BandedCPsolver Class Reference

Base class for algorithms solving banded conic programs arising in optimal control. More...

#include <banded_cp_solver.hpp>

Inheritance diagram for BandedCPsolver:

Public Member Functions
	BandedCPsolver ()
	BandedCPsolver (UserInteraction *_userInteraction)
	BandedCPsolver (const BandedCPsolver &rhs)
virtual BandedCPsolver *	clone () const =0
virtual returnValue	finalizeSolve (BandedCP &cp)
virtual returnValue	freezeCondensing ()
virtual returnValue	getFirstControl (DVector &u0_) const =0
virtual returnValue	getParameters (DVector &p_) const =0
virtual returnValue	getVarianceCovariance (DMatrix &var)
virtual returnValue	init (const OCPiterate &iter_)=0
BandedCPsolver &	operator= (const BandedCPsolver &rhs)
virtual returnValue	prepareSolve (BandedCP &cp)
virtual returnValue	setRealTimeParameters (const DVector &DeltaX, const DVector &DeltaP=emptyConstVector)
virtual returnValue	solve (BandedCP &cp)=0
virtual returnValue	unfreezeCondensing ()
virtual	~BandedCPsolver ()
Public Member Functions inherited from AlgorithmicBase
int	addLogRecord (LogRecord &_record)
returnValue	addOption (OptionsName name, int value)
returnValue	addOption (OptionsName name, double value)
returnValue	addOption (uint idx, OptionsName name, int value)
returnValue	addOption (uint idx, OptionsName name, double value)
returnValue	addOptionsList ()
	AlgorithmicBase ()
	AlgorithmicBase (UserInteraction *_userInteraction)
	AlgorithmicBase (const AlgorithmicBase &rhs)
returnValue	get (OptionsName name, int &value) const
returnValue	get (OptionsName name, double &value) const
returnValue	get (OptionsName name, std::string &value) const
returnValue	get (uint idx, OptionsName name, int &value) const
returnValue	get (uint idx, OptionsName name, double &value) const
returnValue	getAll (LogName _name, MatrixVariablesGrid &values) const
returnValue	getFirst (LogName _name, DMatrix &firstValue) const
returnValue	getFirst (LogName _name, VariablesGrid &firstValue) const
returnValue	getLast (LogName _name, DMatrix &lastValue) const
returnValue	getLast (LogName _name, VariablesGrid &lastValue) const
Options	getOptions (uint idx) const
BooleanType	haveOptionsChanged () const
BooleanType	haveOptionsChanged (uint idx) const
AlgorithmicBase &	operator= (const AlgorithmicBase &rhs)
returnValue	plot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)
returnValue	printLogRecord (std::ostream &_stream, int idx, LogPrintMode _mode=PRINT_ITEM_BY_ITEM) const
returnValue	replot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)
returnValue	set (OptionsName name, int value)
returnValue	set (OptionsName name, double value)
returnValue	set (OptionsName name, const std::string &value)
returnValue	set (uint idx, OptionsName name, int value)
returnValue	set (uint idx, OptionsName name, double value)
returnValue	setAll (LogName _name, const MatrixVariablesGrid &values)
returnValue	setLast (LogName _name, int lastValue, double time=-INFTY)
returnValue	setLast (LogName _name, double lastValue, double time=-INFTY)
returnValue	setLast (LogName _name, const DVector &lastValue, double time=-INFTY)
returnValue	setLast (LogName _name, const DMatrix &lastValue, double time=-INFTY)
returnValue	setLast (LogName _name, const VariablesGrid &lastValue, double time=-INFTY)
returnValue	setOptions (const Options &arg)
returnValue	setOptions (uint idx, const Options &arg)
virtual	~AlgorithmicBase ()

Protected Member Functions
virtual returnValue	setupLogging ()
virtual returnValue	setupOptions ()

Additional Inherited Members
Protected Attributes inherited from AlgorithmicBase
int	outputLoggingIdx
BooleanType	useModuleStandalone
UserInteraction *	userInteraction

Detailed Description

Base class for algorithms solving banded conic programs arising in optimal control.

The class Banded CP Solver is a base class for all conic solvers that are able to deal with the specific band structure that arises in the optimal control context.

Author

Boris Houska, Hans Joachim Ferreau

Definition at line 63 of file banded_cp_solver.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO BandedCPsolver::BandedCPsolver

(

)

Default constructor.

Definition at line 43 of file banded_cp_solver.cpp.

BandedCPsolver::BandedCPsolver

(

UserInteraction *

_userInteraction

)

Definition at line 50 of file banded_cp_solver.cpp.

BandedCPsolver::BandedCPsolver

(

const BandedCPsolver &

rhs

)

Copy constructor (deep copy).

Definition at line 61 of file banded_cp_solver.cpp.

BandedCPsolver::~BandedCPsolver ( )

virtual

Destructor.

Definition at line 66 of file banded_cp_solver.cpp.

Member Function Documentation

virtual BandedCPsolver* BandedCPsolver::clone ( ) const

pure virtual

Assignment operator (deep copy).

Implemented in CondensingBasedCPsolver.

returnValue BandedCPsolver::finalizeSolve ( BandedCP &  cp )

virtual

Solves a given banded conic program

Reimplemented in CondensingBasedCPsolver.

Definition at line 90 of file banded_cp_solver.cpp.

returnValue BandedCPsolver::freezeCondensing ( )

virtual

Reimplemented in CondensingBasedCPsolver.

Definition at line 114 of file banded_cp_solver.cpp.

virtual returnValue BandedCPsolver::getFirstControl ( DVector &  u0_ ) const

pure virtual

Implemented in CondensingBasedCPsolver.

virtual returnValue BandedCPsolver::getParameters ( DVector &  p_ ) const

pure virtual

Implemented in CondensingBasedCPsolver.

returnValue BandedCPsolver::getVarianceCovariance ( DMatrix &  var )

virtual

Returns a variance-covariance estimate if possible or an error message otherwise.

Returns

SUCCESSFUL_RETURN RET_MEMBER_NOT_INITIALISED

Reimplemented in CondensingBasedCPsolver.

Definition at line 98 of file banded_cp_solver.cpp.

virtual returnValue BandedCPsolver::init ( const OCPiterate &  iter_ )

pure virtual

Initializes the banded conic solver

Implemented in CondensingBasedCPsolver.

BandedCPsolver & BandedCPsolver::operator=

(

const BandedCPsolver &

rhs

)

Assignment operator (deep copy).

Definition at line 71 of file banded_cp_solver.cpp.

returnValue BandedCPsolver::prepareSolve ( BandedCP &  cp )

virtual

Solves a given banded conic program

Reimplemented in CondensingBasedCPsolver.

Definition at line 83 of file banded_cp_solver.cpp.

returnValue BandedCPsolver::setRealTimeParameters ( const DVector &  DeltaX, const DVector &  DeltaP = emptyConstVector  )

virtual

Reimplemented in CondensingBasedCPsolver.

Definition at line 105 of file banded_cp_solver.cpp.

returnValue BandedCPsolver::setupLogging ( )

protectedvirtual

Definition at line 143 of file banded_cp_solver.cpp.

returnValue BandedCPsolver::setupOptions ( )

protectedvirtual

Definition at line 131 of file banded_cp_solver.cpp.

virtual returnValue BandedCPsolver::solve ( BandedCP &  cp )

pure virtual

Solves a given banded conic program in feedback mode:

Parameters

cp	the banded conic program to be solved
DeltaX	difference between state estimate and previous prediction
DeltaP	difference between current and previous parameter value

Returns

SUCCESSFUL_RETURN (if successful)
or a specific error message from the dense CP solver.

Implemented in CondensingBasedCPsolver.

returnValue BandedCPsolver::unfreezeCondensing ( )

virtual

Reimplemented in CondensingBasedCPsolver.

Definition at line 120 of file banded_cp_solver.cpp.

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

• banded_cp_solver.hpp
• banded_cp_solver.cpp