package corbo.messages

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Used in: SystemDynamics

(message has no fields)

Used in: FiniteDifferencesCollocation

(message has no fields)

Parameter for the ClosedLoopControlTask

Used in: Task

• int32 n_start = 1

• int32 n_end = 2

• int32 n_step = 3

• double repetitions = 10

• int32 shooting_num_u_per_interval = 11

• double initial_tf = 12

• double wait_time = 15

• bool publish_task_signals = 16

• optional OpenLoopControlTask open_loop_control_task = 20

Used in: Task

• oneof main_task

  • ClosedLoopControlTask closed_loop_control_task = 1

  • OpenLoopControlTask open_loop_control_task = 2

• double x01_start = 10

• double x01_end = 11

• int32 x01_n = 12

• double x02_start = 20

• double x02_end = 21

• int32 x02_n = 22

• repeated double x0_default = 30

• double wait_time = 15

Used in: ReferenceTrajectory

• optional TimeSeries time_series = 1

• BlindDiscreteTimeReferenceTrajectory.Interpolation interpolation = 2

Used in: BlindDiscreteTimeReferenceTrajectory

• ZERO_ORDER = 0

• LINEAR = 1

Used in: SystemDynamics

• double mc = 1

• double mp = 2

• double l = 3

• double g = 4

Used in: FiniteDifferences

(message has no fields)

Parameter for the ClosedLoopControlTask

Used in: BenchmarkTaskVaryingInitialState, Task

• optional ReferenceTrajectory xreference = 1

• optional ReferenceTrajectory ureference = 2

• double sim_time = 3

• double dt = 4

• bool realtime_sync = 10

• bool use_wall_time = 11

• bool compensate_cpu_time = 12

• bool compensate_dead_time = 13

• double computation_delay = 19

• optional OneStepPredictor compensator = 20

• optional Filter computation_delay_filter = 21

• double min_dt = 30

• double max_dt = 31

Used in: DynamicsEval

• oneof collocation

  • Quadrature quadrature = 20

Used as request type in: services.MasterService.setController

Used as response type in: services.MasterService.getController

Used as field type in: DualModeController, corboParameters

• oneof controller

  • PidController pid_controller = 1

  • LqrController lqr_controller = 2

  • PredictiveController predictive_controller = 3

  • SimpleStateController simple_state_controller = 4

  • DualModeController dual_mode_controller = 5

  • StepResponseGenerator step_response_generator = 100

  • corbocustom.messages.Controller custom_controller = 101

Used in: FiniteDifferencesCollocation

(message has no fields)

Used in: ReferenceTrajectory

• optional TimeSeries time_series = 1

• DiscreteTimeReferenceTrajectory.Interpolation interpolation = 2

Used in: DiscreteTimeReferenceTrajectory

• ZERO_ORDER = 0

• LINEAR = 1

Used in: StructuredOptimalControlProblem

• oneof discretization_grid

  • FiniteDifferencesGrid finite_differences_grid = 1

  • FiniteDifferencesVariableGrid finite_differences_variable_grid = 2

  • NonUniformFiniteDifferencesVariableGrid non_uniform_fd_variable_grid = 3

  • MultipleShootingGrid multiple_shooting_grid = 5

  • MultipleShootingVariableGrid multiple_shooting_variable_grid = 6

  • NonUniformMultipleShootingVariableGrid non_uniform_ms_variable_grid = 7

  • FiniteDifferencesGridMoveBlocking finite_differences_grid_move_blocking = 50

Used in: SimulatedPlant

• oneof disturbance

  • Void no_disturbance = 1

  • DisturbanceGaussianNoise gaussian_noise = 2

Used in: Disturbance

• repeated double mean_vec = 1

• repeated double std_vec = 2

Used in: SystemDynamics

• double dt = 1

Used in: Controller

• optional Controller local_controller = 1

• optional PredictiveController predictive_controller = 2

• bool switch_terminal_ball = 5

• repeated double ball_S = 10

• double ball_gamma = 11

• bool ball_S_diagonal_only = 12

• bool switch_dt = 20

• double min_dt = 21

Used in: SystemDynamics

• double damping = 1

• double spring_alpha = 2

• double spring_beta = 3

• oneof dynamics_eval

  • Collocation collocation = 1

  • ExplicitIntegrator integrator = 2

Used in: DynamicsEval, IntegratorAdaptiveStepSize, IntegratorMultiStageFixedStep, IntegratorMultiStageScaled, MultipleShootingGrid, NonUniformMultipleShootingVariableGrid, OneStepPredictor, SimulatedPlant

• oneof explicit_integrator

  • IntegratorExplicitEuler explicit_euler = 1

  • IntegratorExplicitRungeKutta2 runge_kutta_2 = 2

  • IntegratorExplicitRungeKutta3 runge_kutta_3 = 3

  • IntegratorExplicitRungeKutta4 runge_kutta_4 = 4

  • IntegratorExplicitRungeKutta5 runge_kutta_5 = 5

  • IntegratorExplicitRungeKutta6 runge_kutta_6 = 6

  • IntegratorExplicitRungeKutta7 runge_kutta_7 = 7

  • IntegratorMultiStageFixedStep multi_stage_fixed_step = 15

  • IntegratorMultiStageScaled multi_stage_scaled = 16

  • IntegratorAdaptiveStepSize adaptive_step_size = 25

Used in: ClosedLoopControlTask

• oneof filter

  • Void no_filter = 1

  • MovingAverageFilter moving_average = 2

  • MovingMedianFilter moving_median = 3

  • MovingLeastSquaresFilter moving_least_squares = 4

Used in: StructuredOptimalControlProblem

• oneof final_stage_constraints

  • Void no_function = 1

  • TerminalBall terminal_ball = 2

  • TerminalBallInheritFromCost terminal_ball_from_cost = 3

  • TerminalEqualityConstraint terminal_equality_constraint = 4

  • TerminalPartialEqualityConstraint terminal_partial_eq_constr = 5

  • corbocustom.messages.FinalStageConstraints custom_final_stage_constraints = 101

Used in: StructuredOptimalControlProblem

• oneof final_stage_cost

  • Void no_function = 1

  • QuadraticFinalStateCost quadratic_state_cost = 2

  • QuadraticFinalStateCostRiccati quadratic_state_cost_riccati = 3

  • corbocustom.messages.FinalStageCost custom_final_stage_cost = 101

Used in: SystemDynamics

• oneof finite_differences

  • ForwardDifferences forward_differences = 1

  • CentralDifferences central_differences = 2

Used in: FiniteDifferencesGrid, FiniteDifferencesGridMoveBlocking, NonUniformFiniteDifferencesVariableGrid

• oneof fd_collocation

  • ForwardDiffCollocation forward_differences = 1

  • BackwardDiffCollocation backward_differences = 2

  • MidpointDiffCollocation midpoint_differences = 3

  • CrankNicolsonDiffCollocation crank_nicolson = 4

Used in: DiscretizationGrid, FiniteDifferencesVariableGrid

• double dt = 1

• int32 n = 2

• optional FiniteDifferencesCollocation fd_collocation = 10

• FiniteDifferencesGrid.CostIntegrationRule cost_integration_rule = 12

• bool warm_start = 15

Used in: FiniteDifferencesGrid

• LeftSum = 0

• TrapezoidalRule = 1

Used in: DiscretizationGrid

• double dt = 1

• int32 n = 2

• repeated int32 B = 9

• optional FiniteDifferencesCollocation fd_collocation = 10

• FiniteDifferencesGridMoveBlocking.CostIntegrationRule cost_integration_rule = 12

• bool warm_start = 15

• bool warm_start_shift_u = 16

Used in: FiniteDifferencesGridMoveBlocking

• LeftSum = 0

• TrapezoidalRule = 1

Used in: DiscretizationGrid

• optional FiniteDifferencesGrid finite_differences_grid = 1

• repeated bool xf_fixed = 9

• double dt_min = 16

• double dt_max = 17

• int32 n_min = 22

• optional UniformGridAdaptStrategy grid_adapt_strategy = 30

Used in: OutputFunction

(message has no fields)

Used in: FiniteDifferencesCollocation

(message has no fields)

Used in: FiniteDifferences

(message has no fields)

Used in: SystemDynamics

(message has no fields)

Used in: OutputFunction

(message has no fields)

• TEXTEDIT = 0

• SLIDER = 1

• CHECKBOX = 2

• COMBOBOX = 3

• RADIO = 4

• PUSHBUTTON = 5

Used in: StructuredOptimalControlProblem

• oneof hyper_graph_optimization_problem

  • HyperGraphOptimizationProblemEdgeBased edge_based = 1

  • HyperGraphOptimizationProblemVertexBased vertex_based = 2

  • HyperGraphOptimizationProblemIgnoreStructure ignore_structure = 10

Used in: HyperGraphOptimizationProblem

(message has no fields)

Used in: HyperGraphOptimizationProblem

(message has no fields)

Used in: HyperGraphOptimizationProblem

(message has no fields)

Used in: Signal

• int32 index = 1

• repeated double values = 2

Used in: Signal

• map<int32, Vector> indexed_values = 1

Used in: ExplicitIntegrator

• double tol = 1

• optional ExplicitIntegrator integrator1 = 2

• optional ExplicitIntegrator integrator2 = 3

Used in: ExplicitIntegrator

(message has no fields)

Used in: ExplicitIntegrator

(message has no fields)

Used in: ExplicitIntegrator

(message has no fields)

Used in: ExplicitIntegrator

(message has no fields)

Used in: ExplicitIntegrator

(message has no fields)

Used in: ExplicitIntegrator

(message has no fields)

Used in: ExplicitIntegrator

(message has no fields)

Used in: ExplicitIntegrator

• double inner_integration_dt = 1

• optional ExplicitIntegrator integrator = 2

Used in: ExplicitIntegrator

• int32 n = 1

• optional ExplicitIntegrator integrator = 2

Used in: OutputFunction

(message has no fields)

Used in: NlpSolver

• int32 iterations = 1

• double weight_eq = 2

• double weight_ineq = 3

• double weight_bounds = 4

• double weight_eq_factor = 5

• double weight_ineq_factor = 6

• double weight_bounds_factor = 7

• double weight_eq_max = 8

• double weight_ineq_max = 9

• double weight_bounds_max = 10

Used in: NlpSolver

• int32 iterations = 1

• double weight_eq = 2

• double weight_ineq = 3

• double weight_bounds = 4

• double weight_eq_factor = 5

• double weight_ineq_factor = 6

• double weight_bounds_factor = 7

• double weight_eq_max = 8

• double weight_ineq_max = 9

• double weight_bounds_max = 10

Used in: SystemDynamics

• repeated double A = 1

• repeated double B = 2

Used in: OutputFunction

(message has no fields)

Used in: Controller

• optional SystemDynamics system_model = 1

• repeated double Q = 3

• repeated double R = 4

• bool Q_diagonal_only = 5

• bool R_diagonal_only = 6

• bool publish_error = 10

Used in: SystemDynamics

• double omega0 = 1

Used in: MatrixSet, Signal, TimeSeries

• bool row_major = 1

• int32 rows = 2

• int32 cols = 3

• repeated double data = 4

  row-major access: (i,j) = data[i*cols+j] column-major access: (i,j) = data[i+rows*j] size(data) = rows*cols

• string label = 10

Used in: Signal

• repeated Matrix matrices = 1

Used in: Signal

• double time = 1

• repeated double values = 2

• repeated string value_labels = 3

Used in: FiniteDifferencesCollocation

(message has no fields)

Used in: StageCost

• optional MinimumTime minimum_time = 1

• optional QuadraticFormCost quadratic_form = 2

• int32 only_last_n = 5

Used in: StageCost

• optional MinimumTime minimum_time = 1

• optional QuadraticControlCost quadratic_controls = 2

Used in: StageCost

• optional MinimumTime minimum_time = 1

• optional QuadraticFormCost quadratic_form = 2

• double scale = 5

Used in: StageCost

• optional MinimumTime minimum_time = 1

• optional QuadraticStateCost quadratic_states = 2

Used in: MinTimeQuadratic, MinTimeQuadraticControls, MinTimeQuadraticGainScheduled, MinTimeQuadraticStates, StageCost

• bool lsq_form = 1

Used in: StageCost

• double reg_factor = 1

Used in: Filter

• int32 window_size = 1

Used in: Filter

• int32 window_size = 1

• int32 polynom_order = 2

Used in: Filter

• int32 window_size = 1

Used in: DiscretizationGrid, MultipleShootingVariableGrid

• double dt = 1

• int32 n = 2

• int32 num_u_per_interval = 4

• bool intermediate_x_constraints = 6

• optional ExplicitIntegrator integrator = 10

• bool warm_start = 15

Used in: DiscretizationGrid

• optional MultipleShootingGrid multiple_shooting_grid = 1

• repeated bool xf_fixed = 9

• double dt_min = 16

• double dt_max = 17

• int32 n_min = 22

• optional UniformGridAdaptStrategy grid_adapt_strategy = 30

Used in: StructuredOptimalControlProblem

• oneof solver

  • LevenbergMarquardtDense levenberg_marquardt_dense = 1

  • LevenbergMarquardtSparse levenberg_marquardt_sparse = 2

  • SolverIpopt solver_ipopt = 3

Used in: Observer

(message has no fields)

Used in: DiscretizationGrid

• double dt_ref = 1

• int32 n = 2

• repeated bool xf_fixed = 9

• double dt_min = 16

• double dt_max = 17

• int32 n_min = 22

• bool dt_eq_constraint = 3

• bool warm_start = 15

• NonUniformFiniteDifferencesVariableGrid.CostIntegrationRule cost_integration_rule = 12

• optional FiniteDifferencesCollocation fd_collocation = 25

• optional NonUniformGridAdaptStrategy grid_adapt_strategy = 30

Used in: NonUniformFiniteDifferencesVariableGrid

• LeftSum = 0

• TrapezoidalRule = 1

Used in: NonUniformGridAdaptStrategy

• int32 num_backup = 1

• double epsilon = 5

• int32 n_max = 16

Used in: NonUniformFiniteDifferencesVariableGrid, NonUniformMultipleShootingVariableGrid

• oneof grid_adapt_strategy

  • Void no_grid_adapt = 1

  • NonUniformGridAdaptTimeBasedSingleStep time_based_single_step = 2

  • NonUniformGridAdaptRedundantControls redundant_controls = 3

• bool adapt_first_iter = 10

Used in: NonUniformGridAdaptStrategy

• double dt_hyst_ratio = 1

• int32 n_max = 14

Used in: DiscretizationGrid

• double dt_ref = 1

• int32 n = 2

• int32 num_u_per_interval = 5

• bool intermediate_x_constraints = 6

• bool dt_eq_constraint = 4

• optional ExplicitIntegrator integrator = 10

• bool warm_start = 15

• repeated bool xf_fixed = 9

• double dt_min = 16

• double dt_max = 17

• int32 n_min = 22

• optional NonUniformGridAdaptStrategy grid_adapt_strategy = 30

Used as request type in: services.MasterService.setObserver

Used as response type in: services.MasterService.getObserver

Used as field type in: corboParameters

• oneof observer

  • NoObserver no_observer = 1

  • corbocustom.messages.Observer custom_observer = 101

Used in: ClosedLoopControlTask

• optional SystemDynamics system_dynamics = 2

• optional ExplicitIntegrator integrator = 3

Parameter for the ClosedLoopControlTask

Used in: BenchmarkTaskIncreasingHorizonOpenLoop, BenchmarkTaskVaryingInitialState, Task

• optional ReferenceTrajectory xreference = 1

• optional ReferenceTrajectory ureference = 2

• double dt = 3

• bool realtime_sync = 10

Used in: PredictiveController

• oneof optimal_control_problem

  • StructuredOptimalControlProblem structured_optimal_control_problem = 1

Used in: SimulatedPlant

• oneof output_function

  • FullStateSystemOutput full_state_system_output = 1

  • LastStateSystemOutput last_state_system_output = 2

  • FirstStateSystemOutput first_state_system_output = 3

  • LinearStateSystemOutput linear_state_system_output = 4

Used in: SystemDynamics

• int32 dimension = 1

• double time_constant = 2

Used in: Controller

• double p_gain = 1

• double i_gain = 2

• double d_gain = 3

• int32 num_parallel_pid = 5

• bool publish_error = 10

Used as request type in: services.MasterService.setPlant

Used as response type in: services.MasterService.getPlant

Used as field type in: corboParameters

• oneof plant

  • SimulatedPlant simulated_plant = 1

  • SimulatedPlantThreaded simulated_plant_threaded = 2

  • corbocustom.messages.Plant custom_plant = 101

Used in: Controller, DualModeController

• int32 num_ocp_iterations = 1

• optional OptimalControlProblem optimal_control_problem = 2

• bool auto_update_prev_control = 10

• bool publish_prediction = 15

• oneof solver

  • SolverOsqp solver_osqp = 1

Used in: MinTimeQuadraticControls, StageCost

• repeated double R = 9

• bool diagonal_only = 10

• bool lsq_form = 15

• bool integral_form = 20

Used in: FinalStageCost

• repeated double Qf = 9

• bool diagonal_only = 10

• bool lsq_form = 15

Used in: FinalStageCost

• repeated double Q = 1

• repeated double R = 2

• bool Q_diagonal_only = 5

• bool R_diagonal_only = 6

• optional SystemDynamics system_dynamics = 10

• bool lsq_form = 15

Used in: MinTimeQuadratic, MinTimeQuadraticGainScheduled, StageCost

• repeated double Q = 9

• repeated double R = 10

• bool Q_diagonal_only = 11

• bool R_diagonal_only = 12

• bool lsq_form = 15

• bool integral_form = 20

Used in: MinTimeQuadraticStates, StageCost

• repeated double Q = 9

• bool diagonal_only = 10

• bool lsq_form = 15

• bool integral_form = 20

Used in: Collocation

• oneof quadrature

  • QuadratureRectangleRule rectangle_rule = 1

  • QuadratureTrapezoidalRule trapezoidal_rule = 2

  • QuadratureHermiteSimpsonLinearControl hermite_simpson_linear_u = 3

  • QuadratureHermiteSimpson hermite_simpson = 4

Used in: Quadrature

(message has no fields)

Used in: Quadrature

(message has no fields)

Used in: Quadrature

(message has no fields)

Used in: Quadrature

(message has no fields)

Composition of supported reference trajectories

Used in: ClosedLoopControlTask, OpenLoopControlTask

• oneof reference

  • ZeroReference zero_reference = 1

  • StaticReference static_reference = 2

  • SineReferenceTrajectory sine_reference_trajectory = 3

  • DiscreteTimeReferenceTrajectory discrete_time_reference = 10

  • BlindDiscreteTimeReferenceTrajectory blind_discrete_time_reference = 11

Used in: SystemDynamics

• int32 dimension = 1

• double time_constant = 2

Used as response type in: services.MasterService.getAvailableSignals, services.MasterService.performTask

Used as field type in: SignalContainer

• optional SignalHeader header = 1

• oneof signal

  • TimeSeries time_series = 2

  • Measurement measurement = 3

  • Vector values = 4

  • TimeSeriesSequence ts_sequence = 5

  • IndexedValues indexed_values = 6

  • IndexedValuesSet indexed_values_set = 7

  • Matrix matrix = 8

  • MatrixSet matrix_set = 9

• map<string, Signal> signals_map = 2

Used in: Signal

• string name = 1

• double time = 2

• int32 value_dimension = 3

• bool zero_order_hold = 4

Used in: SystemDynamics

• double m = 1

• double l = 2

• double g = 3

• double rho = 4

Used in: Controller

• repeated double K = 1

• repeated double V = 2

• int32 state_dim = 5

• int32 output_dim = 6

• bool publish_error = 10

Used in: Plant, SimulatedPlantThreaded

• repeated double x0 = 1

• optional SystemDynamics system_dynamics = 2

• optional OutputFunction output_function = 3

• optional ExplicitIntegrator integrator = 4

• optional Disturbance input_disturbance = 10

• optional Disturbance output_disturbance = 11

• optional Disturbance state_disturbance = 12

Used in: Plant

• double sim_rate = 1

• optional SimulatedPlant simulated_plant = 10

Used in: ReferenceTrajectory

• double amplitude = 1

• double omega = 2

• double offset = 3

Used in: NlpSolver

• int32 iterations = 1

• SolverIpopt.LinearSolver linear_solver = 5

• double rel_tolerance = 10

• bool adaptive_mu_strategy = 11

• bool exact_hessian_approx = 12

• bool mehrotra_algorithm = 13

• bool warm_start_init_point = 14

• bool nlp_auto_scaling = 15

• bool cache_first_order_derivatives = 20

• int32 print_level = 16

• double max_cpu_time = 17

• bool check_derivatives_for_naninf = 30

• bool derivative_test_first_order = 31

• bool derivative_test_second_order = 32

Used in: SolverIpopt

• MUMPS = 0

• MA27 = 1

• MA57 = 2

• MA77 = 3

• MA86 = 4

• MA97 = 5

Used in: QpSolver

• int32 max_iter = 1

• double eps_abs = 2

• double eps_rel = 3

• double eps_prim_inf = 4

• double eps_dual_inf = 5

• double alpha = 6

• bool verbose = 7

• bool scaled_termination = 8

• bool check_termination = 9

• bool warm_start = 10

• double time_limit = 11

• double rho = 15

• double sigma = 16

• int32 scaling = 17

• bool adaptive_rho = 18

• double delta = 20

• bool polish = 21

• int32 polish_refine_iter = 22

• SolverOsqp.LinearSolver linear_solver = 30

Used in: SolverOsqp

• QDLDL = 0

• MKL_PARADISO = 1

Used in: StructuredOptimalControlProblem

• oneof stage_cost

  • Void no_function = 1

  • QuadraticFormCost quadratic_form_cost = 2

  • QuadraticStateCost quadratic_state_cost = 3

  • QuadraticControlCost quadratic_control_cost = 4

  • MinimumTime minimum_time = 10

  • MinimumTimeRegularized minimum_time_regularized = 12

  • MinTimeQuadraticGainScheduled min_time_quad_form_gain_scheduled = 20

  • MinTimeQuadratic min_time_quad_form = 21

  • MinTimeQuadraticControls min_time_quad_controls = 22

  • MinTimeQuadraticStates min_time_quad_states = 23

  • corbocustom.messages.StageCost custom_stage_cost = 101

Used in: StructuredOptimalControlProblem

• oneof stage_equalities

  • Void no_function = 1

  • corbocustom.messages.StageEqualities custom_stage_equalities = 101

Used in: StructuredOptimalControlProblem

• oneof stage_inequalities

  • Void no_function = 1

  • corbocustom.messages.StageInequalities custom_stage_inequalities = 101

Used in: StructuredOptimalControlProblem

• oneof stage_preprocessors

  • Void no_function = 1

  • corbocustom.messages.StagePreprocessors custom_stage_preprocessor = 101

Used in: ReferenceTrajectory

• repeated double xf = 1

Used as response type in: services.MasterService.ping, services.MasterService.setController, services.MasterService.setObserver, services.MasterService.setPlant, services.MasterService.setTask, services.MasterService.verifyConfig

• bool ok = 1

• string text = 2

Used in: Controller

• repeated double u_step = 1

• int32 state_dim = 2

• string text = 1

Used in: OptimalControlProblem

• optional SystemDynamics system_model = 1

• optional DiscretizationGrid discretization_grid = 2

• repeated double u_min = 3

• repeated double u_max = 4

• repeated double x_min = 5

• repeated double x_max = 6

• optional StageCost stage_cost = 10

• optional FinalStageCost final_stage_cost = 11

• optional StageEqualities stage_equalities = 12

• optional StageInequalities stage_inequalities = 13

• optional FinalStageConstraints final_stage_constraints = 14

• optional StagePreprocessors stage_preprocessors = 15

• optional HyperGraphOptimizationProblem hyper_graph_strategy = 23

• optional NlpSolver nlp_solver = 30

• bool increase_n_if_infeas = 50

Used in: LqrController, OneStepPredictor, QuadraticFinalStateCostRiccati, SimulatedPlant, StructuredOptimalControlProblem

• oneof system_dynamics

  • SerialIntegratorSystem serial_integrators = 1

  • ParallelIntegratorSystem parallel_integrators = 2

  • LinearStateSpaceModel linear_state_space = 3

  • VanDerPolOscillator van_der_pol_oscillator = 4

  • DuffingOscillator duffing_oscillator = 5

  • FreeSpaceRocket free_space_rocket = 6

  • SimplePendulum simple_pendulum = 7

  • MasslessPendulum massless_pendulum = 8

  • CartPole cart_pole = 9

  • ToyExample toy_example = 10

  • ArtsteinsCircle artsteins_circle = 11

  • DoubleIntegratorDiscreteTime double_integrator_discrete_time = 50

  • corbocustom.messages.SystemDynamics custom_system_dynamics = 101

• double deadtime = 99

• optional FiniteDifferences linearization_method = 100

Composition of supported tasks

Used as request type in: services.MasterService.setTask

Used as response type in: services.MasterService.getTask

Used as field type in: corboParameters

• oneof task

  • ClosedLoopControlTask closed_loop_control_task = 1

  • OpenLoopControlTask open_loop_control_task = 2

  • BenchmarkTaskIncreasingHorizonOpenLoop benchmark_increasing_n_open_loop = 30

  • BenchmarkTaskVaryingInitialState benchmark_varying_initial_state = 41

  • corbocustom.messages.Task custom_task = 101

Used in: FinalStageConstraints

• repeated double S = 1

• double gamma = 2

• bool S_diagonal_only = 10

Used in: FinalStageConstraints

• double gamma = 1

Used in: FinalStageConstraints

• repeated double x_ref = 1

Used in: FinalStageConstraints

• repeated double x_ref = 1

• repeated bool active_components = 9

Used in: BlindDiscreteTimeReferenceTrajectory, DiscreteTimeReferenceTrajectory, Signal, TimeSeriesSequence

• repeated double time = 1

  size(time) == values.rows (column-major)

• optional Matrix values = 2

  size(values) should correspond to: size(time)*values.cols (column-major)

• double time_from_start = 3

• repeated string value_labels = 10

  size should be empty or values.cols

Used in: Signal

• int32 value_dimension = 1

• repeated TimeSeries ts_sequence = 2

Chen and Allgoewer 2002, Verschueren 2017.

Used in: SystemDynamics

• double mu = 1

Used in: UniformGridAdaptStrategy

(message has no fields)

Used in: FiniteDifferencesVariableGrid, MultipleShootingVariableGrid

• oneof grid_adapt_strategy

  • Void no_grid_adapt = 1

  • UniformGridAdaptTimeBasedSingleStep time_based_single_step = 2

  • UniformGridAdaptTimeBasedAggressiveEstimate time_based_aggr_estim = 3

  • UniformGridAdaptSimpleShrinkingHorizon simple_shrinking_horizon = 4

• bool adapt_first_iter = 10

Used in: UniformGridAdaptStrategy

• double dt_hyst_ratio = 1

• int32 n_max = 14

Used in: UniformGridAdaptStrategy

• double dt_hyst_ratio = 1

• int32 n_max = 14

Used in: SystemDynamics

• double a = 1

simple signals

Used in: IndexedValuesSet, Signal

• repeated double values = 1

Used as request type in: services.MasterService.getAvailableSignals, services.MasterService.getController, services.MasterService.getObserver, services.MasterService.getPlant, services.MasterService.getTask, services.MasterService.performTask, services.MasterService.ping, services.MasterService.stop, services.MasterService.verifyConfig

Used as response type in: services.MasterService.stop

Used as field type in: Disturbance, Filter, FinalStageConstraints, FinalStageCost, NonUniformGridAdaptStrategy, StageCost, StageEqualities, StageInequalities, StagePreprocessors, UniformGridAdaptStrategy

(message has no fields)

Used in: ReferenceTrajectory

• int32 dimension = 1

• optional Plant plant = 1

• optional Controller controller = 2

• optional Observer observer = 3

• optional Task task = 4