PINS online manual¶
The manual is structured as follows:
section Problems solvable with PINS for a description of what kind of problems it is possible to tackle with PINS.
section PINS installation for a walk through to the installation of the package under Windows, Linux and Mac OSX.
chapter Quick Start for those who want to start immediately with a working example and do not like to read manuals.
chapter Interface of XOptima describes in details the interface of XOptima, with the main commands, instructions, interface to C++ for external user defined functions, code generation.
chapter Interface of Mechatronix describes how to build different type of applications, the structure of the code, the contained libraries, the link to external dynamic documentation.
chapter PINS describes the interpreter PINS together with its main functionality.
chapter Numerical Methods describes the numerical methods employed in the toolkit, such as the formulation of the Optimal Control Problem, the discretisation, the nonlinear solver and other features.
appendix app:tutorials via tutorials teaches the user to setup and formulate many OC and DS problems making use of most of the PINS features.
Contents¶
- PINS manual
- Quick Start
- PINS
-
Interface of XOptima
-
Main commands
- generateOCProblem
- generateDynamicSystem
- setTarget
- addUnilateralConstraint
- addBilateralConstraint
- addIntegralConstraint
- addInternalUnilateralConstraint
- addInternalBilateralConstraint
- addInternalEqualityConstraint
- addPenaltyPOWER
- addPenaltyBIPOWER
- addPenaltyEllisse
- addPenaltyRhomb
- addControlBound
- addUserFunction
- mapUserFunctionToRegularized
- mapUserFunctionToObject
- addFunctionAlias
- setInterfaceConditionContinuity
- setInterfaceConditionFree
- setInterfaceConditionFixedRight
- setInterfaceConditionFixedLeft
- setInterfaceConditionFixed
- setInterfaceConditionAlgebraic
- infoBoundaryConditions
- changeBoundaryCondition
- addBoundaryConditions
- setStatusBoundaryConditions
- getOCProblem
- launchSolver
- setFDorder
- setFDorderEquation
- setFDorderCoEquation
- Different Initial/Final Conditions
-
Main commands
- Interface of Mechatronix
References¶
- BBDL05
-
E. Bertolazzi, F. Biral, and M. Da Lio. Symbolic-numeric indirect method for solving optimal control problems for large multibody systems: the time-optimal racing vehicle example. Multibody System Dynamics, 13(2):233–252, 2005. doi:10.1007/s11044-005-3987-4.
- BBDL06
-
E. Bertolazzi, F. Biral, and M. Da Lio. Symbolic-numeric efficient solution of optimal control problems for multibody systems. Journal of Computational and Applied Mathematics, 185(2):404–421, 2006. doi:10.1016/j.cam.2005.03.019.
- BBDL07
-
E. Bertolazzi, F. Biral, and M. Da Lio. Real-time motion planning for multibody systems: real life application examples. Multibody System Dynamics, 17(2-3):119–139, 2007. doi:10.1007/s11044-007-9037-7.
- Bet01
-
J.T. Betts. Practical Methods for Optimal Control Using Nonlinear Programming. Advances in design and control. Society for Industrial and Applied Mathematics, 2001. ISBN 9780898714883.
- BNPS91
-
R. Bulirsch, E. Nerz, H. J. Pesch, and O. Von Stryk. Combining direct and indirect methods in optimal control: range maximization of a hang glider. In Optimal Control, volume 111 of International Series of Numerical Mathematics. Birkhuser, 273–288. Birkhauser Verlag, 1991.