Discretizes a DifferentialEquation by means of a collocation scheme. More...

#include <collocation_method.hpp>

Inheritance diagram for CollocationMethod:

Public Member Functions
virtual returnValue	addStage (const DynamicSystem &dynamicSystem_, const Grid &stageIntervals, const IntegratorType &integratorType_=INT_UNKNOWN)
virtual returnValue	addTransition (const Transition &transition_)
virtual returnValue	clear ()
virtual DynamicDiscretization *	clone () const
	CollocationMethod ()
	CollocationMethod (UserInteraction *_userInteraction)
	CollocationMethod (const CollocationMethod &rhs)
virtual returnValue	deleteAllSeeds ()
virtual returnValue	evaluate (OCPiterate &iter)
virtual returnValue	evaluateSensitivities ()
virtual returnValue	evaluateSensitivities (const BlockMatrix &seed, BlockMatrix &hessian)
virtual returnValue	evaluateSensitivitiesLifted ()
virtual BooleanType	isAffine () const
CollocationMethod &	operator= (const CollocationMethod &rhs)
virtual returnValue	unfreeze ()
virtual	~CollocationMethod ()

Detailed Description

Discretizes a DifferentialEquation by means of a collocation scheme.

The class CollocationMethod allows to discretize a DifferentialEquation for use in optimal control algorithms by means of a collocation scheme.

Author:: Boris Houska, Hans Joachim Ferreau

Definition at line 53 of file collocation_method.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO CollocationMethod::CollocationMethod ( )

Default constructor.

Definition at line 46 of file collocation_method.cpp.

CollocationMethod::CollocationMethod ( UserInteraction * _userInteraction )

Definition at line 51 of file collocation_method.cpp.

CollocationMethod::CollocationMethod ( const CollocationMethod & rhs )

Copy constructor (deep copy).

Definition at line 56 of file collocation_method.cpp.

CollocationMethod::~CollocationMethod ( ) [virtual]

Destructor.

Definition at line 63 of file collocation_method.cpp.

Member Function Documentation

returnValue CollocationMethod::addStage	(	const DynamicSystem &	dynamicSystem_,
		const Grid &	stageIntervals,
		const IntegratorType &	integratorType_ = `INT_UNKNOWN`
	)		`[virtual]`

Set the Differential Equations stage by stage.

Implements DynamicDiscretization.

Definition at line 82 of file collocation_method.cpp.

returnValue CollocationMethod::addTransition ( const Transition & transition_ ) [virtual]

Set the Transition stages.

Implements DynamicDiscretization.

Definition at line 90 of file collocation_method.cpp.

returnValue CollocationMethod::clear ( ) [virtual]

Deletes all stages and transitions and resets the DynamicDiscretization.

Implements DynamicDiscretization.

Definition at line 97 of file collocation_method.cpp.

DynamicDiscretization * CollocationMethod::clone ( ) const [virtual]

Clone constructor (deep copy).

Implements DynamicDiscretization.

Definition at line 75 of file collocation_method.cpp.

returnValue CollocationMethod::deleteAllSeeds ( ) [virtual]

Deletes all seeds that have been set with the methods above.
This function will also give the corresponding memory free.

Returns:: SUCCESSFUL_RETURN
RET_NO_SEED_ALLOCATED

Reimplemented from DynamicDiscretization.

Definition at line 129 of file collocation_method.cpp.

returnValue CollocationMethod::evaluate ( OCPiterate & iter ) [virtual]

Evaluates the descretized DifferentialEquation at a specified
VariablesGrid. The results are written into the residuum of the
type VariablesGrid. This routine is for a simple evaluation only.
If sensitivities are needed use one of the routines below
instead.