A class for export of an OCP solver using sparse QP solver FORCES. More...

#include <export_gauss_newton_forces.hpp>

Inheritance diagram for ExportGaussNewtonForces:

Public Member Functions
	ExportGaussNewtonForces (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 returnValue	setup ()
virtual	~ExportGaussNewtonForces ()
Protected Member Functions
virtual returnValue	setupConstraintsEvaluation (void)
virtual returnValue	setupEvaluation ()
virtual returnValue	setupMultiplicationRoutines ()
virtual returnValue	setupObjectiveEvaluation (void)
virtual returnValue	setupQPInterface ()
virtual returnValue	setupVariables ()
Private Attributes
ExportVariable	x0
Objective evaluation
ExportFunction	evaluateObjective
std::vector< ExportVariable >	objHessians
std::vector< ExportVariable >	objGradients
ExportFunction	setStageH
ExportFunction	setStagef
ExportFunction	setObjQ1Q2
ExportFunction	setObjR1R2
ExportFunction	setObjQN1QN2
bool	diagH
bool	diagHN
Constraint evaluation
std::vector< ExportVariable >	conLB
std::vector< ExportVariable >	conUB
ExportVariable	lbValues
ExportVariable	ubValues
std::vector< std::vector < unsigned > >	conLBIndices
std::vector< std::vector < unsigned > >	conUBIndices
std::vector< std::vector < double > >	conLBValues
std::vector< std::vector < double > >	conUBValues
ExportFunction	evaluateConstraints
ExportFunction	conSetGxGu
ExportVariable	conStageC
std::vector< ExportVariable >	conC
std::vector< ExportVariable >	cond
ExportFunction	conSetd
RTI related
ExportFunction	preparation
ExportFunction	feedback
ExportFunction	getKKT
Helper functions
ExportFunction	acc
QP interface
std::string	qpModuleName
std::string	qpObjPrefix
std::tr1::shared_ptr < ExportForcesInterface >	qpInterface
std::tr1::shared_ptr < ExportForcesGenerator >	qpGenerator

Detailed Description

A class for export of an OCP solver using sparse QP solver FORCES.

The class ExportGaussNewtonForces allows export of and OCP solver using the generalized Gauss-Newton method. The underlying QP is solved using the structured sparse QP solver FORCES.

Author:: Milan Vukov

Definition at line 53 of file export_gauss_newton_forces.hpp.

Constructor & Destructor Documentation

ExportGaussNewtonForces::ExportGaussNewtonForces	(	UserInteraction *	_userInteraction = `0`,
		const std::string &	_commonHeaderName = `""`
	)

Default constructor.

Parameters:

[in]	_userInteraction	Pointer to corresponding user interface.
[in]	_commonHeaderName	Name of common header file to be included.

Definition at line 44 of file export_gauss_newton_forces.cpp.

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

Destructor.

Definition at line 68 of file export_gauss_newton_forces.hpp.

Member Function Documentation

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

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

Parameters:

[in] code Code block containing the auto-generated condensing algorithm.

Returns:: SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 114 of file export_gauss_newton_forces.cpp.

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