The constructor function.

Parameters

name	the name of the NLP
plant	the hybrid system plant
num_grid	the number of grids along the trajectory
bounds	a structed data stores the boundary information of the NLP variables
varargin

Add jump constraints between the edge and neighboring two nodes (source and target)

These constraints include the continuity of the states/time variables, as well as system-specific discrete map constraint of the guard dynamics, and user-specific constraints.

Parameters

edge	the edge NLP
src	the source node NLP
tar	the target node NLP
bounds	the boundary values
varargin	extra argument

Required fields of src:

Required fields of tar:

Required fields of edge:

Check the violation of the constraints.

Check the value of const function.

Check the violation of the constraints.

Compile and export symbolic expression and derivatives of all NLP functions.

Note

If phase is empty, then it will compile all phases.

If constr is emtpy, then it will compile all constraints.

Parameters

phase	the phase Nlp
constr	a list of constraints to be compiled
export_path	the path to export the file
exclude	a list of functions to be excluded
varargin	variable input parameters compileConstraint ( ..., StackVariable, ForceExport, BuildMex, Namespace ) Required Parameters for varargin: StackVariable whether to stack variables into one ForceExport force the export BuildMex flag whether to MEX the exported file Namespace the namespace of the function

Compile and export symbolic expression and derivatives of all NLP functions.

Note

If phase is empty, then it will compile all phases.

If cost is emtpy, then it will compile all cost functions.

Parameters

phase	the phase Nlp
cost	a list of cost function to be compiled
export_path	the path to export the file
exclude	a list of functions to be excluded
varargin	variable input parameters compileObjective ( ..., StackVariable, ForceExport, BuildMex, Namespace ) Required Parameters for varargin: StackVariable whether to stack variables into one ForceExport force the export BuildMex flag whether to MEX the exported file Namespace the namespace of the function

configure the trajectory optimizatino NLP problem

This process will add NLP variables based on the information of the dynamical system object, impose dynamical and collocation constraints, then call the system constraints callback function to add any system-specific constraints.

Parameters

bounds

a struct data contains the boundary values

Analyzes the solution of the NLP problem.

Parameters

sol	The solution vector of the NLP problem

Returns the index of a particular phase (TrajectoryOptimization object) associated with the input argument.

The input argument can be the node name/index or the edge endnodes. If there is only one input argument, then it will returns the associated phase index of the node; if there are two input argument, then it will returns the associated phase index of the edge.

For example

idx = getPhaseIndex(obj, nodeID)

will return the continuous phase;

idx = getPhaseIndex(obj, s, t)

will return the discrete phase.

Updates the NLP problems before load it to NLP solver.

Note

Overload the superclass (NonlinearProgram) for additional updates

Generated fields of obj:

This function updates the boundary conditions of the optimization variable by updating corresponding NLP variables.

Parameters

bounds

a structed data stores the boundary information of the NLP variables

validate the directed graph of the hybrid system model

Note

The hybrid trajectory optimization problem is only able to handle system graph that is cyclic or with single branches.

Required fields of plant:

The discrete phases of the hybrid trajectory optimization.