OptimizationAlgorithmBase Class Reference

Base class for user-interfaces to formulate and solve optimal control problems and static NLPs. More...

#include <optimization_algorithm_base.hpp>

Inheritance diagram for OptimizationAlgorithmBase:

List of all members.

Public Member Functions
returnValue	getAlgebraicStates (VariablesGrid &xa_) const
returnValue	getAlgebraicStates (const char *fileName) const
returnValue	getControls (VariablesGrid &p_) const
returnValue	getControls (const char *fileName) const
returnValue	getDifferentialStates (VariablesGrid &xd_) const
returnValue	getDifferentialStates (const char *fileName) const
returnValue	getDisturbances (VariablesGrid &w_) const
returnValue	getDisturbances (const char *fileName) const
double	getEndTime () const
virtual uint	getNP () const
virtual uint	getNU () const
virtual uint	getNW () const
virtual uint	getNX () const
virtual uint	getNXA () const
double	getObjectiveValue (const char *fileName) const
double	getObjectiveValue () const
returnValue	getParameters (VariablesGrid &u_) const
returnValue	getParameters (DVector &u_) const
returnValue	getParameters (const char *fileName) const
returnValue	getSensitivitiesP (BlockMatrix &_sens) const
returnValue	getSensitivitiesU (BlockMatrix &_sens) const
returnValue	getSensitivitiesW (BlockMatrix &_sens) const
returnValue	getSensitivitiesX (BlockMatrix &_sens) const
returnValue	getSensitivitiesXA (BlockMatrix &_sens) const
double	getStartTime () const
returnValue	initializeAlgebraicStates (const char *fileName, BooleanType autoinit=BT_FALSE)
returnValue	initializeAlgebraicStates (const VariablesGrid &xa_init_, BooleanType autoinit=BT_FALSE)
returnValue	initializeControls (const char *fileName)
returnValue	initializeControls (const VariablesGrid &p_init_)
returnValue	initializeDifferentialStates (const char *fileName, BooleanType autoinit=BT_FALSE)
returnValue	initializeDifferentialStates (const VariablesGrid &xd_init_, BooleanType autoinit=BT_FALSE)
returnValue	initializeDisturbances (const char *fileName)
returnValue	initializeDisturbances (const VariablesGrid &w_init_)
returnValue	initializeParameters (const char *fileName)
returnValue	initializeParameters (const VariablesGrid &u_init_)
OptimizationAlgorithmBase &	operator= (const OptimizationAlgorithmBase &arg)
	OptimizationAlgorithmBase ()
	OptimizationAlgorithmBase (const OCP &ocp_)
	OptimizationAlgorithmBase (const OptimizationAlgorithmBase &arg)
returnValue	simulateStatesForInitialization ()
virtual	~OptimizationAlgorithmBase ()
Protected Member Functions
virtual returnValue	allocateNlpSolver (Objective *F, DynamicDiscretization *G, Constraint *H)=0
returnValue	clear ()
virtual returnValue	determineDimensions (Objective *const _objective, DifferentialEquation **const _differentialEquation, Constraint *const _constraint, uint &_nx, uint &_nxa, uint &_np, uint &_nu, uint &_nw) const
virtual returnValue	extractOCPdata (Objective **objective, DifferentialEquation ***differentialEquation, Constraint **constraint, Grid &unionGrid)
returnValue	init (UserInteraction *_userIteraction)
virtual returnValue	initializeNlpSolver (const OCPiterate &_userInit)=0
virtual returnValue	initializeObjective (Objective *F)=0
virtual returnValue	initializeOCPiterate (Constraint *const _constraint, const Grid &_unionGrid, uint nx, uint nxa, uint np, uint nu, uint nw)
BooleanType	isLinearQuadratic (Objective *F, DynamicDiscretization *G, Constraint *H) const
virtual returnValue	setupDifferentialEquation (Objective *objective, DifferentialEquation **differentialEquation, Constraint *constraint, Grid unionGrid)
virtual returnValue	setupDynamicDiscretization (UserInteraction *_userIteraction, Objective *objective, DifferentialEquation **differentialEquation, Constraint *constraint, Grid unionGrid, DynamicDiscretization **dynamicDiscretization)
virtual returnValue	setupObjective (Objective *objective, DifferentialEquation **differentialEquation, Constraint *constraint, Grid unionGrid)
Protected Attributes
OCPiterate	iter
NLPsolver *	nlpSolver
OCP *	ocp
OCPiterate	userInit

---

Detailed Description

Base class for user-interfaces to formulate and solve optimal control problems and static NLPs.

Notes:

• time is normalised to [0,1] when doing time optimal control.

The class OptimizationAlgorithmBase serves as a base class for user-interfaces to formulate and solve optimal control problems and static nonlinear programming (NLP) problems.

Author:

Boris Houska, Hans Joachim Ferreau

Definition at line 65 of file optimization_algorithm_base.hpp.

---

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO OptimizationAlgorithmBase::OptimizationAlgorithmBase

(

)

Default constructor.

Definition at line 48 of file optimization_algorithm_base.cpp.

OptimizationAlgorithmBase::OptimizationAlgorithmBase

(

const OCP &

ocp_

)

Default constructor.

Definition at line 57 of file optimization_algorithm_base.cpp.

OptimizationAlgorithmBase::OptimizationAlgorithmBase

(

const OptimizationAlgorithmBase &

arg

)

Copy constructor (deep copy).

Definition at line 66 of file optimization_algorithm_base.cpp.

OptimizationAlgorithmBase::~OptimizationAlgorithmBase

(

)

[virtual]

Destructor.

Definition at line 79 of file optimization_algorithm_base.cpp.

---

Member Function Documentation

virtual returnValue OptimizationAlgorithmBase::allocateNlpSolver	(	Objective *	F,
		DynamicDiscretization *	G,
		Constraint *	H
	)		[protected, pure virtual]

Implemented in RealTimeAlgorithm, and OptimizationAlgorithm.

returnValue OptimizationAlgorithmBase::clear

(

)

[protected]

Reimplemented in RealTimeAlgorithm.

Definition at line 457 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::determineDimensions	(	Objective *const	_objective,
		DifferentialEquation **const	_differentialEquation,
		Constraint *const	_constraint,
		uint &	_nx,
		uint &	_nxa,
		uint &	_np,
		uint &	_nu,
		uint &	_nw
	)		const [protected, virtual]

Definition at line 744 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::extractOCPdata	(	Objective **	objective,
		DifferentialEquation ***	differentialEquation,
		Constraint **	constraint,
		Grid &	unionGrid
	)		[protected, virtual]

Definition at line 626 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getAlgebraicStates

(

VariablesGrid &

xa_

)

const

Definition at line 232 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getAlgebraicStates

(

const char *

fileName

)

const

Definition at line 291 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getControls

(

VariablesGrid &

p_

)

const

Definition at line 262 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getControls

(

const char *

fileName

)

const

Definition at line 321 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getDifferentialStates

(

VariablesGrid &

xd_

)

const

Definition at line 225 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getDifferentialStates

(

const char *

fileName

)

const

Definition at line 276 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getDisturbances

(

VariablesGrid &

w_

)

const

Definition at line 269 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getDisturbances

(

const char *

fileName

)

const

Definition at line 336 of file optimization_algorithm_base.cpp.

double OptimizationAlgorithmBase::getEndTime

(

)

const

Definition at line 443 of file optimization_algorithm_base.cpp.

uint OptimizationAlgorithmBase::getNP

(

)

const [virtual]

Returns number of parameters.

Returns:

Number of parameters

Reimplemented in RealTimeAlgorithm.

Definition at line 416 of file optimization_algorithm_base.cpp.

uint OptimizationAlgorithmBase::getNU

(

)

const [virtual]

Returns number of controls.

Returns:

Number of controls

Reimplemented in RealTimeAlgorithm.

Definition at line 422 of file optimization_algorithm_base.cpp.

uint OptimizationAlgorithmBase::getNW

(

)

const [virtual]

Returns number of disturbances.

Returns:

Number of disturbances

Reimplemented in RealTimeAlgorithm.

Definition at line 428 of file optimization_algorithm_base.cpp.

uint OptimizationAlgorithmBase::getNX

(

)

const [virtual]

Returns number of differential states.

Returns:

Number of differential states

Reimplemented in RealTimeAlgorithm.

Definition at line 404 of file optimization_algorithm_base.cpp.

uint OptimizationAlgorithmBase::getNXA

(

)

const [virtual]

Returns number of algebraic states.

Returns:

Number of algebraic states

Reimplemented in RealTimeAlgorithm.

Definition at line 410 of file optimization_algorithm_base.cpp.

double OptimizationAlgorithmBase::getObjectiveValue

(

const char *

fileName

)

const

Definition at line 351 of file optimization_algorithm_base.cpp.

double OptimizationAlgorithmBase::getObjectiveValue

(

)

const

Definition at line 361 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getParameters

(

VariablesGrid &

u_

)

const

Definition at line 239 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getParameters

(

DVector &

u_

)

const

Definition at line 246 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getParameters

(

const char *

fileName

)

const

Definition at line 306 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getSensitivitiesP

(

BlockMatrix &

_sens

)

const

Definition at line 382 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getSensitivitiesU

(

BlockMatrix &

_sens

)

const

Definition at line 389 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getSensitivitiesW

(

BlockMatrix &

_sens

)

const

Definition at line 396 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getSensitivitiesX

(

BlockMatrix &

_sens

)

const

Definition at line 369 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getSensitivitiesXA

(

BlockMatrix &

_sens

)

const

Definition at line 376 of file optimization_algorithm_base.cpp.

double OptimizationAlgorithmBase::getStartTime

(

)

const

Definition at line 434 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::init

(

UserInteraction *

_userIteraction

)

[protected]

Initializes everything.

Definition at line 480 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::initializeAlgebraicStates	(	const char *	fileName,
		BooleanType	autoinit = BT_FALSE
	)

Definition at line 118 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::initializeAlgebraicStates	(	const VariablesGrid &	xa_init_,
		BooleanType	autoinit = BT_FALSE
	)

Definition at line 187 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::initializeControls

(

const char *

fileName

)

Reimplemented in RealTimeAlgorithm.

Definition at line 142 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::initializeControls

(

const VariablesGrid &

p_init_

)

Reimplemented in RealTimeAlgorithm.

Definition at line 209 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::initializeDifferentialStates	(	const char *	fileName,
		BooleanType	autoinit = BT_FALSE
	)

Initialization of the optimization variables.

Definition at line 106 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::initializeDifferentialStates	(	const VariablesGrid &	xd_init_,
		BooleanType	autoinit = BT_FALSE
	)

Definition at line 167 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::initializeDisturbances

(

const char *

fileName

)

Definition at line 154 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::initializeDisturbances

(

const VariablesGrid &

w_init_

)

Definition at line 217 of file optimization_algorithm_base.cpp.

virtual returnValue OptimizationAlgorithmBase::initializeNlpSolver

(

const OCPiterate &

_userInit

)

[protected, pure virtual]

Implemented in RealTimeAlgorithm, MultiObjectiveAlgorithm, ParameterEstimationAlgorithm, MHEalgorithm, and OptimizationAlgorithm.

virtual returnValue OptimizationAlgorithmBase::initializeObjective

(

Objective *

F

)

[protected, pure virtual]

Implemented in RealTimeAlgorithm, MultiObjectiveAlgorithm, ParameterEstimationAlgorithm, MHEalgorithm, and OptimizationAlgorithm.

returnValue OptimizationAlgorithmBase::initializeOCPiterate	(	Constraint *const	_constraint,
		const Grid &	_unionGrid,
		uint	nx,
		uint	nxa,
		uint	np,
		uint	nu,
		uint	nw
	)		[protected, virtual]

Definition at line 808 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::initializeParameters

(

const char *

fileName

)

Definition at line 130 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::initializeParameters

(

const VariablesGrid &

u_init_

)

Definition at line 201 of file optimization_algorithm_base.cpp.

BooleanType OptimizationAlgorithmBase::isLinearQuadratic	(	Objective *	F,
		DynamicDiscretization *	G,
		Constraint *	H
	)		const [protected]

Definition at line 605 of file optimization_algorithm_base.cpp.

OptimizationAlgorithmBase & OptimizationAlgorithmBase::operator=

(

const OptimizationAlgorithmBase &

arg

)

Assignment operator (deep copy).

Definition at line 86 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::setupDifferentialEquation	(	Objective *	objective,
		DifferentialEquation **	differentialEquation,
		Constraint *	constraint,
		Grid	unionGrid
	)		[protected, virtual]

Definition at line 692 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::setupDynamicDiscretization	(	UserInteraction *	_userIteraction,
		Objective *	objective,
		DifferentialEquation **	differentialEquation,
		Constraint *	constraint,
		Grid	unionGrid,
		DynamicDiscretization **	dynamicDiscretization
	)		[protected, virtual]

Definition at line 708 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::setupObjective	(	Objective *	objective,
		DifferentialEquation **	differentialEquation,
		Constraint *	constraint,
		Grid	unionGrid
	)		[protected, virtual]

Definition at line 678 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::simulateStatesForInitialization

(

)

Use this call to overwrite all states by a single shooting initialization. This function takes the initial state and controls and overwrite all states apart from the first one by simulation.

Definition at line 180 of file optimization_algorithm_base.cpp.

---

Member Data Documentation

OCPiterate OptimizationAlgorithmBase::iter [protected]

Definition at line 247 of file optimization_algorithm_base.hpp.

NLPsolver* OptimizationAlgorithmBase::nlpSolver [protected]

Definition at line 244 of file optimization_algorithm_base.hpp.

OCP* OptimizationAlgorithmBase::ocp [protected]

Definition at line 245 of file optimization_algorithm_base.hpp.

OCPiterate OptimizationAlgorithmBase::userInit [protected]

Definition at line 248 of file optimization_algorithm_base.hpp.

---

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

• optimization_algorithm_base.hpp
• optimization_algorithm_base.cpp