Public Member Functions | Protected Member Functions | Private Attributes
ExportGaussNewtonCondensed Class Reference
Numerical Algorithms -- used internally or by developers to solve numerical problems

A class for export of Gauss-Newton condensed OCP solver. More...

#include <export_gauss_newton_condensed.hpp>

Inheritance diagram for ExportGaussNewtonCondensed:
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List of all members.

Public Member Functions

 ExportGaussNewtonCondensed (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")
virtual returnValue getCode (ExportStatementBlock &code)
virtual returnValue getDataDeclarations (ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const
virtual returnValue getFunctionDeclarations (ExportStatementBlock &declarations) const
unsigned getNumQPvars () const
virtual unsigned getNumStateBounds () const
virtual returnValue setup ()
virtual ~ExportGaussNewtonCondensed ()

Protected Member Functions

bool performFullCondensing () const
virtual returnValue setupCondensing ()
virtual returnValue setupConstraintsEvaluation (void)
virtual returnValue setupEvaluation ()
virtual returnValue setupMultiplicationRoutines ()
virtual returnValue setupObjectiveEvaluation (void)
virtual returnValue setupQPInterface ()
virtual returnValue setupVariables ()

Private Attributes

ExportVariable Dx0
ExportVariable x0
Objective evaluation
ExportFunction evaluateObjective
ExportFunction setObjQ1Q2
ExportFunction setObjR1R2
ExportFunction setObjQN1QN2
Condensing functions and variables
ExportFunction condensePrep
ExportFunction condenseFdb
ExportFunction expand
ExportVariable T
ExportVariable E
ExportVariable QE
ExportVariable QGx
ExportVariable QDy
ExportVariable Qd
ExportVariable H00
ExportVariable H10
ExportVariable H11
ExportVariable g0
ExportVariable g1
ExportCholeskySolver cholSolver
std::vector< unsigned > xBoundsIdx
ExportVariable lbValues
ExportVariable ubValues
ExportVariable lbAValues
ExportVariable ubAValues
Helper functions
ExportFunction multGxd
ExportFunction moveGxT
ExportFunction multGxGx
ExportFunction multGxGu
ExportFunction moveGuE
ExportFunction setBlockH11
ExportFunction setBlockH11_R1
ExportFunction zeroBlockH11
ExportFunction copyHTH
ExportFunction multQ1d
ExportFunction multQN1d
ExportFunction multRDy
ExportFunction multQDy
ExportFunction multEQDy
ExportFunction multQETGx
ExportFunction zeroBlockH10
ExportFunction multEDu
ExportFunction multQ1Gx
ExportFunction multQN1Gx
ExportFunction multQ1Gu
ExportFunction multQN1Gu
ExportFunction zeroBlockH00
ExportFunction multCTQC
ExportFunction macCTSlx
ExportFunction macETSlu
ExportFunction multHxC
ExportFunction multHxE
ExportFunction macHxd
Contraint evaluation variables
ExportVariable A10
ExportVariable A20
ExportVariable pacA01Dx0
ExportVariable pocA02Dx0
RTI related
ExportFunction preparation
ExportFunction feedback
ExportFunction getKKT
Covariance calculation varibables and functions
ExportVariable CEN
ExportVariable sigmaTmp
ExportVariable sigma
ExportVariable sigmaN
ExportFunction calculateCovariance
qpOASES interface variables
ExportVariable H
ExportVariable R
ExportVariable A
ExportVariable g
ExportVariable lb
ExportVariable ub
ExportVariable lbA
ExportVariable ubA
ExportVariable xVars
ExportVariable yVars

Detailed Description

A class for export of Gauss-Newton condensed OCP solver.

The class ExportGaussNewtonCondensed allows to export an OCP solver using the generalized Gauss-Newton method. The sparse QP is condensed and solved with qpOASES QP solver.

Authors:
Hans Joachim Ferreau, Boris Houska, Milan Vukov

Definition at line 51 of file export_gauss_newton_condensed.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO ExportGaussNewtonCondensed::ExportGaussNewtonCondensed ( UserInteraction *  _userInteraction = 0,
const std::string &  _commonHeaderName = "" 
)

Default constructor.

Parameters:
[in]_userInteractionPointer to corresponding user interface.
[in]_commonHeaderNameName of common header file to be included.

Definition at line 40 of file export_gauss_newton_condensed.cpp.

virtual ExportGaussNewtonCondensed::~ExportGaussNewtonCondensed ( ) [inline, virtual]

Destructor.

Definition at line 66 of file export_gauss_newton_condensed.hpp.

Member Function Documentation

returnValue ExportGaussNewtonCondensed::getCode ( ExportStatementBlock &  code) [virtual]

Exports source code of the auto-generated condensing algorithm into the given directory.

Parameters:
[in]codeCode block containing the auto-generated condensing algorithm.
Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 164 of file export_gauss_newton_condensed.cpp.

returnValue ExportGaussNewtonCondensed::getDataDeclarations ( ExportStatementBlock &  declarations,
ExportStruct  dataStruct = ACADO_ANY 
) const [virtual]

Adds all data declarations of the auto-generated condensing algorithm to given list of declarations.

Parameters:
[in]declarationsList of declarations.
Returns:
SUCCESSFUL_RETURN

Reimplemented from ExportNLPSolver.

Definition at line 90 of file export_gauss_newton_condensed.cpp.

returnValue ExportGaussNewtonCondensed::getFunctionDeclarations ( ExportStatementBlock &  declarations) const [virtual]

Adds all function (forward) declarations of the auto-generated condensing algorithm to given list of declarations.

Parameters:
[in]declarationsList of declarations.
Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 142 of file export_gauss_newton_condensed.cpp.

unsigned ExportGaussNewtonCondensed::getNumQPvars ( ) const [virtual]

Returns number of variables in underlying QP.

Returns:
Number of variables in underlying QP

Implements ExportNLPSolver.

Definition at line 264 of file export_gauss_newton_condensed.cpp.

unsigned ExportGaussNewtonCondensed::getNumStateBounds ( ) const [virtual]

Returns number of bounds on differential states.

Returns:
Number of bounds on differential states

Definition at line 272 of file export_gauss_newton_condensed.cpp.

bool ExportGaussNewtonCondensed::performFullCondensing ( ) const [protected]

Indicator for full condensing.

Definition at line 2391 of file export_gauss_newton_condensed.cpp.

returnValue ExportGaussNewtonCondensed::setup ( ) [virtual]

Initializes export of an algorithm.

Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 45 of file export_gauss_newton_condensed.cpp.

returnValue ExportGaussNewtonCondensed::setupCondensing ( void  ) [protected, virtual]

Setup condensing routine variables and functions.

Definition at line 1222 of file export_gauss_newton_condensed.cpp.

returnValue ExportGaussNewtonCondensed::setupConstraintsEvaluation ( void  ) [protected, virtual]

Set-up evaluation of constraints

  • box constraints on states and controls
Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 490 of file export_gauss_newton_condensed.cpp.

returnValue ExportGaussNewtonCondensed::setupEvaluation ( ) [protected, virtual]

Exports source code containing the evaluation routines of the algorithm.

Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 2238 of file export_gauss_newton_condensed.cpp.

returnValue ExportGaussNewtonCondensed::setupMultiplicationRoutines ( ) [protected, virtual]

Exports source code containing the multiplication routines of the algorithm.

Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 2095 of file export_gauss_newton_condensed.cpp.

returnValue ExportGaussNewtonCondensed::setupObjectiveEvaluation ( void  ) [protected, virtual]

Setting up of an objective evaluation:

  • functions and derivatives evaulation
  • creating Hessians and gradients
Returns:
SUCCESSFUL_RETURN

Definition at line 281 of file export_gauss_newton_condensed.cpp.

returnValue ExportGaussNewtonCondensed::setupQPInterface ( ) [protected, virtual]

Setup qpOASES interface.

Definition at line 2332 of file export_gauss_newton_condensed.cpp.

returnValue ExportGaussNewtonCondensed::setupVariables ( ) [protected, virtual]

Initialization of all member variables.

Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 2003 of file export_gauss_newton_condensed.cpp.

Member Data Documentation

ExportVariable ExportGaussNewtonCondensed::A [private]

Variable containing the QP constraint matrix.

Definition at line 260 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::A10 [private]

Definition at line 233 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::A20 [private]

Definition at line 234 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::calculateCovariance [private]

Definition at line 250 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::CEN [private]

Definition at line 249 of file export_gauss_newton_condensed.hpp.

ExportCholeskySolver ExportGaussNewtonCondensed::cholSolver [private]

Definition at line 190 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::condenseFdb [private]

Definition at line 182 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::condensePrep [private]

Definition at line 181 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::copyHTH [private]

Definition at line 207 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::Dx0 [private]

Current state feedback deviation.

Definition at line 169 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::E [private]

Definition at line 185 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::evaluateObjective [private]

Definition at line 173 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::expand [private]

Definition at line 183 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::feedback [private]

Definition at line 242 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::g [private]

Variable containing the QP gradient.

Definition at line 262 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::g0 [private]

Definition at line 188 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::g1 [private]

Definition at line 188 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::getKKT [private]

Definition at line 244 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::H [private]

Variable containing the QP Hessian matrix.

Definition at line 256 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::H00 [private]

Definition at line 187 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::H10 [private]

Definition at line 187 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::H11 [private]

Definition at line 187 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::lb [private]

Variable containing the lower limits on QP variables.

Definition at line 264 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::lbA [private]

Variable containing lower limits on QP constraints.

Definition at line 268 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::lbAValues [private]

Definition at line 194 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::lbValues [private]

Definition at line 193 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::macCTSlx [private]

Definition at line 223 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::macETSlu [private]

Definition at line 224 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::macHxd [private]

Definition at line 228 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::moveGuE [private]

Definition at line 203 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::moveGxT [private]

Definition at line 200 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multCTQC [private]

Definition at line 221 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multEDu [private]

Definition at line 215 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multEQDy [private]

Definition at line 212 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multGxd [private]

Definition at line 199 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multGxGu [private]

Definition at line 202 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multGxGx [private]

Definition at line 201 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multHxC [private]

Definition at line 226 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multHxE [private]

Definition at line 227 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multQ1d [private]

Definition at line 208 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multQ1Gu [private]

Definition at line 218 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multQ1Gx [private]

Definition at line 216 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multQDy [private]

Definition at line 211 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multQETGx [private]

Definition at line 213 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multQN1d [private]

Definition at line 209 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multQN1Gu [private]

Definition at line 219 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multQN1Gx [private]

Definition at line 217 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multRDy [private]

Definition at line 210 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::pacA01Dx0 [private]

Definition at line 235 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::pocA02Dx0 [private]

Definition at line 236 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::preparation [private]

Definition at line 241 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::Qd [private]

Definition at line 185 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::QDy [private]

Definition at line 185 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::QE [private]

Definition at line 185 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::QGx [private]

Definition at line 185 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::R [private]

Variable containing factorization of the QP Hessian matrix; R' * R = H.

Definition at line 258 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::setBlockH11 [private]

Definition at line 204 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::setBlockH11_R1 [private]

Definition at line 205 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::setObjQ1Q2 [private]

Definition at line 174 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::setObjQN1QN2 [private]

Definition at line 176 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::setObjR1R2 [private]

Definition at line 175 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::sigma [private]

Definition at line 249 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::sigmaN [private]

Definition at line 249 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::sigmaTmp [private]

Definition at line 249 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::T [private]

Definition at line 185 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::ub [private]

Variable containing the upper limits on QP variables.

Definition at line 266 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::ubA [private]

Variable containing upper limits on QP constraints.

Definition at line 270 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::ubAValues [private]

Definition at line 194 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::ubValues [private]

Definition at line 193 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::x0 [private]

Current state feedback.

Definition at line 167 of file export_gauss_newton_condensed.hpp.

std::vector< unsigned > ExportGaussNewtonCondensed::xBoundsIdx [private]

Definition at line 192 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::xVars [private]

Variable containing the primal QP variables.

Definition at line 272 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::yVars [private]

Variable containing the dual QP variables.

Definition at line 274 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::zeroBlockH00 [private]

Definition at line 220 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::zeroBlockH10 [private]

Definition at line 214 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::zeroBlockH11 [private]

Definition at line 206 of file export_gauss_newton_condensed.hpp.

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

acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:40:24