Struct MultipleShootingProblem 

pub struct MultipleShootingProblem<S: Scalar> { /* private fields */ }

Builder for multiple shooting optimal control problems.

Implementations

impl<S: Scalar> MultipleShootingProblem<S>

pub fn new(n_states: usize, n_controls: usize) -> Self

Create a new multiple shooting problem.

pub fn dynamics<F>(self, f: F) -> Self

where F: Fn(S, &[S], &mut [S], &[S]) + Send + Sync + 'static,

Set the controlled ODE right-hand side: f(t, x, dxdt, u).

pub fn initial_state(self, y0: Vec<S>) -> Self

Set the initial state y(t0).

pub fn time_span(self, t0: S, tf: S) -> Self

Set the time interval [t0, tf].

pub fn n_segments(self, n: usize) -> Self

Set the number of shooting segments.

pub fn control_bounds(self, bounds: Vec<Option<(S, S)>>) -> Self

Set bounds for each control variable (applied to every segment).

pub fn terminal_cost<F>(self, f: F) -> Self

where F: Fn(&[S]) -> S + Send + Sync + 'static,

Set the terminal cost phi(y(T)).

pub fn running_cost<F>(self, f: F) -> Self

where F: Fn(S, &[S], &[S]) -> S + Send + Sync + 'static,

Set the running cost L(t, y, u).

pub fn terminal_constraint<F>(self, f: F) -> Self

where F: Fn(&[S]) -> Vec<S> + Send + Sync + 'static,

Set terminal equality constraints h(y(T)) = 0.

pub fn ode_tolerances(self, rtol: S, atol: S) -> Self

Set ODE solver tolerances.

pub fn max_iter(self, n: usize) -> Self

Set maximum optimizer iterations.

pub fn solve(self) -> Result<MultipleShootingResult<S>, OcpError>

where S: SimpleEntity + Conjugate<Canonical = S> + ComplexField,

Execute the multiple shooting optimal control solve.