Public Member Functions | Protected Attributes

Stores and evaluates LSQ mayer terms within optimal control problems. More...

#include <lsq_end_term.hpp>

Inheritance diagram for LSQEndTerm:
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List of all members.

Public Member Functions

returnValue evaluate (const OCPiterate &x)
returnValue evaluateSensitivities (BlockMatrix *hessian)
returnValue evaluateSensitivitiesGN (BlockMatrix *GNhessian)
returnValue init (const Grid &grid_, const DMatrix &S_, const Function &m_, const DVector &r_)
BooleanType isAffine ()
BooleanType isConvex ()
BooleanType isQuadratic ()
 LSQEndTerm ()
 LSQEndTerm (const Grid &grid_, const DMatrix &S_, const Function &m_, const DVector &r_)
 LSQEndTerm (const LSQEndTerm &rhs)
LSQEndTermoperator= (const LSQEndTerm &rhs)
returnValue setReference (const DVector &ref)
virtual ~LSQEndTerm ()

Protected Attributes

DVector r
DMatrix S
double * S_h_res

Detailed Description

Stores and evaluates LSQ mayer terms within optimal control problems.

The class LSQEndTerm allows to manage and evaluate least square objective mayer terms
of the general form:

0.5* || S * ( m(T,x(T),p(T),...) - r ) ||^2_2

Here the T is the time at the last grid point of the objective grid.

Author:
Boris Houska, Hans Joachim Ferreau

Definition at line 61 of file lsq_end_term.hpp.


Constructor & Destructor Documentation

Default constructor.

Definition at line 51 of file lsq_end_term.cpp.

LSQEndTerm::LSQEndTerm ( const Grid grid_,
const DMatrix S_,
const Function m_,
const DVector r_ 
)

Default constructor.

Parameters:
grid_the objective grid
S_the weighting matrix
m_the LSQ function
r_the reference vector

Definition at line 58 of file lsq_end_term.cpp.

Copy constructor (deep copy).

Definition at line 70 of file lsq_end_term.cpp.

LSQEndTerm::~LSQEndTerm ( ) [virtual]

Destructor.

Definition at line 80 of file lsq_end_term.cpp.


Member Function Documentation

Definition at line 103 of file lsq_end_term.cpp.

Evaluates the objective gradient contribution from this term
and computes the corresponding exact hessian.

Returns:
SUCCESSFUL_RETURN

Definition at line 136 of file lsq_end_term.cpp.

Evaluates the objective gradient contribution from this term
and computes the corresponding GN hessian approximation for
the case that GNhessian != 0.

Returns:
SUCCESSFUL_RETURN

Definition at line 143 of file lsq_end_term.cpp.

returnValue LSQEndTerm::init ( const Grid grid_,
const DMatrix S_,
const Function m_,
const DVector r_ 
) [inline]
Parameters:
grid_the objective grid
S_the weighting matrix
m_the LSQ function
r_the reference vectors

returns whether the constraint element is affine.

returns whether the constraint element is convex.

returns whether the constraint element is convex.

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

Assignment operator (deep copy).

Definition at line 86 of file lsq_end_term.cpp.

returnValue LSQEndTerm::setReference ( const DVector ref) [inline]

overwrites the reference vector r

Returns:
SUCCESSFUL_RETURN

Member Data Documentation

DVector LSQEndTerm::r [protected]

a tracking reference

Definition at line 159 of file lsq_end_term.hpp.

DMatrix LSQEndTerm::S [protected]

a symmetric weighting matrix

Definition at line 158 of file lsq_end_term.hpp.

double* LSQEndTerm::S_h_res [protected]

specific intermediate results
to be stored for backward
differentiation

Definition at line 161 of file lsq_end_term.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