.DOMSearchField().focus(); + } + return false; + } + + // --------- Actions + + // Closes the results window. + this.CloseResultsWindow = function() + { + this.DOMPopupSearchResultsWindow().style.display = 'none'; + this.DOMSearchClose().style.display = 'none'; + this.Activate(false); + } + + this.CloseSelectionWindow = function() + { + this.DOMSearchSelectWindow().style.display = 'none'; + } + + // Performs a search. + this.Search = function() + { + this.keyTimeout = 0; + + // strip leading whitespace + var searchValue = this.DOMSearchField().value.replace(/^ +/, ""); + + var code = searchValue.toLowerCase().charCodeAt(0); + var idxChar = searchValue.substr(0, 1).toLowerCase(); + if ( 0xD800 <= code && code <= 0xDBFF && searchValue > 1) // surrogate pair + { + idxChar = searchValue.substr(0, 2); + } + + var resultsPage; + var resultsPageWithSearch; + var hasResultsPage; + + var idx = indexSectionsWithContent[this.searchIndex].indexOf(idxChar); + if (idx!=-1) + { + var hexCode=idx.toString(16); + resultsPage = this.resultsPath + '/' + indexSectionNames[this.searchIndex] + '_' + hexCode + this.extension; + resultsPageWithSearch = resultsPage+'?'+escape(searchValue); + hasResultsPage = true; + } + else // nothing available for this search term + { + resultsPage = this.resultsPath + '/nomatches' + this.extension; + resultsPageWithSearch = resultsPage; + hasResultsPage = false; + } + + window.frames.MSearchResults.location = resultsPageWithSearch; + var domPopupSearchResultsWindow = this.DOMPopupSearchResultsWindow(); + + if (domPopupSearchResultsWindow.style.display!='block') + { + var domSearchBox = this.DOMSearchBox(); + this.DOMSearchClose().style.display = 'inline-block'; + if (this.insideFrame) + { + var domPopupSearchResults = this.DOMPopupSearchResults(); + domPopupSearchResultsWindow.style.position = 'relative'; + domPopupSearchResultsWindow.style.display = 'block'; + var width = document.body.clientWidth - 8; // the -8 is for IE :-( + domPopupSearchResultsWindow.style.width = width + 'px'; + domPopupSearchResults.style.width = width + 'px'; + } + else + { + var domPopupSearchResults = this.DOMPopupSearchResults(); + var left = getXPos(domSearchBox) + 150; // domSearchBox.offsetWidth; + var top = getYPos(domSearchBox) + 20; // domSearchBox.offsetHeight + 1; + domPopupSearchResultsWindow.style.display = 'block'; + left -= domPopupSearchResults.offsetWidth; + domPopupSearchResultsWindow.style.top = top + 'px'; + domPopupSearchResultsWindow.style.left = left + 'px'; + } + } + + this.lastSearchValue = searchValue; + this.lastResultsPage = resultsPage; + } + + // -------- Activation Functions + + // Activates or deactivates the search panel, resetting things to + // their default values if necessary. + this.Activate = function(isActive) + { + if (isActive || // open it + this.DOMPopupSearchResultsWindow().style.display == 'block' + ) + { + this.DOMSearchBox().className = 'MSearchBoxActive'; + + var searchField = this.DOMSearchField(); + + if (searchField.value == this.searchLabel) // clear "Search" term upon entry + { + searchField.value = ''; + this.searchActive = true; + } + } + else if (!isActive) // directly remove the panel + { + this.DOMSearchBox().className = 'MSearchBoxInactive'; + this.DOMSearchField().value = this.searchLabel; + this.searchActive = false; + this.lastSearchValue = '' + this.lastResultsPage = ''; + } + } +} + +// ----------------------------------------------------------------------- + +// The class that handles everything on the search results page. +function SearchResults(name) +{ + // The number of matches from the last run of . + this.lastMatchCount = 0; + this.lastKey = 0; + this.repeatOn = false; + + // Toggles the visibility of the passed element ID. + this.FindChildElement = function(id) + { + var parentElement = document.getElementById(id); + var element = parentElement.firstChild; + + while (element && element!=parentElement) + { + if (element.nodeName.toLowerCase() == 'div' && element.className == 'SRChildren') + { + return element; + } + + if (element.nodeName.toLowerCase() == 'div' && element.hasChildNodes()) + { + element = element.firstChild; + } + else if (element.nextSibling) + { + element = element.nextSibling; + } + else + { + do + { + element = element.parentNode; + } + while (element && element!=parentElement && !element.nextSibling); + + if (element && element!=parentElement) + { + element = element.nextSibling; + } + } + } + } + + this.Toggle = function(id) + { + var element = this.FindChildElement(id); + if (element) + { + if (element.style.display == 'block') + { + element.style.display = 'none'; + } + else + { + element.style.display = 'block'; + } + } + } + + // Searches for the passed string. If there is no parameter, + // it takes it from the URL query. + // + // Always returns true, since other documents may try to call it + // and that may or may not be possible. + this.Search = function(search) + { + if (!search) // get search word from URL + { + search = window.location.search; + search = search.substring(1); // Remove the leading '?' + search = unescape(search); + } + + search = search.replace(/^ +/, ""); // strip leading spaces + search = search.replace(/ +$/, ""); // strip trailing spaces + search = search.toLowerCase(); + search = convertToId(search); + + var resultRows = document.getElementsByTagName("div"); + var matches = 0; + + var i = 0; + while (i < resultRows.length) + { + var row = resultRows.item(i); + if (row.className == "SRResult") + { + var rowMatchName = row.id.toLowerCase(); + rowMatchName = rowMatchName.replace(/^sr\d*_/, ''); // strip 'sr123_' + + if (search.length<=rowMatchName.length && + rowMatchName.substr(0, search.length)==search) + { + row.style.display = 'block'; + matches++; + } + else + { + row.style.display = 'none'; + } + } + i++; + } + document.getElementById("Searching").style.display='none'; + if (matches == 0) // no results + { + document.getElementById("NoMatches").style.display='block'; + } + else // at least one result + { + document.getElementById("NoMatches").style.display='none'; + } + this.lastMatchCount = matches; + return true; + } + + // return the first item with index index or higher that is visible + this.NavNext = function(index) + { + var focusItem; + while (1) + { + var focusName = 'Item'+index; + focusItem = document.getElementById(focusName); + if (focusItem && focusItem.parentNode.parentNode.style.display=='block') + { + break; + } + else if (!focusItem) // last element + { + break; + } + focusItem=null; + index++; + } + return focusItem; + } + + this.NavPrev = function(index) + { + var focusItem; + while (1) + { + var focusName = 'Item'+index; + focusItem = document.getElementById(focusName); + if (focusItem && focusItem.parentNode.parentNode.style.display=='block') + { + break; + } + else if (!focusItem) // last element + { + break; + } + focusItem=null; + index--; + } + return focusItem; + } + + this.ProcessKeys = function(e) + { + if (e.type == "keydown") + { + this.repeatOn = false; + this.lastKey = e.keyCode; + } + else if (e.type == "keypress") + { + if (!this.repeatOn) + { + if (this.lastKey) this.repeatOn = true; + return false; // ignore first keypress after keydown + } + } + else if (e.type == "keyup") + { + this.lastKey = 0; + this.repeatOn = false; + } + return this.lastKey!=0; + } + + this.Nav = function(evt,itemIndex) + { + var e = (evt) ? evt : window.event; // for IE + if (e.keyCode==13) return true; + if (!this.ProcessKeys(e)) return false; + + if (this.lastKey==38) // Up + { + var newIndex = itemIndex-1; + var focusItem = this.NavPrev(newIndex); + if (focusItem) + { + var child = this.FindChildElement(focusItem.parentNode.parentNode.id); + if (child && child.style.display == 'block') // children visible + { + var n=0; + var tmpElem; + while (1) // search for last child + { + tmpElem = document.getElementById('Item'+newIndex+'_c'+n); + if (tmpElem) + { + focusItem = tmpElem; + } + else // found it! + { + break; + } + n++; + } + } + } + if (focusItem) + { + focusItem.focus(); + } + else // return focus to search field + { + parent.document.getElementById("MSearchField").focus(); + } + } + else if (this.lastKey==40) // Down + { + var newIndex = itemIndex+1; + var focusItem; + var item = document.getElementById('Item'+itemIndex); + var elem = this.FindChildElement(item.parentNode.parentNode.id); + if (elem && elem.style.display == 'block') // children visible + { + focusItem = document.getElementById('Item'+itemIndex+'_c0'); + } + if (!focusItem) focusItem = this.NavNext(newIndex); + if (focusItem) focusItem.focus(); + } + else if (this.lastKey==39) // Right + { + var item = document.getElementById('Item'+itemIndex); + var elem = this.FindChildElement(item.parentNode.parentNode.id); + if (elem) elem.style.display = 'block'; + } + else if (this.lastKey==37) // Left + { + var item = document.getElementById('Item'+itemIndex); + var elem = this.FindChildElement(item.parentNode.parentNode.id); + if (elem) elem.style.display = 'none'; + } + else if (this.lastKey==27) // Escape + { + parent.searchBox.CloseResultsWindow(); + parent.document.getElementById("MSearchField").focus(); + } + else if (this.lastKey==13) // Enter + { + return true; + } + return false; + } + + this.NavChild = function(evt,itemIndex,childIndex) + { + var e = (evt) ? evt : window.event; // for IE + if (e.keyCode==13) return true; + if (!this.ProcessKeys(e)) return false; + + if (this.lastKey==38) // Up + { + if (childIndex>0) + { + var newIndex = childIndex-1; + document.getElementById('Item'+itemIndex+'_c'+newIndex).focus(); + } + else // already at first child, jump to parent + { + document.getElementById('Item'+itemIndex).focus(); + } + } + else if (this.lastKey==40) // Down + { + var newIndex = childIndex+1; + var elem = document.getElementById('Item'+itemIndex+'_c'+newIndex); + if (!elem) // last child, jump to parent next parent + { + elem = this.NavNext(itemIndex+1); + } + if (elem) + { + elem.focus(); + } + } + else if (this.lastKey==27) // Escape + { + parent.searchBox.CloseResultsWindow(); + parent.document.getElementById("MSearchField").focus(); + } + else if (this.lastKey==13) // Enter + { + return true; + } + return false; + } +} + +function setKeyActions(elem,action) +{ + elem.setAttribute('onkeydown',action); + elem.setAttribute('onkeypress',action); + elem.setAttribute('onkeyup',action); +} + +function setClassAttr(elem,attr) +{ + elem.setAttribute('class',attr); + elem.setAttribute('className',attr); +} + +function createResults() +{ + var results = document.getElementById("SRResults"); + for (var e=0; e(R!W8j_r#qQ#gnr4kAxdU#F0+OBry$Z+ z_0PMi;P|#{d%mw(dnw=jM%@$onTJa%@6Nm3`;2S#nwtVFJI#`U@2Q@@JCCctagvF- z8H=anvo~dTmJ2YA%wA6IHRv%{vxvUm|R)kgZeo zmX%Zb;mpflGZdXCTAgit`||AFzkI#z&(3d4(htA?U2FOL4WF6wY&TB#n3n*I4+hl| z*NBpo#FA92vEu822WQ%mvv4FO#qs` BFGc_W literal 0 HcmV?d00001 diff --git a/search/search_r.png b/search/search_r.png new file mode 100644 index 0000000000000000000000000000000000000000..1af5d21ee13e070d7600f1c4657fde843b953a69 GIT binary patch literal 553 zcmeAS@N?(olHy`uVBq!ia0vp^LO?9c!2%@BXHTsJQY`6?zK#qG8~eHcB(ehe3dtTp zz6=bxGZ+|(`xqD=STHa&U1eaXVrO7DwS|Gf*oA>XrmV$GYcEhOQT(QLuS{~ooZ2P@v=Xc@RKW@Irliv8_;wroU0*)0O?temdsA~70jrdux+`@W7 z-N(<(C)L?hOO?KV{>8(jC{hpKsws)#Fh zvsO>IB+gb@b+rGWaO&!a9Z{!U+fV*s7TS>fdt&j$L%^U@Epd$~Nl7e8wMs5Z1yT$~ z28I^8hDN#u<{^fLRz?<9hUVG^237_Jy7tbuQ8eV{r(~v8;?@w8^gA7>fx*+&&t;uc GLK6VEQpiUD literal 0 HcmV?d00001 diff --git a/search/searchdata.js b/search/searchdata.js new file mode 100644 index 0000000..3e403f6 --- /dev/null +++ b/search/searchdata.js @@ -0,0 +1,36 @@ +var indexSectionsWithContent = +{ + 0: "abcfghilmnorstuv", + 1: "mrsv", + 2: "s", + 3: "acgmsu", + 4: "h", + 5: "cis", + 6: "bflnotu", + 7: "im" +}; + +var indexSectionNames = +{ + 0: "all", + 1: "classes", + 2: "files", + 3: "functions", + 4: "variables", + 5: "enums", + 6: "enumvalues", + 7: "pages" +}; + +var indexSectionLabels = +{ + 0: "All", + 1: "Classes", + 2: "Files", + 3: "Functions", + 4: "Variables", + 5: "Enumerations", + 6: "Enumerator", + 7: "Pages" +}; + diff --git a/search/variables_0.html b/search/variables_0.html new file mode 100644 index 0000000..1e477c0 --- /dev/null +++ b/search/variables_0.html @@ -0,0 +1,37 @@ + + + + + + + + + + +
    +
    Loading...
    +
    + +
    Searching...
    +
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