optas.models.TaskModel Class Reference

Model class for tasks, e.g. More...

Inheritance diagram for optas.models.TaskModel:

Collaboration diagram for optas.models.TaskModel:

Public Member Functions
def	__init__ (self, str name, int dim, List[int] time_derivs=[0], str symbol="y", Dict[int, Tuple[List[float]]] dlim={}, Union[None, int] T=None, bool is_discrete=False)
	Task model initializer. More...
Public Member Functions inherited from optas.models.Model
def	__init__ (self, str name, int dim, List[int] time_derivs, str symbol, Dict[int, Tuple[List[float]]] dlim, Union[None, int] T)
	The Model base class initializer. More...
str	get_name (self)
	Return the name of the model. More...
str	state_name (self, int time_deriv)
	Return the state name. More...
str	state_parameter_name (self, int time_deriv)
	Return the parameter name. More...
str	state_optimized_name (self, int time_deriv)
	Return the sate optimized name. More...
Tuple[ArrayType]	get_limits (self, int time_deriv)
	Return the model limits. More...
cs.DM	in_limit (self, ArrayType x, int time_deriv)
	Check if array is within model limits. More...

Public Attributes
	is_discrete
Public Attributes inherited from optas.models.Model
	name
	The name of the model. More...
	dim
	Model dimension. More...
	time_derivs
	Time derivatives required for the model. More...
	symbol
	A short symbol to represent the model. More...
	dlim
	Model limits. More...
	T
	Number of time steps. More...

Detailed Description

Model class for tasks, e.g.

position trajectory.

Constructor & Destructor Documentation

__init__()

def optas.models.TaskModel.__init__	(		self,
		str	name,
		int	dim,
		List[int]	time_derivs = [0],
		str	symbol = "y",
		Dict[int, Tuple[List[float]]]	dlim = {},
		Union[None, int]	T = None,
		bool	is_discrete = False
	)

Task model initializer.

   @param name The name of the model.
   @param dim Model dimension.
   @param time_derivs Time derivatives required for model, 0 means not time derivative, 1 means first derivative wrt to time is required, etc.
   @param symbol A short symbol to represent the model.
   @param dlim Limits on each time derivative, index should correspond to a time derivative (i.e. 0, 1, ...) and the value should be a tuple of two lists containing the lower and upper bounds.
   @param T Optionally use this to override the number of time-steps given in the OptimizationBuilder constructor.
   @param is_discrete When True, the variables are treated as discrete variables.

Member Data Documentation

is_discrete

optas.models.TaskModel.is_discrete

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The documentation for this class was generated from the following file:

• models.py