Discretizes a DifferentialEquation by means of single or multiple shooting. More...

#include <shooting_method.hpp>

Inheritance diagram for ShootingMethod:

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
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
ShootingMethod &	operator= (const ShootingMethod &rhs)
	ShootingMethod ()
	ShootingMethod (UserInteraction *_userInteraction)
	ShootingMethod (const ShootingMethod &rhs)
virtual returnValue	unfreeze ()
virtual	~ShootingMethod ()
Protected Member Functions
returnValue	allocateIntegrator (uint idx, IntegratorType type_)
void	copy (const ShootingMethod &arg)
returnValue	deleteAll ()
returnValue	differentiateBackward (const int &idx, const DMatrix &seed, DMatrix &Gx, DMatrix &Gp, DMatrix &Gu, DMatrix &Gw)
returnValue	differentiateForward (const int &idx, const DMatrix &dX, const DMatrix &dP, const DMatrix &dU, const DMatrix &dW, DMatrix &D)
returnValue	differentiateForwardBackward (const int &idx, const DMatrix &dX, const DMatrix &dP, const DMatrix &dU, const DMatrix &dW, const DMatrix &seed, DMatrix &D, DMatrix &ddX, DMatrix &ddP, DMatrix &ddU, DMatrix &ddW)
returnValue	logTrajectory (const OCPiterate &iter)
returnValue	rescale (VariablesGrid *trajectory, double tEndNew, double newIntervalLength) const
returnValue	update (DMatrix &G, const DMatrix &A, const DMatrix &B)
Protected Attributes
DMatrix	breakPoints
Integrator **	integrator

Detailed Description

Discretizes a DifferentialEquation by means of single or multiple shooting.

The class ShootingMethod allows to discretize a DifferentialEquation for use in optimal control algorithms by means of an (online) integrator using either single or multiple shooting.

Author:: Boris Houska, Hans Joachim Ferreau

Definition at line 55 of file shooting_method.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO ShootingMethod::ShootingMethod ( )

Default constructor.

Definition at line 48 of file shooting_method.cpp.

ShootingMethod::ShootingMethod ( UserInteraction * _userInteraction )

Definition at line 54 of file shooting_method.cpp.

ShootingMethod::ShootingMethod ( const ShootingMethod & rhs )

Copy constructor (deep copy).

Definition at line 60 of file shooting_method.cpp.

ShootingMethod::~ShootingMethod ( ) [virtual]

Destructor.

Definition at line 66 of file shooting_method.cpp.

Member Function Documentation

returnValue ShootingMethod::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 105 of file shooting_method.cpp.

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

Set the Transition stages.

Implements DynamicDiscretization.

Definition at line 184 of file shooting_method.cpp.

returnValue ShootingMethod::allocateIntegrator	(	uint	idx,
		IntegratorType	type_
	)		`[protected]`

Definition at line 164 of file shooting_method.cpp.

returnValue ShootingMethod::clear ( ) [virtual]

Deletes all stages and transitions and resets the DynamicDiscretization.

Implements DynamicDiscretization.

Definition at line 193 of file shooting_method.cpp.

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

Clone constructor (deep copy).

Implements DynamicDiscretization.

Definition at line 99 of file shooting_method.cpp.

void ShootingMethod::copy ( const ShootingMethod & arg ) [protected]

Definition at line 84 of file shooting_method.cpp.

returnValue ShootingMethod::deleteAll ( ) [protected]

Definition at line 686 of file shooting_method.cpp.

returnValue ShootingMethod::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 664 of file shooting_method.cpp.

returnValue ShootingMethod::differentiateBackward	(	const int &	idx,
		const DMatrix &	seed,
		DMatrix &	Gx,
		DMatrix &	Gp,
		DMatrix &	Gu,
		DMatrix &	Gw
	)		`[protected]`

Definition at line 327 of file shooting_method.cpp.

returnValue ShootingMethod::differentiateForward	(	const int &	idx,
		const DMatrix &	dX,
		const DMatrix &	dP,
		const DMatrix &	dU,
		const DMatrix &	dW,
		DMatrix &	D
	)		`[protected]`

Definition at line 364 of file shooting_method.cpp.

returnValue ShootingMethod::differentiateForwardBackward	(	const int &	idx,
		const DMatrix &	dX,
		const DMatrix &	dP,
		const DMatrix &	dU,
		const DMatrix &	dW,
		const DMatrix &	seed,
		DMatrix &	D,
		DMatrix &	ddX,
		DMatrix &	ddP,
		DMatrix &	ddU,
		DMatrix &	ddW
	)		`[protected]`

Definition at line 401 of file shooting_method.cpp.

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

Evaluates the discretized 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.

Returns:: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS
or a specific error message form an underlying
discretization instance.

Implements DynamicDiscretization.

Definition at line 205 of file shooting_method.cpp.

returnValue ShootingMethod::evaluateSensitivities ( ) [virtual]

Evaluates the sensitivities.

Returns:: SUCCESSFUL_RETURN
RET_NOT_FROZEN

Implements DynamicDiscretization.

Definition at line 467 of file shooting_method.cpp.

returnValue ShootingMethod::evaluateSensitivities	(	const BlockMatrix &	seed,
		BlockMatrix &	hessian
	)		`[virtual]`

Evaluates the sensitivities and the hessian.

Returns:: SUCCESSFUL_RETURN
RET_NOT_FROZEN

Implements DynamicDiscretization.

Definition at line 589 of file shooting_method.cpp.

returnValue ShootingMethod::evaluateSensitivitiesLifted ( ) [virtual]

Evaluates the sensitivities.

Returns:: SUCCESSFUL_RETURN
RET_NOT_FROZEN

Implements DynamicDiscretization.

Definition at line 533 of file shooting_method.cpp.

BooleanType ShootingMethod::isAffine ( ) const [virtual]

Implements DynamicDiscretization.

Definition at line 676 of file shooting_method.cpp.

returnValue ShootingMethod::logTrajectory ( const OCPiterate & iter ) [protected]

Definition at line 704 of file shooting_method.cpp.

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

Assignment operator (deep copy).

Definition at line 72 of file shooting_method.cpp.

returnValue ShootingMethod::rescale	(	VariablesGrid *	trajectory,
		double	tEndNew,
		double	newIntervalLength
	)		const `[protected]`

Definition at line 798 of file shooting_method.cpp.

returnValue ShootingMethod::unfreeze ( ) [virtual]

Implements DynamicDiscretization.

Definition at line 654 of file shooting_method.cpp.

returnValue ShootingMethod::update	(	DMatrix &	G,
		const DMatrix &	A,
		const DMatrix &	B
	)		`[protected]`

Writes the continous integrator output to the logging object, if this
is requested. Please note, that this routine converts the VariablesGrids
from the integration routine into a large matrix. Consequently, the break
points need to be logged, too.

Returns:: SUCCESSFUL_RETURN

Definition at line 519 of file shooting_method.cpp.

Member Data Documentation

DMatrix ShootingMethod::breakPoints [protected]

Definition at line 215 of file shooting_method.hpp.

Integrator** ShootingMethod::integrator [protected]

Definition at line 214 of file shooting_method.hpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation