Mimir: Purse seine path planner

Documentation created: 2021-06-04 12:03

Overview

• Introduction
  • Overview
  • Running an algorithm
    • YAML config file
  • Interacting with the algorithm
• Build instructions
  • Configuration options and targets
  • Linux
    • Prerequisites (debian-based)
    • Documentation prerequisites (optional)
    • Building and running (debian-based)
    • Packaging into artifacts
  • Windows
    • Prerequisites
    • Documentation prerequisites on Windows (optional)
    • Building and running
    • Packaging into installer and archive
• Creating a new algorithm

Manpage

• MIMIR
  • NAME
  • SYNOPSIS
  • DESCRIPTION
  • OPTIONS
  • CONFIGURATION
  • ENVIRONMENT
  • FILES
  • EXAMPLE
    • YAML config file
  • NOTES
  • SEE ALSO
  • COPYRIGHT

Implementation

• Nonlinear programming formulation
  • Brief introduction to nonlinear programming problems
  • Formulating an NLP from DAE, OCP and discretization
  • Receding horizon
  • Mathematical notation
  • Differential-algebraic equations (DAEs)
  • Optimal control problem (OCP)
  • Discretization of the continuous time OCP
  • Nonlinear programming problem (NLP)
  • Helper functions
• Path planner for deployment
  • Motivation and rationale
  • Problem statement of the purse seine path planner
  • Purse planner formulation
  • Appendix
• A note on library dependencies
• YAML configuration files and schemas
  • Purse planner configuration schema

API Reference

• Public API
  • Class Hierarchy
  • File Hierarchy
  • Items listing
    • Namespaces
    • Classes and Structs
• Private API
  • Class Hierarchy
  • File Hierarchy
  • Items listing
    • Namespaces
    • Classes and Structs
    • Functions
    • Variables
• Bibliography

Index