Deals with algebraic consistency constraints within optimal control problems. More...

#include <algebraic_consistency_constraint.hpp>

Inheritance diagram for AlgebraicConsistencyConstraint:

Public Member Functions
returnValue	add (const uint &endOfStage_, const DifferentialEquation &dae)

	AlgebraicConsistencyConstraint ()

	AlgebraicConsistencyConstraint (const Grid &grid_, const uint &numberOfStages)

	AlgebraicConsistencyConstraint (const AlgebraicConsistencyConstraint &rhs)

returnValue	evaluate (const OCPiterate &iter)

returnValue	evaluateSensitivities ()

returnValue	evaluateSensitivities (int &count, const BlockMatrix &seed, BlockMatrix &hessian)

int	getDim (const int &idx_)

int	getNC () const

AlgebraicConsistencyConstraint &	operator= (const AlgebraicConsistencyConstraint &rhs)

virtual	~AlgebraicConsistencyConstraint ()

Public Member Functions inherited from ConstraintElement
	ConstraintElement ()

	ConstraintElement (const Grid &grid_, int nFcn_, int nB_)

	ConstraintElement (const ConstraintElement &rhs)

returnValue	get (Function &function_, DMatrix &lb_, DMatrix &ub_)

virtual returnValue	getBackwardSensitivities (BlockMatrix *D, int order)

virtual returnValue	getForwardSensitivities (BlockMatrix *D, int order)

Grid &	getGrid ()

int	getNP () const

int	getNU () const

int	getNW () const

int	getNX () const

int	getNXA () const

virtual returnValue	getResiduum (BlockMatrix &lower_residuum, BlockMatrix &upper_residuum)

returnValue	init (const OCPiterate &iter)

BooleanType	isAffine () const

ConstraintElement &	operator= (const ConstraintElement &rhs)

virtual returnValue	setBackwardSeed (BlockMatrix *seed, int order)

virtual returnValue	setForwardSeed (BlockMatrix xSeed_, BlockMatrix xaSeed_, BlockMatrix pSeed_, BlockMatrix uSeed_, BlockMatrix *wSeed_, int order)

virtual returnValue	setUnitForwardSeed ()

virtual	~ConstraintElement ()

Protected Member Functions
returnValue	computeForwardSensitivityBlock (int offset1, int offset2, int offset3, int stageIdx, DMatrix *seed)

virtual returnValue	initializeEvaluationPoints (const OCPiterate &iter)

Protected Attributes
int *	breakPoints

int	counter

int *	numberOfAlgebraicStates

int *	numberOfDifferentialStates

int	numberOfStages

Protected Attributes inherited from ConstraintElement
BlockMatrix *	bSeed

BlockMatrix *	bSeed2

CondensingType	condType

BlockMatrix	dBackward

BlockMatrix	dForward

Function *	fcn

Grid	grid

EvaluationPoint *	JJ

double **	lb

int	na

int	nB

int	nFcn

int	np

int	nu

int	nw

int	nx

int	ny

BlockMatrix *	pSeed

BlockMatrix *	pSeed2

BlockMatrix	residuumL

BlockMatrix	residuumU

int *	t_index

double **	ub

BlockMatrix *	uSeed

BlockMatrix *	uSeed2

BlockMatrix *	wSeed

BlockMatrix *	wSeed2

BlockMatrix *	xaSeed

BlockMatrix *	xaSeed2

BlockMatrix *	xSeed

BlockMatrix *	xSeed2

int **	y_index

EvaluationPoint *	z

Detailed Description

Deals with algebraic consistency constraints within optimal control problems.

The class AlgebraicConsistencyConstraint has been introduced in order to deal with algebraic consistency constraints. Usually, the user does not get in touch with this class, as algebraic consistency constraints should automatically be introduced by the optimization routine. It is possible to add several DAE right-hand sides which will be evaluated on a grid (usually, the multiple shooting ot collocation grid) depending on the model stage number. In the easiest case, i.e. for one stage, the evaluation routine will return the algebraic residuum of the DAE at a given point. The differentiation of the AlgebraicConsistencyConstraint will return the derivatives in form of a structured block matrix, which is typically sparse.

\author Boris Houska, Hans Joachim Ferreau

Definition at line 65 of file algebraic_consistency_constraint.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO AlgebraicConsistencyConstraint::AlgebraicConsistencyConstraint ( )

Default constructor.

Definition at line 46 of file algebraic_consistency_constraint.cpp.

AlgebraicConsistencyConstraint::AlgebraicConsistencyConstraint	(	const Grid &	grid_,
		const uint &	numberOfStages
	)

Default constructor.

Parameters

grid_	union grid of the constraint
numberOfStages	number of model stages

Definition at line 57 of file algebraic_consistency_constraint.cpp.

AlgebraicConsistencyConstraint::AlgebraicConsistencyConstraint ( const AlgebraicConsistencyConstraint & rhs )

Copy constructor (deep copy).

Definition at line 68 of file algebraic_consistency_constraint.cpp.

AlgebraicConsistencyConstraint::~AlgebraicConsistencyConstraint ( )

virtual

Destructor.

Definition at line 95 of file algebraic_consistency_constraint.cpp.

Member Function Documentation

returnValue AlgebraicConsistencyConstraint::add	(	const uint &	endOfStage_,
		const DifferentialEquation &	dae
	)

inline

Adds a consistency constraint for a specified stage.

Returns: SUCCESSFUL_RETURN RET_INDEX_OUT_OF_BOUNDS (if the start/end of the stage are not well defined)

Parameters

endOfStage_	end of the stage
dae	the DAE itself

returnValue AlgebraicConsistencyConstraint::computeForwardSensitivityBlock	(	int	offset1,
		int	offset2,
		int	offset3,
		int	stageIdx,
		DMatrix *	seed
	)

inlineprotected

only for internal use (routine which computes a part of the block matrix needed for forward differentiation.)

returnValue AlgebraicConsistencyConstraint::evaluate ( const OCPiterate & iter )

Evaluates all components in this constraint and stores the
residuum.

Returns: SUCESSFUL_RETURN

Definition at line 150 of file algebraic_consistency_constraint.cpp.

returnValue AlgebraicConsistencyConstraint::evaluateSensitivities ( )

Evaluates the sensitivities of all components in this
constraint. Note that the seed can be defined via the base
class ConstraintElement.

Returns: SUCESSFUL_RETURN

Definition at line 189 of file algebraic_consistency_constraint.cpp.

returnValue AlgebraicConsistencyConstraint::evaluateSensitivities	(	int &	count,
		const BlockMatrix &	seed,
		BlockMatrix &	hessian
	)

Evaluates the sensitivities and Hessian.

Returns: SUCESSFUL_RETURN

Definition at line 327 of file algebraic_consistency_constraint.cpp.

int AlgebraicConsistencyConstraint::getDim ( const int & idx_ )

inline

returns the dimensions of the idx-th block

int AlgebraicConsistencyConstraint::getNC ( ) const

inline

returns the number of constraints

returnValue AlgebraicConsistencyConstraint::initializeEvaluationPoints ( const OCPiterate & iter )

protectedvirtual

Reimplemented from ConstraintElement.

Definition at line 614 of file algebraic_consistency_constraint.cpp.

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

Assignment operator (deep copy).

Definition at line 108 of file algebraic_consistency_constraint.cpp.

Member Data Documentation

int* AlgebraicConsistencyConstraint::breakPoints

protected

Definition at line 164 of file algebraic_consistency_constraint.hpp.

int AlgebraicConsistencyConstraint::counter

protected

Definition at line 161 of file algebraic_consistency_constraint.hpp.

int* AlgebraicConsistencyConstraint::numberOfAlgebraicStates

protected

Definition at line 163 of file algebraic_consistency_constraint.hpp.

int* AlgebraicConsistencyConstraint::numberOfDifferentialStates

protected

Definition at line 162 of file algebraic_consistency_constraint.hpp.

int AlgebraicConsistencyConstraint::numberOfStages

protected

Definition at line 160 of file algebraic_consistency_constraint.hpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation