Public Member Functions | Protected Member Functions | Protected Attributes

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

#include <export_gauss_newton_qpdunes.hpp>

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List of all members.

Public Member Functions

 ExportGaussNewtonQpDunes (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 ~ExportGaussNewtonQpDunes ()

Protected Member Functions

virtual returnValue setupConstraintsEvaluation (void)
virtual returnValue setupEvaluation ()
virtual returnValue setupMultiplicationRoutines ()
virtual returnValue setupObjectiveEvaluation (void)
virtual returnValue setupQPInterface ()
virtual returnValue setupVariables ()

Protected Attributes

std::tr1::shared_ptr
< ExportQpDunesInterface
qpInterface
ExportVariable x0
QP interface variables
ExportVariable qpH
ExportVariable qpg
ExportVariable qpgN
ExportVariable qpC
ExportVariable qpc
ExportVariable qpLb0
ExportVariable qpUb0
ExportVariable qpLb
ExportVariable qpUb
ExportVariable qpA
ExportVariable qpLbA
ExportVariable qpUbA
ExportVariable qpPrimal
ExportVariable qpLambda
ExportVariable qpMu
Objective evaluation.
ExportFunction evaluateObjective
ExportFunction setStageH
ExportFunction setStagef
ExportFunction setObjQ1Q2
ExportFunction setObjR1R2
ExportFunction setObjQN1QN2
bool diagH
bool diagHN
Constraint evaluation
ExportFunction evaluateConstraints
ExportFunction setStagePac
std::vector< unsigned > qpConDim
RTI related
ExportFunction preparation
ExportFunction feedback
qpDUNES interface functions
ExportFunction cleanup
ExportFunction shiftQpData
Auxiliary functions
ExportFunction getKKT
Helper functions
ExportFunction acc

Detailed Description

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

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

Author:
Milan Vukov

Definition at line 52 of file export_gauss_newton_qpdunes.hpp.


Constructor & Destructor Documentation

ExportGaussNewtonQpDunes::ExportGaussNewtonQpDunes ( 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 39 of file export_gauss_newton_qpdunes.cpp.

Destructor.

Definition at line 67 of file export_gauss_newton_qpdunes.hpp.


Member Function Documentation

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.

Reimplemented in ExportExactHessianQpDunes.

Definition at line 146 of file export_gauss_newton_qpdunes.cpp.

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 89 of file export_gauss_newton_qpdunes.cpp.

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.

Reimplemented in ExportExactHessianQpDunes.

Definition at line 124 of file export_gauss_newton_qpdunes.cpp.

unsigned ExportGaussNewtonQpDunes::getNumQPvars ( ) const [virtual]

Returns number of variables in underlying QP.

Returns:
Number of variables in underlying QP

Implements ExportNLPSolver.

Definition at line 209 of file export_gauss_newton_qpdunes.cpp.

Initializes export of an algorithm.

Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Reimplemented in ExportExactHessianQpDunes.

Definition at line 44 of file export_gauss_newton_qpdunes.cpp.

Set-up evaluation of constraints

  • box constraints on states and controls
Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 488 of file export_gauss_newton_qpdunes.cpp.

Exports source code containing the evaluation routines of the algorithm.

Implements ExportNLPSolver.

Definition at line 914 of file export_gauss_newton_qpdunes.cpp.

Exports source code containing the multiplication routines of the algorithm.

Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 909 of file export_gauss_newton_qpdunes.cpp.

Setting up of an objective evaluation:

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

Reimplemented in ExportExactHessianQpDunes.

Definition at line 218 of file export_gauss_newton_qpdunes.cpp.

Setup of the glue code for the QP solver interaction.

Definition at line 1102 of file export_gauss_newton_qpdunes.cpp.

Initialization of all member variables.

Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 898 of file export_gauss_newton_qpdunes.cpp.


Member Data Documentation

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std::vector< unsigned > ExportGaussNewtonQpDunes::qpConDim [protected]

Definition at line 189 of file export_gauss_newton_qpdunes.hpp.

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qpDUNES interface object.

Definition at line 215 of file export_gauss_newton_qpdunes.hpp.

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Current state feedback.

Definition at line 152 of file export_gauss_newton_qpdunes.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