Base class for all kind of constraints (except for bounds) within optimal control problems. More...

#include <constraint_element.hpp>

Inheritance diagram for ConstraintElement:

Public Member Functions
	ConstraintElement ()
	ConstraintElement (const Grid &grid_, int nFcn_, int nB_)
	ConstraintElement (const ConstraintElement &rhs)
returnValue	get (Function &function_, DMatrix &lb_, DMatrix &ub_)
virtual returnValue	getBackwardSensitivities (BlockMatrix *D, int order)
virtual returnValue	getForwardSensitivities (BlockMatrix *D, int order)
Grid &	getGrid ()
int	getNP () const
int	getNU () const
int	getNW () const
int	getNX () const
int	getNXA () const
virtual returnValue	getResiduum (BlockMatrix &lower_residuum, BlockMatrix &upper_residuum)
returnValue	init (const OCPiterate &iter)
BooleanType	isAffine () const
ConstraintElement &	operator= (const ConstraintElement &rhs)
virtual returnValue	setBackwardSeed (BlockMatrix *seed, int order)
virtual returnValue	setForwardSeed (BlockMatrix xSeed_, BlockMatrix xaSeed_, BlockMatrix pSeed_, BlockMatrix uSeed_, BlockMatrix *wSeed_, int order)
virtual returnValue	setUnitForwardSeed ()
virtual	~ConstraintElement ()
Protected Member Functions
virtual returnValue	initializeEvaluationPoints (const OCPiterate &iter)
Protected Attributes
BlockMatrix *	bSeed
BlockMatrix *	bSeed2
CondensingType	condType
BlockMatrix	dBackward
BlockMatrix	dForward
Function *	fcn
Grid	grid
EvaluationPoint *	JJ
double **	lb
int	na
int	nB
int	nFcn
int	np
int	nu
int	nw
int	nx
int	ny
BlockMatrix *	pSeed
BlockMatrix *	pSeed2
BlockMatrix	residuumL
BlockMatrix	residuumU
int *	t_index
double **	ub
BlockMatrix *	uSeed
BlockMatrix *	uSeed2
BlockMatrix *	wSeed
BlockMatrix *	wSeed2
BlockMatrix *	xaSeed
BlockMatrix *	xaSeed2
BlockMatrix *	xSeed
BlockMatrix *	xSeed2
int **	y_index
EvaluationPoint *	z

Detailed Description

Base class for all kind of constraints (except for bounds) within optimal control problems.

The class ConstraintElement serves as base class for all kind of different constraints (except for box constraints) within optimal control problems.

Author:: Boris Houska, Hans Joachim Ferreau

Definition at line 57 of file constraint_element.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO ConstraintElement::ConstraintElement ( )

Default constructor.

Definition at line 45 of file constraint_element.cpp.

ConstraintElement::ConstraintElement	(	const Grid &	grid_,
		int	nFcn_,
		int	nB_
	)

Default constructor.

Definition at line 82 of file constraint_element.cpp.

ConstraintElement::ConstraintElement ( const ConstraintElement & rhs )

Copy constructor (deep copy).

Definition at line 133 of file constraint_element.cpp.

ConstraintElement::~ConstraintElement ( ) [virtual]

Destructor.

Definition at line 248 of file constraint_element.cpp.

Member Function Documentation

returnValue ConstraintElement::get	(	Function &	function_,
		DMatrix &	lb_,
		DMatrix &	ub_
	)

Definition at line 753 of file constraint_element.cpp.

returnValue ConstraintElement::getBackwardSensitivities	(	BlockMatrix *	D,
		int	order
	)		`[virtual]`

Returns the result for the backward sensitivities in BlockMatrix form.

Returns:: SUCCESSFUL_RETURN
RET_INPUT_OUT_OF_RANGE

Parameters:

D	the result for the forward sensitivi- ties
order	the order

Definition at line 709 of file constraint_element.cpp.

returnValue ConstraintElement::getForwardSensitivities	(	BlockMatrix *	D,
		int	order
	)		`[virtual]`

Returns the result for the forward sensitivities in BlockMatrix form.

Returns:: SUCCESSFUL_RETURN
RET_INPUT_OUT_OF_RANGE

Parameters:

D	the result for the forward sensitivi- ties
order	the order

Definition at line 692 of file constraint_element.cpp.

Grid& ConstraintElement::getGrid ( ) [inline]

returns the constraint grid

int ConstraintElement::getNP ( ) const [inline]

Returns the number of parameters

Returns:: The requested number of parameters.

int ConstraintElement::getNU ( ) const [inline]

Returns the number of controls

Returns:: The requested number of controls.

int ConstraintElement::getNW ( ) const [inline]

Returns the number of disturbances

Returns:: The requested number of disturbances.

int ConstraintElement::getNX ( ) const [inline]

Returns the number of differential states

Returns:: The requested number of differential states.

int ConstraintElement::getNXA ( ) const [inline]

Returns the number of algebraic states

Returns:: The requested number of algebraic states.

returnValue ConstraintElement::getResiduum	(	BlockMatrix &	lower_residuum,
		BlockMatrix &	upper_residuum
	)		`[virtual]`

Returns the result for the residuum.

Returns:: SUCCESSFUL_RETURN

Parameters:

lower_residuum	the lower residuum
upper_residuum	the upper residuum

Definition at line 681 of file constraint_element.cpp.

returnValue ConstraintElement::init ( const OCPiterate & iter )

Initializes the Constraint Element: The dimensions and
index lists.

Returns:: SUCCESSFUL_RETURN

Definition at line 479 of file constraint_element.cpp.

returnValue ConstraintElement::initializeEvaluationPoints ( const OCPiterate & iter ) [protected, virtual]

Reimplemented in AlgebraicConsistencyConstraint.

Definition at line 731 of file constraint_element.cpp.

BooleanType ConstraintElement::isAffine ( ) const [inline]

returns whether the constraint element is affine.

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

Assignment operator (deep copy).

Definition at line 306 of file constraint_element.cpp.

returnValue ConstraintElement::setBackwardSeed	(	BlockMatrix *	seed,
		int	order
	)		`[virtual]`

Define a backward seed in form of a block matrix.

Returns:: SUCCESFUL_RETURN
RET_INPUT_OUT_OF_RANGE

Parameters:

seed	the seed matrix
order	the order of the seed.

Definition at line 649 of file constraint_element.cpp.

returnValue ConstraintElement::setForwardSeed	(	BlockMatrix *	xSeed_,
		BlockMatrix *	xaSeed_,
		BlockMatrix *	pSeed_,
		BlockMatrix *	uSeed_,
		BlockMatrix *	wSeed_,
		int	order
	)		`[virtual]`

Define a forward seed in form of a block matrix.

Returns:: SUCCESFUL RETURN
RET_INPUT_OUT_OF_RANGE

Parameters:

xSeed_	the seed in x -direction
xaSeed_	the seed in xa-direction
pSeed_	the seed in p -direction
uSeed_	the seed in u -direction
wSeed_	the seed in w -direction
order	the order of the seed.