Base class for all algorithmic modules within the ACADO Toolkit providing some basic functionality. More...

#include <algorithmic_base.hpp>

Inheritance diagram for AlgorithmicBase:

Public Member Functions
int	addLogRecord (LogRecord &_record)
returnValue	addOption (OptionsName name, int value)
returnValue	addOption (OptionsName name, double value)
returnValue	addOption (uint idx, OptionsName name, int value)
returnValue	addOption (uint idx, OptionsName name, double value)
returnValue	addOptionsList ()
	AlgorithmicBase ()
	AlgorithmicBase (UserInteraction *_userInteraction)
	AlgorithmicBase (const AlgorithmicBase &rhs)
returnValue	get (OptionsName name, int &value) const
returnValue	get (OptionsName name, double &value) const
returnValue	get (OptionsName name, std::string &value) const
returnValue	get (uint idx, OptionsName name, int &value) const
returnValue	get (uint idx, OptionsName name, double &value) const
returnValue	getAll (LogName _name, MatrixVariablesGrid &values) const
returnValue	getFirst (LogName _name, DMatrix &firstValue) const
returnValue	getFirst (LogName _name, VariablesGrid &firstValue) const
returnValue	getLast (LogName _name, DMatrix &lastValue) const
returnValue	getLast (LogName _name, VariablesGrid &lastValue) const
Options	getOptions (uint idx) const
BooleanType	haveOptionsChanged () const
BooleanType	haveOptionsChanged (uint idx) const
AlgorithmicBase &	operator= (const AlgorithmicBase &rhs)
returnValue	plot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)
returnValue	printLogRecord (std::ostream &_stream, int idx, LogPrintMode _mode=PRINT_ITEM_BY_ITEM) const
returnValue	replot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)
returnValue	set (OptionsName name, int value)
returnValue	set (OptionsName name, double value)
returnValue	set (OptionsName name, const std::string &value)
returnValue	set (uint idx, OptionsName name, int value)
returnValue	set (uint idx, OptionsName name, double value)
returnValue	setAll (LogName _name, const MatrixVariablesGrid &values)
returnValue	setLast (LogName _name, int lastValue, double time=-INFTY)
returnValue	setLast (LogName _name, double lastValue, double time=-INFTY)
returnValue	setLast (LogName _name, const DVector &lastValue, double time=-INFTY)
returnValue	setLast (LogName _name, const DMatrix &lastValue, double time=-INFTY)
returnValue	setLast (LogName _name, const VariablesGrid &lastValue, double time=-INFTY)
returnValue	setOptions (const Options &arg)
returnValue	setOptions (uint idx, const Options &arg)
virtual	~AlgorithmicBase ()
Protected Attributes
int	outputLoggingIdx
BooleanType	useModuleStandalone
UserInteraction *	userInteraction

Detailed Description

Base class for all algorithmic modules within the ACADO Toolkit providing some basic functionality.

The class AlgorithmicBase is a base class for all algorithmic modules within the ACADO Toolkit. It provides a number of basic functionality such as routines to cope with options, logging and plotting objects.

The class AlgorithmicBase only tunnels this functionality to a pointer of the UserInteraction class. There are two different possibilities for using this class:

(i) Using this class stand-alone: if no pointer to an instance of the UserInteraction class is provided, an object of this class is automatically allocated (with default options and logging information as specified within each algorithmic module).

(ii) Using this class as (possibly nested) member of a top-level user interface: Usually an user interacts with a top-level user interface derived from the class UserInteraction. This interface does always have algorithmic modules as members for doing the actual computations. For ensuring that options, logging and plotting information specified by the user is actually handled by the algorithmic modules, they are provided with a pointer to this top-level user interface.

Note:: This class tunnels parts of the public functionality of the Options/OptionsList, Logging/LogCollection and Plotting/PlotCollection classes, respectively. In case their public functionality is modified, the AlgorithmicBase class has to be adapted accordingly.

Author:: Hans Joachim Ferreau, Boris Houska

Definition at line 78 of file algorithmic_base.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO AlgorithmicBase::AlgorithmicBase ( )

Default constructor for using the algorithmic module stand-alone.

Definition at line 44 of file algorithmic_base.cpp.

AlgorithmicBase::AlgorithmicBase ( UserInteraction * _userInteraction )

Constructor which takes a pointer to an instance of the UserInterface class. If this pointer is NULL, this constructor is equivalent to the default constructor.

Parameters:

[in] _userInteraction Pointer to top-level user interface.

Definition at line 53 of file algorithmic_base.cpp.

AlgorithmicBase::AlgorithmicBase ( const AlgorithmicBase & rhs )

Copy constructor (deep copy).

Parameters:

[in] rhs Right-hand side object.

Definition at line 71 of file algorithmic_base.cpp.

AlgorithmicBase::~AlgorithmicBase ( ) [virtual]

Destructor.

Definition at line 88 of file algorithmic_base.cpp.

Member Function Documentation

int AlgorithmicBase::addLogRecord ( LogRecord & _record ) [inline]

Adds a record to the log collection.

Parameters:

[in] record Record to be added.

Returns:: >= 0: index of added record,
-RET_LOG_COLLECTION_CORRUPTED

returnValue AlgorithmicBase::addOption	(	OptionsName	name,
		int	value
	)		`[inline]`

Add an option item with a given integer default value to the all option lists.

Parameters:

[in]	name	Name of new option item.
[in]	value	Default value of new option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_ALREADY_EXISTS,
RET_OPTIONS_LIST_CORRUPTED

returnValue AlgorithmicBase::addOption	(	OptionsName	name,
		double	value
	)		`[inline]`

Add an option item with a given double default value to the all option lists.

Parameters:

[in]	name	Name of new option item.
[in]	value	Default value of new option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_ALREADY_EXISTS,
RET_OPTIONS_LIST_CORRUPTED

returnValue AlgorithmicBase::addOption	(	uint	idx,
		OptionsName	name,
		int	value
	)		`[inline]`

Add an option item with a given integer default value to option list with given index.

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of new option item.
[in]	value	Default value of new option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_ALREADY_EXISTS,
RET_OPTIONS_LIST_CORRUPTED,
RET_INDEX_OUT_OF_BOUNDS

returnValue AlgorithmicBase::addOption	(	uint	idx,
		OptionsName	name,
		double	value
	)		`[inline]`

Add an option item with a given double default value to option list with given index.

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of new option item.
[in]	value	Default value of new option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_ALREADY_EXISTS,
RET_OPTIONS_LIST_CORRUPTED,
RET_INDEX_OUT_OF_BOUNDS

returnValue AlgorithmicBase::addOptionsList ( )

Adds an additional OptionsList to internal array.

Returns:: SUCCESSFUL_RETURN

Definition at line 120 of file algorithmic_base.cpp.

returnValue AlgorithmicBase::get	(	OptionsName	name,
		int &	value
	)		const `[inline]`

Returns value of an existing option item of integer type.

Parameters:

[in]	name	Name of option item.
[out]	value	Value of option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS

returnValue AlgorithmicBase::get	(	OptionsName	name,
		double &	value
	)		const `[inline]`

Returns value of an existing option item of double type.

Parameters:

[in]	name	Name of option item.
[out]	value	Value of option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS

returnValue AlgorithmicBase::get	(	OptionsName	name,
		std::string &	value
	)		const `[inline]`

Returns value of an existing option item of string type.

Parameters:

[in]	name	Name of option item.
[out]	value	Value of option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS

returnValue AlgorithmicBase::get	(	uint	idx,
		OptionsName	name,
		int &	value
	)		const `[inline]`

Returns value of an existing option item of integer type within the option list of given index.

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of option item.
[out]	value	Value of option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_INDEX_OUT_OF_BOUNDS

returnValue AlgorithmicBase::get	(	uint	idx,
		OptionsName	name,
		double &	value
	)		const `[inline]`

Returns value of an existing option item of double type within the option list of given index.

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of option item.
[out]	value	Value of option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_INDEX_OUT_OF_BOUNDS

returnValue AlgorithmicBase::getAll	(	LogName	_name,
		MatrixVariablesGrid &	values
	)		const `[inline]`

Gets all numerical values at all time instants of the item with given name. If this item exists in more than one record, the first one is choosen as they are expected to have identical values anyhow.

Parameters:

[in]	_name	Internal name of item.
[out]	values	All numerical values at all time instants of given item.

Returns:: SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

returnValue AlgorithmicBase::getFirst	(	LogName	_name,
		DMatrix &	firstValue
	)		const `[inline]`

Gets numerical value at first time instant of the item with given name. If this item exists in more than one record, the first one is choosen as they are expected to have identical values anyhow.

Parameters:

[in]	_name	Internal name of item.
[out]	firstValue	Numerical value at first time instant of given item.

Returns:: SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

returnValue AlgorithmicBase::getFirst	(	LogName	_name,
		VariablesGrid &	firstValue
	)		const `[inline]`

Gets numerical value at first time instant of the item with given name (converts internally used DMatrix into VariablesGrid). If this item exists in more than one record, the first one is choosen as they are expected to have identical values anyhow.

Parameters:

[in]	_name	Internal name of item.
[out]	firstValue	Numerical value at first time instant of given item.

Returns:: SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

returnValue AlgorithmicBase::getLast	(	LogName	_name,
		DMatrix &	lastValue
	)		const `[inline]`

Gets numerical value at last time instant of the item with given name. If this item exists in more than one record, the first one is choosen as they are expected to have identical values anyhow.

Parameters:

[in]	_name	Internal name of item.
[out]	lastValue	Numerical value at last time instant of given item.

Returns:: SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

returnValue AlgorithmicBase::getLast	(	LogName	_name,
		VariablesGrid &	lastValue
	)		const `[inline]`

Gets numerical value at last time instant of the item with given name (converts internally used DMatrix into VariablesGrid). If this item exists in more than one record, the first one is choosen as they are expected to have identical values anyhow.

Parameters:

[in]	_name	Internal name of item.
[out]	lastValue	Numerical value at last time instant of given item.

Returns:: SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

Options AlgorithmicBase::getOptions ( uint idx ) const

Returns an Options object containing exactly the option list with given index.

Parameters:

[in] idx Index of option list.

Returns:: Options object containing exactly the option list with given index

Definition at line 181 of file algorithmic_base.cpp.

BooleanType AlgorithmicBase::haveOptionsChanged ( ) const [inline]

Determines whether options of at least one option list have been modified.

Returns:: BT_TRUE iff options have been modified,
BT_FALSE otherwise

BooleanType AlgorithmicBase::haveOptionsChanged ( uint idx ) const [inline]

Determines whether options of option list with given index have been modified.

Parameters:

[in] idx Index of option list.

Returns:: BT_TRUE iff options have been modified,
BT_FALSE otherwise

AlgorithmicBase & AlgorithmicBase::operator= ( const AlgorithmicBase & rhs )

Assignment operator (deep copy).

Parameters:

[in] rhs Right-hand side object.

Definition at line 98 of file algorithmic_base.cpp.

returnValue AlgorithmicBase::plot ( PlotFrequency _frequency = PLOT_IN_ANY_CASE ) [inline]

Plots all windows of the plot collection, each one into a new figure.

Parameters:

[in] _frequency Frequency determining at which time instants the window is to be plotted.

Returns:: SUCCESSFUL_RETURN

returnValue AlgorithmicBase::printLogRecord	(	std::ostream &	_stream,
		int	idx,
		LogPrintMode	_mode = `PRINT_ITEM_BY_ITEM`
	)		const `[inline]`

Prints whole record with specified index; all items are printed according to the output format settings.

Parameters:

[in]	idx	Index of record to be printed.
[in]	_mode	Print mode: see documentation of LogPrintMode of details.

Returns:: SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS,
RET_INVALID_ARGUMENTS,
RET_UNKNOWN_BUG

returnValue AlgorithmicBase::replot ( PlotFrequency _frequency = PLOT_IN_ANY_CASE ) [inline]

Plots all windows of the plot collection, each one into the corresponding existing figure, if possible.

Parameters:

[in] _frequency Frequency determining at which time instants the window is to be plotted.

Returns:: SUCCESSFUL_RETURN

returnValue AlgorithmicBase::set	(	OptionsName	name,
		int	value
	)

Sets value of an existing option item of integer type to a given value.

Parameters:

[in]	name	Name of option item.
[in]	value	New value of option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_OPTIONS_LIST_CORRUPTED

Definition at line 126 of file algorithmic_base.cpp.

returnValue AlgorithmicBase::set	(	OptionsName	name,
		double	value
	)

Sets value of an existing option item of double type to a given value.

Parameters:

[in]	name	Name of option item.
[in]	value	New value of option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_OPTIONS_LIST_CORRUPTED

Definition at line 134 of file algorithmic_base.cpp.

returnValue AlgorithmicBase::set	(	OptionsName	name,
		const std::string &	value
	)

Sets value of an existing option item of double type to a string value.

Parameters:

[in]	name	Name of option item.
[in]	value	New value of option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_OPTIONS_LIST_CORRUPTED

Definition at line 141 of file algorithmic_base.cpp.

returnValue AlgorithmicBase::set	(	uint	idx,
		OptionsName	name,
		int	value
	)

Sets value of an existing option item of integer type within the option list of given index to a given value.

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of option item.
[in]	value	New value of option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_OPTIONS_LIST_CORRUPTED,
RET_INDEX_OUT_OF_BOUNDS

Definition at line 149 of file algorithmic_base.cpp.

returnValue AlgorithmicBase::set	(	uint	idx,
		OptionsName	name,
		double	value
	)

Sets value of an existing option item of double type within the option list of given index to a given value.

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of option item.
[in]	value	New value of option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_OPTIONS_LIST_CORRUPTED,
RET_INDEX_OUT_OF_BOUNDS

Definition at line 158 of file algorithmic_base.cpp.

returnValue AlgorithmicBase::setAll	(	LogName	_name,
		const MatrixVariablesGrid &	values
	)		`[inline]`

Sets all numerical values at all time instants of all items with given name within all records.

Parameters:

[in]	_name	Internal name of item.
[in]	values	All numerical values at all time instants of given item.

Returns:: SUCCESSFUL_RETURN,
RET_LOG_COLLECTION_CORRUPTED

returnValue AlgorithmicBase::setLast	(	LogName	_name,
		int	lastValue,
		double	time = `-INFTY`
	)		`[inline]`