Stores and evaluates boundary constraints within optimal control problems. More...

#include <boundary_constraint.hpp>

Inheritance diagram for BoundaryConstraint:

Public Member Functions
returnValue	add (const double lb_, const Expression &arg1, const Expression &arg2, const double ub_)

	BoundaryConstraint ()

	BoundaryConstraint (const Grid &grid_)

	BoundaryConstraint (const BoundaryConstraint &rhs)

returnValue	evaluate (const OCPiterate &iter)

returnValue	evaluateSensitivities ()

returnValue	evaluateSensitivities (const DMatrix &seed, BlockMatrix &hessian)

int	getNC () const

BoundaryConstraint &	operator= (const BoundaryConstraint &rhs)

virtual	~BoundaryConstraint ()

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 ()

Additional Inherited Members
Protected Member Functions inherited from ConstraintElement
virtual returnValue	initializeEvaluationPoints (const OCPiterate &iter)

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

Stores and evaluates boundary constraints within optimal control problems.

The class BoundaryConstraint allows to manage and evaluate constraints at the boundary of the horizon within optimal control problems.

Author: Boris Houska, Hans Joachim Ferreau

Definition at line 55 of file boundary_constraint.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO BoundaryConstraint::BoundaryConstraint ( )

Default constructor.

Definition at line 48 of file boundary_constraint.cpp.

BoundaryConstraint::BoundaryConstraint ( const Grid & grid_ )

Default constructor.

Definition at line 54 of file boundary_constraint.cpp.

BoundaryConstraint::BoundaryConstraint ( const BoundaryConstraint & rhs )

Copy constructor (deep copy).

Definition at line 60 of file boundary_constraint.cpp.

BoundaryConstraint::~BoundaryConstraint ( )

virtual

Destructor.

Definition at line 67 of file boundary_constraint.cpp.

Member Function Documentation

returnValue BoundaryConstraint::add	(	const double	lb_,
		const Expression &	arg1,
		const Expression &	arg2,
		const double	ub_
	)

inline

Adds a boundary-constraint component.

Returns: SUCCESSFUL_RETURN RET_MEMBER_NOT_INITIALISED (if the ConstraintElement::fcn is not initialized)

returnValue BoundaryConstraint::evaluate ( const OCPiterate & iter )

Evaluates all components in this constraint and stores the
residuum.

Returns: SUCESSFUL_RETURN

Definition at line 86 of file boundary_constraint.cpp.

returnValue BoundaryConstraint::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 138 of file boundary_constraint.cpp.

returnValue BoundaryConstraint::evaluateSensitivities	(	const DMatrix &	seed,
		BlockMatrix &	hessian
	)

Evaluates the sensitivities and Hessian.

Returns: SUCESSFUL_RETURN

Definition at line 234 of file boundary_constraint.cpp.

int BoundaryConstraint::getNC ( ) const

inline

returns the number of constraints

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

Assignment operator (deep copy).

Definition at line 72 of file boundary_constraint.cpp.

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation