A class for export of an OCP solver using sparse QP solver qpDUNES. More...

#include <export_gauss_newton_qpdunes.hpp>

Inheritance diagram for ExportGaussNewtonQpDunes:

Public Member Functions
	ExportGaussNewtonQpDunes (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")
virtual returnValue	getCode (ExportStatementBlock &code)
virtual returnValue	getDataDeclarations (ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const
virtual returnValue	getFunctionDeclarations (ExportStatementBlock &declarations) const
unsigned	getNumQPvars () const
virtual returnValue	setup ()
virtual	~ExportGaussNewtonQpDunes ()
Protected Member Functions
virtual returnValue	setupConstraintsEvaluation (void)
virtual returnValue	setupEvaluation ()
virtual returnValue	setupMultiplicationRoutines ()
virtual returnValue	setupObjectiveEvaluation (void)
virtual returnValue	setupQPInterface ()
virtual returnValue	setupVariables ()
Protected Attributes
std::tr1::shared_ptr < ExportQpDunesInterface >	qpInterface
ExportVariable	x0
QP interface variables
ExportVariable	qpH
ExportVariable	qpg
ExportVariable	qpgN
ExportVariable	qpC
ExportVariable	qpc
ExportVariable	qpLb0
ExportVariable	qpUb0
ExportVariable	qpLb
ExportVariable	qpUb
ExportVariable	qpA
ExportVariable	qpLbA
ExportVariable	qpUbA
ExportVariable	qpPrimal
ExportVariable	qpLambda
ExportVariable	qpMu
Objective evaluation.
ExportFunction	evaluateObjective
ExportFunction	setStageH
ExportFunction	setStagef
ExportFunction	setObjQ1Q2
ExportFunction	setObjR1R2
ExportFunction	setObjQN1QN2
bool	diagH
bool	diagHN
Constraint evaluation
ExportFunction	evaluateConstraints
ExportFunction	setStagePac
std::vector< unsigned >	qpConDim
RTI related
ExportFunction	preparation
ExportFunction	feedback
qpDUNES interface functions
ExportFunction	cleanup
ExportFunction	shiftQpData
Auxiliary functions
ExportFunction	getKKT
Helper functions
ExportFunction	acc

Detailed Description

A class for export of an OCP solver using sparse QP solver qpDUNES.

The class ExportGaussNewtonQpDunes allows export of and OCP solver using the generalized Gauss-Newton method. The underlying QP is solved using the structured sparse QP solver qpDUNES.

Author:: Milan Vukov

Definition at line 52 of file export_gauss_newton_qpdunes.hpp.

Constructor & Destructor Documentation

ExportGaussNewtonQpDunes::ExportGaussNewtonQpDunes	(	UserInteraction *	_userInteraction = `0`,
		const std::string &	_commonHeaderName = `""`
	)

Default constructor.

Parameters:

[in]	_userInteraction	Pointer to corresponding user interface.
[in]	_commonHeaderName	Name of common header file to be included.

Definition at line 39 of file export_gauss_newton_qpdunes.cpp.

virtual ExportGaussNewtonQpDunes::~ExportGaussNewtonQpDunes ( ) [inline, virtual]

Destructor.

Definition at line 67 of file export_gauss_newton_qpdunes.hpp.

Member Function Documentation

returnValue ExportGaussNewtonQpDunes::getCode ( ExportStatementBlock & code ) [virtual]

Exports source code of the auto-generated condensing algorithm into the given directory.

Parameters:

[in] code Code block containing the auto-generated condensing algorithm.

Returns:: SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Reimplemented in ExportExactHessianQpDunes.

Definition at line 146 of file export_gauss_newton_qpdunes.cpp.

returnValue ExportGaussNewtonQpDunes::getDataDeclarations	(	ExportStatementBlock &	declarations,
		ExportStruct	dataStruct = `ACADO_ANY`
	)		const `[virtual]`