Public Member Functions | Protected Member Functions | Protected Attributes

Base class for different ways to evaluate functions and derivatives within an SCPmethod for solving NLPs. More...

#include <scp_evaluation.hpp>

Inheritance diagram for SCPevaluation:
Inheritance graph
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List of all members.

Public Member Functions

returnValue clearDynamicDiscretization ()
virtual SCPevaluationclone () const
virtual returnValue evaluate (OCPiterate &iter, BandedCP &cp)
virtual returnValue evaluateLagrangeGradient (uint N, const OCPiterate &iter, const BandedCP &cp, BlockMatrix &nablaL)
virtual returnValue evaluateSensitivities (const OCPiterate &iter, BandedCP &cp)
virtual returnValue freezeSensitivities ()
DVector getConstraintBlockDims () const
virtual double getKKTtolerance (const OCPiterate &iter, const BandedCP &cp, double KKTmultiplierRegularisation=0.0)
uint getNumConstraintBlocks () const
uint getNumConstraints () const
virtual double getObjectiveValue () const
BooleanType hasLSQobjective () const
virtual returnValue init (const OCPiterate &iter)
BooleanType isDynamicNLP () const
BooleanType isStaticNLP () const
SCPevaluationoperator= (const SCPevaluation &rhs)
 SCPevaluation ()
 SCPevaluation (UserInteraction *_userInteraction, const Objective *const objective_, const DynamicDiscretization *const dynamic_discretization_, const Constraint *const constraint_, BooleanType _isCP=BT_FALSE)
 SCPevaluation (const SCPevaluation &rhs)
returnValue setReference (const VariablesGrid &ref)
virtual returnValue unfreezeSensitivities ()
virtual ~SCPevaluation ()

Protected Member Functions

virtual returnValue setupLogging ()
virtual returnValue setupOptions ()

Protected Attributes

BooleanType areSensitivitiesFrozen
Constraintconstraint
DynamicDiscretizationdynamicDiscretization
BooleanType isCP
Objectiveobjective
double objectiveValue

Detailed Description

Base class for different ways to evaluate functions and derivatives within an SCPmethod for solving NLPs.

The class SCPevaluation serves as a base class for different ways to evaluate functions and derivatives within an SCPmethod for solving nonlinear programming problems.

Author:
Boris Houska, Hans Joachim Ferreau

Definition at line 63 of file scp_evaluation.hpp.


Constructor & Destructor Documentation

Default constructor.

Definition at line 45 of file scp_evaluation.cpp.

SCPevaluation::SCPevaluation ( UserInteraction _userInteraction,
const Objective *const  objective_,
const DynamicDiscretization *const  dynamic_discretization_,
const Constraint *const  constraint_,
BooleanType  _isCP = BT_FALSE 
)

Definition at line 61 of file scp_evaluation.cpp.

Copy constructor (deep copy).

Definition at line 91 of file scp_evaluation.cpp.

Destructor.

Definition at line 109 of file scp_evaluation.cpp.


Member Function Documentation

Definition at line 533 of file scp_evaluation.cpp.

SCPevaluation * SCPevaluation::clone ( ) const [virtual]

Definition at line 146 of file scp_evaluation.cpp.

returnValue SCPevaluation::evaluate ( OCPiterate iter,
BandedCP cp 
) [virtual]

Evaluates the objective as well as the ODE/DAE discretization and the constraints for the case that they exist.

Definition at line 161 of file scp_evaluation.cpp.

returnValue SCPevaluation::evaluateLagrangeGradient ( uint  N,
const OCPiterate iter,
const BandedCP cp,
BlockMatrix nablaL 
) [virtual]

Evaluates the gradient "nablaL" of the Lagrangian function.

Returns:
SUCCESSFUL_RETURN

Definition at line 310 of file scp_evaluation.cpp.

returnValue SCPevaluation::evaluateSensitivities ( const OCPiterate iter,
BandedCP cp 
) [virtual]

Evaluates the sensitivities of the objective as well as the ODE/DAE discretization and the constraints for the case that they exist.

Definition at line 201 of file scp_evaluation.cpp.

Definition at line 503 of file scp_evaluation.cpp.

double SCPevaluation::getKKTtolerance ( const OCPiterate iter,
const BandedCP cp,
double  KKTmultiplierRegularisation = 0.0 
) [virtual]

computes the KKT-tolerance (only for internal termination check).

Returns:
The requested KKT tolerance.

Definition at line 396 of file scp_evaluation.cpp.

double SCPevaluation::getObjectiveValue ( ) const [virtual]

Definition at line 496 of file scp_evaluation.cpp.

returnValue SCPevaluation::init ( const OCPiterate iter) [virtual]

Definition at line 153 of file scp_evaluation.cpp.

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

Assignment operator (deep copy).

Definition at line 117 of file scp_evaluation.cpp.

Definition at line 518 of file scp_evaluation.cpp.

returnValue SCPevaluation::setupLogging ( ) [protected, virtual]

Definition at line 557 of file scp_evaluation.cpp.

returnValue SCPevaluation::setupOptions ( ) [protected, virtual]

Definition at line 551 of file scp_evaluation.cpp.

Definition at line 510 of file scp_evaluation.cpp.


Member Data Documentation

Definition at line 185 of file scp_evaluation.hpp.

Constraint functions

Definition at line 180 of file scp_evaluation.hpp.

Descretized ODE or DAE

Definition at line 179 of file scp_evaluation.hpp.

Definition at line 184 of file scp_evaluation.hpp.

Objective function

Definition at line 178 of file scp_evaluation.hpp.

double SCPevaluation::objectiveValue [protected]

The objective value.

Definition at line 182 of file scp_evaluation.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 19:40:25