public TrajectoryInstance(TrajectoryNLP program, int nDims = 1)
: base(new MatlabExpression[program.TDef.TotalQuantityCount])
{
Program = program;
// zero out everything initially
Reset(nDims);
}
public TrajectoryQuantity(TrajectoryNLP program, TrajectoryQuantityType type, double[] min, double[] max)
{
Debug.Assert(min.Length == max.Length);
Program = program;
QType = type;
Length = min.Length;
DefaultMin = min;
DefaultMax = max;
}
public TrajectoryStateInstance(TrajectoryNLP program)
: base(new MatlabExpression[program.TDef.StateQuantityCount])
{
Program = program;
// zero out everything initially
for (var i = 0; i < program.TDef.StateQuantityCount; ++i)
{
Values[i] = M.Zeros(Program.TDef.Quantities[i].Length, 1);
}
}
public TrajectoryVar(TrajectoryNLP program, object name)
: base(name)
{
Program = program;
var totalCount = program.TDef.TotalQuantityCountWBoundaries;
Instances = new NamedTrajectoryQuantityInstance[totalCount];
var idx = 0;
for (var k = 1; k <= program.Cfg.NSteps + 1; ++k)
{
for (var i = 0; i < program.TDef.SingleStepQuantityCount; ++i)
{
var ins = Instances[idx] = new NamedTrajectoryQuantityInstance(this, k, program.TDef.Quantities[i]);
if (ins.IsInProblemSpace)
{
Console.WriteLine("{0}: {1}({2})", ins, ins.Quantity.QType, ins.K);
}
++idx;
}
}
}
public TrajectoryDef(TrajectoryNLP program)
{
Program = program;
Quantities = new List <TrajectoryQuantity>();
}
