lucid  0.0.1
Lifting-based Uncertain Control Invariant Dynamics
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lucid::FourierBarrierSynthesisProblem Struct Reference

LP problem to solver to achieve the Fourier barrier synthesis. More...

#include <Optimiser.h>

Public Attributes

int num_constraints {1}
 Number of constraints in the LP.
 
ConstMatrixRefCopy fxn_lattice {Matrix{}}
 Lattice obtained from the periodic space.
 
ConstMatrixRefCopy dn_lattice
 Lattice with the differences between phi(xp) and phi(x) in the periodic space.
 
const std::vector< Index > & x_include_mask {}
 Lattice mask for the points in x.
 
const std::vector< Index > & x_exclude_mask {}
 Lattice mask for the points not in x.
 
const std::vector< Index > & x0_include_mask {}
 Lattice mask for the points in x0.
 
const std::vector< Index > & x0_exclude_mask {}
 Lattice mask for the points not in x0.
 
const std::vector< Index > & xu_include_mask {}
 Lattice mask for the points in xu.
 
const std::vector< Index > & xu_exclude_mask {}
 Lattice mask for the points not in xu.
 
int T {1}
 Time horizon.
 
double gamma {1}
 \( \gamma \) value
 
double eta_coeff {0}
 Coefficient for the eta constraint \( 2 / (C - A_x0 + 1) \).
 
double min_x0_coeff {0}
 Coefficient for the lower bound on B at x0 \( (C - A_{x0} - 1) / (C - A_{x0} + 1) \).
 
double diff_sx0_coeff {0}
 Coefficient for the difference in B at x0 \( A_{x0} / (C - A_{x0} + 1) \).
 
double gamma_coeff {0}
 Coefficient for the gamma constraint \( 2 / (C - A_{xu} + 1) \).
 
double max_xu_coeff {0}
 Coefficient for the upper bound on B at xu \( (C - A_{xu} - 1) / (C - A_{xu} + 1) \).
 
double diff_sxu_coeff {0}
 Coefficient for the difference in B at xu \( A_{xu} / (C - A_{xu} + 1) \).
 
double ebk {0}
 Coefficient for the Kushner constraint \( \) \epsilon \( * target\_norm * \kappa \).
 
double c_ebk_coeff {0}
 Coefficient for the Kushner constraint \( 2 / (C - A_{x} + 1) \).
 
double min_d_coeff {0}
 Coefficient for the lower bound on B at x \( (C - A_{x} - 1) / (C - A_{x} + 1) \).
 
double diff_d_sx_coeff {0}
 Coefficient for the difference in B at x \( A_{x} / (C - A_{x} + 1) \).
 
double max_x_coeff {0}
 Coefficient for the upper bound on B at x \( (C - A_{x} - 1) / (C - A_{x} + 1) \).
 
double diff_sx_coeff {0}
 Coefficient for the difference in B at x \( A_{x} / (C - A_{x} + 1) \).
 

Static Public Attributes

static constexpr int num_extra_vars = 10
 Number of extra variables in the Fourier barrier synthesis problem.
 
static constexpr double tolerance = 1e-8
 Tolerance for strict inequalities.
 

Detailed Description

LP problem to solver to achieve the Fourier barrier synthesis.


The documentation for this struct was generated from the following files: