#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 >:

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Collaboration diagram for mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >:

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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

void	writeProblemToFile (const std::string &file_path)

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_weights	vector that contains the weights for each state error
final_weights	vector that contains the final weights for each state error
input_weights	vector that contains the input weights
set_point	the target state
cost_type	the type of the cost function
system	the concrete system
system_dt	the 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

index	index of the respective input variable in the input vector
lb	lower bound
ub	upper 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

index	index of the respective state variable in the state vector
lb	lower bound
ub	upper 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:

include/solvers/SCIPSolver.hpp

Public Types

Public Member Functions

Additional Inherited Members

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 >

Constructor & Destructor Documentation

◆ SCIPSolver()

Member Function Documentation

◆ addInputConstraintOnIndex()

◆ addStateConstraintOnIndex()

◆ getStepsToCompensateControllerDelay()

◆ 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>
class mimpc::SCIPSolver< SystemType, N, min_steps_on, min_steps_off, max_steps_on, num_steps_solver_delay, integration_scheme >