Deals with algebraic consistency constraints within optimal control problems. More...

#include <algebraic_consistency_constraint.hpp>

Inheritance diagram for AlgebraicConsistencyConstraint:

Public Member Functions
returnValue	add (const uint &endOfStage_, const DifferentialEquation &dae)
	AlgebraicConsistencyConstraint ()
	AlgebraicConsistencyConstraint (const Grid &grid_, const uint &numberOfStages)
	AlgebraicConsistencyConstraint (const AlgebraicConsistencyConstraint &rhs)
returnValue	evaluate (const OCPiterate &iter)
returnValue	evaluateSensitivities ()
returnValue	evaluateSensitivities (int &count, const BlockMatrix &seed, BlockMatrix &hessian)
int	getDim (const int &idx_)
int	getNC () const
AlgebraicConsistencyConstraint &	operator= (const AlgebraicConsistencyConstraint &rhs)
virtual	~AlgebraicConsistencyConstraint ()
Protected Member Functions
returnValue	computeForwardSensitivityBlock (int offset1, int offset2, int offset3, int stageIdx, DMatrix *seed)
virtual returnValue	initializeEvaluationPoints (const OCPiterate &iter)
Protected Attributes
int *	breakPoints
int	counter
int *	numberOfAlgebraicStates
int *	numberOfDifferentialStates
int	numberOfStages

Detailed Description

Deals with algebraic consistency constraints within optimal control problems.

The class AlgebraicConsistencyConstraint has been introduced in order to deal with algebraic consistency constraints. Usually, the user does not get in touch with this class, as algebraic consistency constraints should automatically be introduced by the optimization routine. It is possible to add several DAE right-hand sides which will be evaluated on a grid (usually, the multiple shooting ot collocation grid) depending on the model stage number. In the easiest case, i.e. for one stage, the evaluation routine will return the algebraic residuum of the DAE at a given point. The differentiation of the AlgebraicConsistencyConstraint will return the derivatives in form of a structured block matrix, which is typically sparse.

Author:: Boris Houska, Hans Joachim Ferreau

Definition at line 65 of file algebraic_consistency_constraint.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO AlgebraicConsistencyConstraint::AlgebraicConsistencyConstraint ( )

Default constructor.

Definition at line 46 of file algebraic_consistency_constraint.cpp.

AlgebraicConsistencyConstraint::AlgebraicConsistencyConstraint	(	const Grid &	grid_,
		const uint &	numberOfStages
	)

Default constructor.

Parameters:

grid_	union grid of the constraint
numberOfStages	number of model stages

Definition at line 57 of file algebraic_consistency_constraint.cpp.

AlgebraicConsistencyConstraint::AlgebraicConsistencyConstraint ( const AlgebraicConsistencyConstraint & rhs )

Copy constructor (deep copy).

Definition at line 68 of file algebraic_consistency_constraint.cpp.

AlgebraicConsistencyConstraint::~AlgebraicConsistencyConstraint ( ) [virtual]

Destructor.

Definition at line 95 of file algebraic_consistency_constraint.cpp.

Member Function Documentation

returnValue AlgebraicConsistencyConstraint::add	(	const uint &	endOfStage_,
		const DifferentialEquation &	dae
	)		`[inline]`

Adds a consistency constraint for a specified stage.

Returns:: SUCCESSFUL_RETURN RET_INDEX_OUT_OF_BOUNDS (if the start/end of the stage are not well defined)

Parameters:

endOfStage_	end of the stage
dae	the DAE itself

returnValue AlgebraicConsistencyConstraint::computeForwardSensitivityBlock	(	int	offset1,
		int	offset2,
		int	offset3,
		int	stageIdx,
		DMatrix *	seed
	)		`[inline, protected]`