Public Member Functions | Protected Member Functions | Protected Attributes

Base class for user-interfaces to formulate and solve optimal control problems and static NLPs. More...

#include <optimization_algorithm_base.hpp>

Inheritance diagram for OptimizationAlgorithmBase:
Inheritance graph
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List of all members.

Public Member Functions

returnValue getAlgebraicStates (VariablesGrid &xa_) const
returnValue getAlgebraicStates (const char *fileName) const
returnValue getControls (VariablesGrid &p_) const
returnValue getControls (const char *fileName) const
returnValue getDifferentialStates (VariablesGrid &xd_) const
returnValue getDifferentialStates (const char *fileName) const
returnValue getDisturbances (VariablesGrid &w_) const
returnValue getDisturbances (const char *fileName) const
double getEndTime () const
virtual uint getNP () const
virtual uint getNU () const
virtual uint getNW () const
virtual uint getNX () const
virtual uint getNXA () const
double getObjectiveValue (const char *fileName) const
double getObjectiveValue () const
returnValue getParameters (VariablesGrid &u_) const
returnValue getParameters (DVector &u_) const
returnValue getParameters (const char *fileName) const
returnValue getSensitivitiesP (BlockMatrix &_sens) const
returnValue getSensitivitiesU (BlockMatrix &_sens) const
returnValue getSensitivitiesW (BlockMatrix &_sens) const
returnValue getSensitivitiesX (BlockMatrix &_sens) const
returnValue getSensitivitiesXA (BlockMatrix &_sens) const
double getStartTime () const
returnValue initializeAlgebraicStates (const char *fileName, BooleanType autoinit=BT_FALSE)
returnValue initializeAlgebraicStates (const VariablesGrid &xa_init_, BooleanType autoinit=BT_FALSE)
returnValue initializeControls (const char *fileName)
returnValue initializeControls (const VariablesGrid &p_init_)
returnValue initializeDifferentialStates (const char *fileName, BooleanType autoinit=BT_FALSE)
returnValue initializeDifferentialStates (const VariablesGrid &xd_init_, BooleanType autoinit=BT_FALSE)
returnValue initializeDisturbances (const char *fileName)
returnValue initializeDisturbances (const VariablesGrid &w_init_)
returnValue initializeParameters (const char *fileName)
returnValue initializeParameters (const VariablesGrid &u_init_)
OptimizationAlgorithmBaseoperator= (const OptimizationAlgorithmBase &arg)
 OptimizationAlgorithmBase ()
 OptimizationAlgorithmBase (const OCP &ocp_)
 OptimizationAlgorithmBase (const OptimizationAlgorithmBase &arg)
returnValue simulateStatesForInitialization ()
virtual ~OptimizationAlgorithmBase ()

Protected Member Functions

virtual returnValue allocateNlpSolver (Objective *F, DynamicDiscretization *G, Constraint *H)=0
returnValue clear ()
virtual returnValue determineDimensions (Objective *const _objective, DifferentialEquation **const _differentialEquation, Constraint *const _constraint, uint &_nx, uint &_nxa, uint &_np, uint &_nu, uint &_nw) const
virtual returnValue extractOCPdata (Objective **objective, DifferentialEquation ***differentialEquation, Constraint **constraint, Grid &unionGrid)
returnValue init (UserInteraction *_userIteraction)
virtual returnValue initializeNlpSolver (const OCPiterate &_userInit)=0
virtual returnValue initializeObjective (Objective *F)=0
virtual returnValue initializeOCPiterate (Constraint *const _constraint, const Grid &_unionGrid, uint nx, uint nxa, uint np, uint nu, uint nw)
BooleanType isLinearQuadratic (Objective *F, DynamicDiscretization *G, Constraint *H) const
virtual returnValue setupDifferentialEquation (Objective *objective, DifferentialEquation **differentialEquation, Constraint *constraint, Grid unionGrid)
virtual returnValue setupDynamicDiscretization (UserInteraction *_userIteraction, Objective *objective, DifferentialEquation **differentialEquation, Constraint *constraint, Grid unionGrid, DynamicDiscretization **dynamicDiscretization)
virtual returnValue setupObjective (Objective *objective, DifferentialEquation **differentialEquation, Constraint *constraint, Grid unionGrid)

Protected Attributes

OCPiterate iter
NLPsolvernlpSolver
OCPocp
OCPiterate userInit

Detailed Description

Base class for user-interfaces to formulate and solve optimal control problems and static NLPs.

Notes:

The class OptimizationAlgorithmBase serves as a base class for user-interfaces to formulate and solve optimal control problems and static nonlinear programming (NLP) problems.

Author:
Boris Houska, Hans Joachim Ferreau

Definition at line 65 of file optimization_algorithm_base.hpp.


Constructor & Destructor Documentation

Default constructor.

Definition at line 48 of file optimization_algorithm_base.cpp.

Default constructor.

Definition at line 57 of file optimization_algorithm_base.cpp.

Copy constructor (deep copy).

Definition at line 66 of file optimization_algorithm_base.cpp.

Destructor.

Definition at line 79 of file optimization_algorithm_base.cpp.


Member Function Documentation

virtual returnValue OptimizationAlgorithmBase::allocateNlpSolver ( Objective F,
DynamicDiscretization G,
Constraint H 
) [protected, pure virtual]

Reimplemented in RealTimeAlgorithm.

Definition at line 457 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::determineDimensions ( Objective *const  _objective,
DifferentialEquation **const  _differentialEquation,
Constraint *const  _constraint,
uint _nx,
uint _nxa,
uint _np,
uint _nu,
uint _nw 
) const [protected, virtual]

Definition at line 744 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::extractOCPdata ( Objective **  objective,
DifferentialEquation ***  differentialEquation,
Constraint **  constraint,
Grid unionGrid 
) [protected, virtual]

Definition at line 626 of file optimization_algorithm_base.cpp.

Definition at line 232 of file optimization_algorithm_base.cpp.

Definition at line 291 of file optimization_algorithm_base.cpp.

Definition at line 262 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getControls ( const char *  fileName) const

Definition at line 321 of file optimization_algorithm_base.cpp.

Definition at line 225 of file optimization_algorithm_base.cpp.

Definition at line 276 of file optimization_algorithm_base.cpp.

Definition at line 269 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getDisturbances ( const char *  fileName) const

Definition at line 336 of file optimization_algorithm_base.cpp.

Definition at line 443 of file optimization_algorithm_base.cpp.

Returns number of parameters.

Returns:
Number of parameters

Reimplemented in RealTimeAlgorithm.

Definition at line 416 of file optimization_algorithm_base.cpp.

Returns number of controls.

Returns:
Number of controls

Reimplemented in RealTimeAlgorithm.

Definition at line 422 of file optimization_algorithm_base.cpp.

Returns number of disturbances.

Returns:
Number of disturbances

Reimplemented in RealTimeAlgorithm.

Definition at line 428 of file optimization_algorithm_base.cpp.

Returns number of differential states.

Returns:
Number of differential states

Reimplemented in RealTimeAlgorithm.

Definition at line 404 of file optimization_algorithm_base.cpp.

Returns number of algebraic states.

Returns:
Number of algebraic states

Reimplemented in RealTimeAlgorithm.

Definition at line 410 of file optimization_algorithm_base.cpp.

double OptimizationAlgorithmBase::getObjectiveValue ( const char *  fileName) const

Definition at line 351 of file optimization_algorithm_base.cpp.

Definition at line 361 of file optimization_algorithm_base.cpp.

Definition at line 239 of file optimization_algorithm_base.cpp.

Definition at line 246 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getParameters ( const char *  fileName) const

Definition at line 306 of file optimization_algorithm_base.cpp.

Definition at line 382 of file optimization_algorithm_base.cpp.

Definition at line 389 of file optimization_algorithm_base.cpp.

Definition at line 396 of file optimization_algorithm_base.cpp.

Definition at line 369 of file optimization_algorithm_base.cpp.

Definition at line 376 of file optimization_algorithm_base.cpp.

Definition at line 434 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::init ( UserInteraction _userIteraction) [protected]

Initializes everything.

Definition at line 480 of file optimization_algorithm_base.cpp.

Definition at line 118 of file optimization_algorithm_base.cpp.

Definition at line 187 of file optimization_algorithm_base.cpp.

Reimplemented in RealTimeAlgorithm.

Definition at line 142 of file optimization_algorithm_base.cpp.

Reimplemented in RealTimeAlgorithm.

Definition at line 209 of file optimization_algorithm_base.cpp.

Initialization of the optimization variables.

Definition at line 106 of file optimization_algorithm_base.cpp.

Definition at line 167 of file optimization_algorithm_base.cpp.

Definition at line 154 of file optimization_algorithm_base.cpp.

Definition at line 217 of file optimization_algorithm_base.cpp.

virtual returnValue OptimizationAlgorithmBase::initializeNlpSolver ( const OCPiterate _userInit) [protected, pure virtual]
virtual returnValue OptimizationAlgorithmBase::initializeObjective ( Objective F) [protected, pure virtual]
returnValue OptimizationAlgorithmBase::initializeOCPiterate ( Constraint *const  _constraint,
const Grid _unionGrid,
uint  nx,
uint  nxa,
uint  np,
uint  nu,
uint  nw 
) [protected, virtual]

Definition at line 808 of file optimization_algorithm_base.cpp.

Definition at line 130 of file optimization_algorithm_base.cpp.

Definition at line 201 of file optimization_algorithm_base.cpp.

Definition at line 605 of file optimization_algorithm_base.cpp.

OptimizationAlgorithmBase & OptimizationAlgorithmBase::operator= ( const OptimizationAlgorithmBase arg)

Assignment operator (deep copy).

Definition at line 86 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::setupDifferentialEquation ( Objective objective,
DifferentialEquation **  differentialEquation,
Constraint constraint,
Grid  unionGrid 
) [protected, virtual]

Definition at line 692 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::setupDynamicDiscretization ( UserInteraction _userIteraction,
Objective objective,
DifferentialEquation **  differentialEquation,
Constraint constraint,
Grid  unionGrid,
DynamicDiscretization **  dynamicDiscretization 
) [protected, virtual]

Definition at line 708 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::setupObjective ( Objective objective,
DifferentialEquation **  differentialEquation,
Constraint constraint,
Grid  unionGrid 
) [protected, virtual]

Definition at line 678 of file optimization_algorithm_base.cpp.

Use this call to overwrite all states by a single shooting initialization. This function takes the initial state and controls and overwrite all states apart from the first one by simulation.

Definition at line 180 of file optimization_algorithm_base.cpp.


Member Data Documentation

Definition at line 247 of file optimization_algorithm_base.hpp.

Definition at line 244 of file optimization_algorithm_base.hpp.

Definition at line 245 of file optimization_algorithm_base.hpp.

Definition at line 248 of file optimization_algorithm_base.hpp.


The documentation for this class was generated from the following files:


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Thu Aug 27 2015 12:01:39