SCPevaluation Class Reference

Base class for different ways to evaluate functions and derivatives within an SCPmethod for solving NLPs. More...

#include <scp_evaluation.hpp>

Inheritance diagram for SCPevaluation:

List of all members.

Public Member Functions
returnValue	clearDynamicDiscretization ()
virtual SCPevaluation *	clone () const
virtual returnValue	evaluate (OCPiterate &iter, BandedCP &cp)
virtual returnValue	evaluateLagrangeGradient (uint N, const OCPiterate &iter, const BandedCP &cp, BlockMatrix &nablaL)
virtual returnValue	evaluateSensitivities (const OCPiterate &iter, BandedCP &cp)
virtual returnValue	freezeSensitivities ()
DVector	getConstraintBlockDims () const
virtual double	getKKTtolerance (const OCPiterate &iter, const BandedCP &cp, double KKTmultiplierRegularisation=0.0)
uint	getNumConstraintBlocks () const
uint	getNumConstraints () const
virtual double	getObjectiveValue () const
BooleanType	hasLSQobjective () const
virtual returnValue	init (const OCPiterate &iter)
BooleanType	isDynamicNLP () const
BooleanType	isStaticNLP () const
SCPevaluation &	operator= (const SCPevaluation &rhs)
	SCPevaluation ()
	SCPevaluation (UserInteraction *_userInteraction, const Objective *const objective_, const DynamicDiscretization *const dynamic_discretization_, const Constraint *const constraint_, BooleanType _isCP=BT_FALSE)
	SCPevaluation (const SCPevaluation &rhs)
returnValue	setReference (const VariablesGrid &ref)
virtual returnValue	unfreezeSensitivities ()
virtual	~SCPevaluation ()
Protected Member Functions
virtual returnValue	setupLogging ()
virtual returnValue	setupOptions ()
Protected Attributes
BooleanType	areSensitivitiesFrozen
Constraint *	constraint
DynamicDiscretization *	dynamicDiscretization
BooleanType	isCP
Objective *	objective
double	objectiveValue

---

Detailed Description

Base class for different ways to evaluate functions and derivatives within an SCPmethod for solving NLPs.

The class SCPevaluation serves as a base class for different ways to evaluate functions and derivatives within an SCPmethod for solving nonlinear programming problems.

Author:

Boris Houska, Hans Joachim Ferreau

Definition at line 63 of file scp_evaluation.hpp.

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Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO SCPevaluation::SCPevaluation

(

)

Default constructor.

Definition at line 45 of file scp_evaluation.cpp.

SCPevaluation::SCPevaluation	(	UserInteraction *	_userInteraction,
		const Objective *const	objective_,
		const DynamicDiscretization *const	dynamic_discretization_,
		const Constraint *const	constraint_,
		BooleanType	_isCP = BT_FALSE
	)

Definition at line 61 of file scp_evaluation.cpp.

SCPevaluation::SCPevaluation

(

const SCPevaluation &

rhs

)

Copy constructor (deep copy).

Definition at line 91 of file scp_evaluation.cpp.

SCPevaluation::~SCPevaluation

(

)

[virtual]

Destructor.

Definition at line 109 of file scp_evaluation.cpp.

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Member Function Documentation

returnValue SCPevaluation::clearDynamicDiscretization

(

)

Definition at line 533 of file scp_evaluation.cpp.

SCPevaluation * SCPevaluation::clone

(

)

const [virtual]

Definition at line 146 of file scp_evaluation.cpp.

returnValue SCPevaluation::evaluate	(	OCPiterate &	iter,
		BandedCP &	cp
	)		[virtual]

Evaluates the objective as well as the ODE/DAE discretization and the constraints for the case that they exist.

Definition at line 161 of file scp_evaluation.cpp.

returnValue SCPevaluation::evaluateLagrangeGradient	(	uint	N,
		const OCPiterate &	iter,
		const BandedCP &	cp,
		BlockMatrix &	nablaL
	)		[virtual]

Evaluates the gradient "nablaL" of the Lagrangian function.

Returns:

SUCCESSFUL_RETURN

Definition at line 310 of file scp_evaluation.cpp.

returnValue SCPevaluation::evaluateSensitivities	(	const OCPiterate &	iter,
		BandedCP &	cp
	)		[virtual]

Evaluates the sensitivities of the objective as well as the ODE/DAE discretization and the constraints for the case that they exist.

Definition at line 201 of file scp_evaluation.cpp.

returnValue SCPevaluation::freezeSensitivities

(

)

[virtual]

Definition at line 503 of file scp_evaluation.cpp.

DVector SCPevaluation::getConstraintBlockDims

(

)

const [inline]

double SCPevaluation::getKKTtolerance	(	const OCPiterate &	iter,
		const BandedCP &	cp,
		double	KKTmultiplierRegularisation = 0.0
	)		[virtual]

computes the KKT-tolerance (only for internal termination check).

Returns:

The requested KKT tolerance.

Definition at line 396 of file scp_evaluation.cpp.

uint SCPevaluation::getNumConstraintBlocks

(

)

const [inline]

uint SCPevaluation::getNumConstraints

(

)

const [inline]

double SCPevaluation::getObjectiveValue

(

)

const [virtual]

Definition at line 496 of file scp_evaluation.cpp.

BooleanType SCPevaluation::hasLSQobjective

(

)

const [inline]

returnValue SCPevaluation::init

(

const OCPiterate &

iter

)

[virtual]

Definition at line 153 of file scp_evaluation.cpp.

BooleanType SCPevaluation::isDynamicNLP

(

)

const [inline]

BooleanType SCPevaluation::isStaticNLP

(

)

const [inline]

SCPevaluation & SCPevaluation::operator=

(

const SCPevaluation &

rhs

)

Assignment operator (deep copy).

Definition at line 117 of file scp_evaluation.cpp.

returnValue SCPevaluation::setReference

(

const VariablesGrid &

ref

)

Definition at line 518 of file scp_evaluation.cpp.

returnValue SCPevaluation::setupLogging

(

)

[protected, virtual]

Definition at line 557 of file scp_evaluation.cpp.

returnValue SCPevaluation::setupOptions

(

)

[protected, virtual]

Definition at line 551 of file scp_evaluation.cpp.

returnValue SCPevaluation::unfreezeSensitivities

(

)

[virtual]

Definition at line 510 of file scp_evaluation.cpp.

---

Member Data Documentation

BooleanType SCPevaluation::areSensitivitiesFrozen [protected]

Definition at line 185 of file scp_evaluation.hpp.

Constraint* SCPevaluation::constraint [protected]

Constraint functions

Definition at line 180 of file scp_evaluation.hpp.

DynamicDiscretization* SCPevaluation::dynamicDiscretization [protected]

Descretized ODE or DAE

Definition at line 179 of file scp_evaluation.hpp.

BooleanType SCPevaluation::isCP [protected]

Definition at line 184 of file scp_evaluation.hpp.

Objective* SCPevaluation::objective [protected]

Objective function

Definition at line 178 of file scp_evaluation.hpp.

double SCPevaluation::objectiveValue [protected]

The objective value.

Definition at line 182 of file scp_evaluation.hpp.

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

• scp_evaluation.hpp
• scp_evaluation.cpp