COperator Class Reference

The class COperator is an auxiliary class to use C-Functions within a function evaluation tree. More...

#include <c_operator.hpp>

Inheritance diagram for COperator:

Public Member Functions
virtual returnValue	AD_backward (int dim, VariableType *varType, int *component, Operator *seed, Operator **df, int &nNewIS, TreeProjection ***newIS)
virtual returnValue	AD_backward (int number, double seed, double *df)
virtual returnValue	AD_backward2 (int number, double seed1, double seed2, double *df, double *ddf)
virtual Operator *	AD_forward (int dim, VariableType *varType, int *component, Operator **seed, int &nNewIS, TreeProjection ***newIS)
virtual returnValue	AD_forward (int number, double *seed, double *df)
virtual returnValue	AD_forward (int number, double *x, double *seed, double *f, double *df)
virtual returnValue	AD_forward2 (int number, double *seed1, double *seed2, double *df, double *ddf)
virtual returnValue	AD_symmetric (int dim, VariableType *varType, int *component, Operator *l, Operator **S, int dimS, Operator **dfS, Operator **ldf, Operator **H, int &nNewLIS, TreeProjection ***newLIS, int &nNewSIS, TreeProjection ***newSIS, int &nNewHIS, TreeProjection ***newHIS)
virtual returnValue	clearBuffer ()
virtual Operator *	clone () const
	COperator ()
	COperator (const CFunction &fcn, const Expression &arg, int component_)
	COperator (const COperator &arg)
virtual Operator *	differentiate (int index)
virtual returnValue	enumerateVariables (SymbolicIndexList *indexList)
virtual returnValue	evaluate (int number, double *x, double *result)
virtual returnValue	evaluate (EvaluationBase *x)
virtual CurvatureType	getCurvature ()
virtual MonotonicityType	getMonotonicity ()
virtual OperatorName	getName ()
int	increaseID ()
virtual BooleanType	isDependingOn (VariableType var) const
virtual BooleanType	isDependingOn (int dim, VariableType *varType, int *component, BooleanType *implicit_dep)
virtual BooleanType	isLinearIn (int dim, VariableType *varType, int *component, BooleanType *implicit_dep)
virtual NeutralElement	isOneOrZero () const
virtual BooleanType	isPolynomialIn (int dim, VariableType *varType, int *component, BooleanType *implicit_dep)
virtual BooleanType	isRationalIn (int dim, VariableType *varType, int *component, BooleanType *implicit_dep)
virtual BooleanType	isSymbolic () const
virtual BooleanType	isVariable (VariableType &varType, int &component) const
virtual returnValue	loadIndices (SymbolicIndexList *indexList)
COperator &	operator= (const COperator &arg)
virtual std::ostream &	print (std::ostream &stream) const
virtual returnValue	setCurvature (CurvatureType curvature_)
virtual returnValue	setMonotonicity (MonotonicityType monotonicity_)
virtual Operator *	substitute (int index, const Operator *sub)
	~COperator ()
Public Member Functions inherited from SmoothOperator
virtual TreeProjection *	cloneTreeProjection () const
virtual int	getGlobalIndex () const
virtual double	getValue () const
virtual BooleanType	isSmooth () const
Expression	operator* (const double &arg) const
Expression	operator* (const DVector &arg) const
Expression	operator* (const DMatrix &arg) const
Expression	operator* (const Operator &arg) const
Expression	operator* (const Expression &arg) const
Operator &	operator*= (const double &arg)
Operator &	operator*= (const DVector &arg)
Operator &	operator*= (const DMatrix &arg)
Operator &	operator*= (const Expression &arg)
Expression	operator+ (const double &arg) const
Expression	operator+ (const DVector &arg) const
Expression	operator+ (const DMatrix &arg) const
Expression	operator+ (const Operator &arg) const
Expression	operator+ (const Expression &arg) const
Operator &	operator+= (const double &arg)
Operator &	operator+= (const DVector &arg)
Operator &	operator+= (const DMatrix &arg)
Operator &	operator+= (const Expression &arg)
Expression	operator- (const double &arg) const
Expression	operator- (const DVector &arg) const
Expression	operator- (const DMatrix &arg) const
Expression	operator- (const Operator &arg) const
Expression	operator- (const Expression &arg) const
Expression	operator- () const
Operator &	operator-= (const double &arg)
Operator &	operator-= (const DVector &arg)
Operator &	operator-= (const DMatrix &arg)
Operator &	operator-= (const Expression &arg)
Expression	operator/ (const double &arg) const
Expression	operator/ (const Operator &arg) const
Expression	operator/ (const Expression &arg) const
Operator &	operator/= (const double &arg)
Operator &	operator/= (const Expression &arg)
ConstraintComponent	operator<= (const double &ub) const
ConstraintComponent	operator<= (const DVector &ub) const
ConstraintComponent	operator<= (const VariablesGrid &ub) const
virtual Operator &	operator= (const double &arg)
virtual Operator &	operator= (const DVector &arg)
virtual Operator &	operator= (const DMatrix &arg)
virtual Operator &	operator= (const Expression &arg)
virtual Operator &	operator= (const Operator &arg)
ConstraintComponent	operator== (const double &b) const
ConstraintComponent	operator== (const DVector &b) const
ConstraintComponent	operator== (const VariablesGrid &b) const
ConstraintComponent	operator>= (const double &lb) const
ConstraintComponent	operator>= (const DVector &lb) const
ConstraintComponent	operator>= (const VariablesGrid &lb) const
virtual Operator *	passArgument () const
	SmoothOperator ()
virtual	~SmoothOperator ()
Public Member Functions inherited from Operator
virtual returnValue	initDerivative ()
virtual BooleanType	isTrivial () const
virtual Operator *	myAdd (Operator *a, Operator *b)
virtual Operator *	myLogarithm (Operator *a)
virtual Operator *	myPower (Operator *a, Operator *b)
virtual Operator *	myPowerInt (Operator *a, int b)
virtual Operator *	myProd (Operator *a, Operator *b)
virtual Operator *	mySubtract (Operator *a, Operator *b)
	Operator ()
Expression	operator* (const double &arg) const
Expression	operator* (const DVector &arg) const
Expression	operator* (const DMatrix &arg) const
Expression	operator* (const Operator &arg) const
Expression	operator* (const Expression &arg) const
Operator &	operator*= (const double &arg)
Operator &	operator*= (const DVector &arg)
Operator &	operator*= (const DMatrix &arg)
Operator &	operator*= (const Expression &arg)
Expression	operator+ (const double &arg) const
Expression	operator+ (const DVector &arg) const
Expression	operator+ (const DMatrix &arg) const
Expression	operator+ (const Operator &arg) const
Expression	operator+ (const Expression &arg) const
Operator &	operator+= (const double &arg)
Operator &	operator+= (const DVector &arg)
Operator &	operator+= (const DMatrix &arg)
Operator &	operator+= (const Expression &arg)
Expression	operator- (const double &arg) const
Expression	operator- (const DVector &arg) const
Expression	operator- (const DMatrix &arg) const
Expression	operator- (const Operator &arg) const
Expression	operator- (const Expression &arg) const
Expression	operator- () const
Operator &	operator-= (const double &arg)
Operator &	operator-= (const DVector &arg)
Operator &	operator-= (const DMatrix &arg)
Operator &	operator-= (const Expression &arg)
Expression	operator/ (const double &arg) const
Expression	operator/ (const Operator &arg) const
Expression	operator/ (const Expression &arg) const
Operator &	operator/= (const double &arg)
Operator &	operator/= (const Expression &arg)
ConstraintComponent	operator<= (const double &ub) const
ConstraintComponent	operator<= (const DVector &ub) const
ConstraintComponent	operator<= (const VariablesGrid &ub) const
ConstraintComponent	operator== (const double &b) const
ConstraintComponent	operator== (const DVector &b) const
ConstraintComponent	operator== (const VariablesGrid &b) const
ConstraintComponent	operator>= (const double &lb) const
ConstraintComponent	operator>= (const DVector &lb) const
ConstraintComponent	operator>= (const VariablesGrid &lb) const
virtual returnValue	setVariableExportName (const VariableType &_type, const std::vector< std::string > &_name)
virtual	~Operator ()

Protected Member Functions
void	copy (const COperator &arg)
void	deleteAll ()
Protected Member Functions inherited from Operator
returnValue	ADsymCommon (Operator *a, TreeProjection &da, TreeProjection &dda, int dim, VariableType *varType, int *component, Operator *l, Operator **S, int dimS, Operator **dfS, Operator **ldf, Operator **H, int &nNewLIS, TreeProjection ***newLIS, int &nNewSIS, TreeProjection ***newSIS, int &nNewHIS, TreeProjection ***newHIS)
returnValue	ADsymCommon2 (Operator *a, Operator *b, TreeProjection &dx, TreeProjection &dy, TreeProjection &dxx, TreeProjection &dxy, TreeProjection &dyy, int dim, VariableType *varType, int *component, Operator *l, Operator **S, int dimS, Operator **dfS, Operator **ldf, Operator **H, int &nNewLIS, TreeProjection ***newLIS, int &nNewSIS, TreeProjection ***newSIS, int &nNewHIS, TreeProjection ***newHIS)
virtual TreeProjection *	convert2TreeProjection (Operator *a) const

Protected Attributes
Expression	argument
uint	bufferSize
CFunction	cFunction
int	component
double **	cresult
double **	d_cresult
double **	d_result
BooleanType	first
int	globalTypeID
int *	idx
double **	result
Protected Attributes inherited from Operator
BooleanType	initialized

Static Protected Attributes
static int	counter = 0

Additional Inherited Members
Public Attributes inherited from SmoothOperator
int	nCount
Public Attributes inherited from Operator
int	nCount

Detailed Description

The class COperator is an auxiliary class to use C-Functions within a function evaluation tree.

The class COperator is designed to be an auxiliary class to use C-Functions within a function evaluation tree.

Author

Boris Houska, Hans Joachim Ferreau

Definition at line 58 of file c_operator.hpp.

Constructor & Destructor Documentation

COperator::COperator

(

)

Default constructor.

Definition at line 46 of file c_operator.cpp.

COperator::COperator	(	const CFunction &	fcn,
		const Expression &	arg,
		int	component_
	)

Default constructor.

Definition at line 63 of file c_operator.cpp.

COperator::COperator

(

const COperator &

arg

)

Copy constructor (deep copy).

Definition at line 100 of file c_operator.cpp.

COperator::~COperator

(

)

Default destructor.

Definition at line 102 of file c_operator.cpp.

Member Function Documentation

returnValue COperator::AD_backward ( int  dim, VariableType *  varType, int *  component, Operator *  seed, Operator **  df, int &  nNewIS, TreeProjection ***  newIS  )

virtual

Automatic Differentiation in backward mode on the symbolic
level. This function generates an expression for a
backward derivative

Returns

SUCCESSFUL_RETURN

Parameters

dim	number of directions
varType	the variable types
component	and their components
seed	the backward seed
df	the result
nNewIS	the number of new IS
newIS	the new IS-pointer

Implements SmoothOperator.

Definition at line 260 of file c_operator.cpp.

returnValue COperator::AD_backward ( int  number, double  seed, double *  df  )

virtual

Automatic Differentiation in backward mode based on
buffered values

Returns

SUCCESFUL_RETURN
RET_NAN

Parameters

number	the buffer position
seed	the seed
df	the derivative of the expression

Implements SmoothOperator.

Definition at line 450 of file c_operator.cpp.

returnValue COperator::AD_backward2 ( int  number, double  seed1, double  seed2, double *  df, double *  ddf  )

virtual

Automatic Differentiation in backward mode for 2nd order
derivatives based on buffered values.

Returns

SUCCESFUL_RETURN
RET_NAN

Parameters

number	the buffer position
seed1	the seed1
seed2	the seed2
df	the 1st derivative of the expression
ddf	the 2nd derivative of the expression

Implements SmoothOperator.

Definition at line 497 of file c_operator.cpp.

Operator * COperator::AD_forward ( int  dim, VariableType *  varType, int *  component, Operator **  seed, int &  nNewIS, TreeProjection ***  newIS  )

virtual

Automatic Differentiation in forward mode on the symbolic
level. This function generates an expression for a
forward derivative

Returns

SUCCESSFUL_RETURN

Parameters

dim	dimension of the seed
varType	the variable types
component	and their components
seed	the forward seed
nNewIS	the number of new IS
newIS	the new IS-pointer

Implements SmoothOperator.

Definition at line 247 of file c_operator.cpp.

returnValue COperator::AD_forward ( int  number, double *  seed, double *  df  )

virtual

Automatic Differentiation in forward mode.
This function uses the intermediate
results from a buffer

Returns

SUCCESFUL_RETURN
RET_NAN

Parameters

number	storage position
seed	the seed
df	the derivative of the expression

Implements SmoothOperator.

Definition at line 429 of file c_operator.cpp.

returnValue COperator::AD_forward ( int  number, double *  x, double *  seed, double *  f, double *  df  )

virtual

Automatic Differentiation in forward mode.
This function stores the intermediate
results in a buffer (needed for 2nd order automatic
differentiation in backward mode)

Returns

SUCCESFUL_RETURN
RET_NAN

Parameters

number	storage position
x	The evaluation point x
seed	the seed
f	the value of the expression at x
df	the derivative of the expression

Implements SmoothOperator.

Definition at line 384 of file c_operator.cpp.

returnValue COperator::AD_forward2 ( int  number, double *  seed1, double *  seed2, double *  df, double *  ddf  )

virtual

Automatic Differentiation in forward mode for
2nd derivatives.
This function uses intermediate
results from a buffer.

Returns

SUCCESFUL_RETURN
RET_NAN

Parameters

number	the buffer position
seed1	the seed
seed2	the seed for the first derivative
df	the derivative of the expression
ddf	the 2nd derivative of the expression

Implements SmoothOperator.

Definition at line 456 of file c_operator.cpp.

returnValue COperator::AD_symmetric ( int  dim, VariableType *  varType, int *  component, Operator *  l, Operator **  S, int  dimS, Operator **  dfS, Operator **  ldf, Operator **  H, int &  nNewLIS, TreeProjection ***  newLIS, int &  nNewSIS, TreeProjection ***  newSIS, int &  nNewHIS, TreeProjection ***  newHIS  )

virtual

Automatic Differentiation in symmetric mode on the symbolic
level. This function generates an expression for a
second order derivative.

Returns

SUCCESSFUL_RETURN

Parameters

dim	number of directions
varType	the variable types
component	and their components
l	the backward seed
S	forward seed matrix
dimS	dimension of forward seed
dfS	first order foward result
ldf	first order backward result
H	upper trianglular part of the Hessian
nNewLIS	the number of newLIS
newLIS	the new LIS-pointer
nNewSIS	the number of newSIS
newSIS	the new SIS-pointer
nNewHIS	the number of newHIS
newHIS	the new HIS-pointer

Implements SmoothOperator.

Definition at line 273 of file c_operator.cpp.

returnValue COperator::clearBuffer ( )

virtual

Clears the buffer and resets the buffer size
to 1.

Returns

SUCCESFUL_RETURN

Implements SmoothOperator.

Definition at line 517 of file c_operator.cpp.

Operator * COperator::clone ( ) const

virtual

Provides a deep copy of the expression.

Returns

a clone of the expression.

Implements SmoothOperator.

Definition at line 511 of file c_operator.cpp.

void COperator::copy ( const COperator &  arg )

protected

Protected copy routine.

Definition at line 119 of file c_operator.cpp.

void COperator::deleteAll ( )

protected

Protected delete routine.

Definition at line 167 of file c_operator.cpp.

Operator * COperator::differentiate ( int  index )

virtual

Returns the derivative of the expression with respect
to the variable var(index).

Returns

The expression for the derivative.

Parameters

index

diff. index

Implements SmoothOperator.

Definition at line 238 of file c_operator.cpp.

returnValue COperator::enumerateVariables ( SymbolicIndexList *  indexList )

virtual

Enumerates all variables based on a common
IndexList.

Returns

SUCCESFUL_RETURN

Implements SmoothOperator.

Definition at line 530 of file c_operator.cpp.

returnValue COperator::evaluate ( int  number, double *  x, double *  result  )

virtual

Evaluates the expression and stores the intermediate
results in a buffer (needed for automatic differentiation
in backward mode)

Returns

SUCCESFUL_RETURN
RET_NAN

Parameters

number	storage position
x	the input variable x
result	the result

Implements SmoothOperator.

Definition at line 191 of file c_operator.cpp.

returnValue COperator::evaluate ( EvaluationBase *  x )

virtual

Evaluates the expression (templated version)

Implements SmoothOperator.

Definition at line 230 of file c_operator.cpp.

CurvatureType COperator::getCurvature ( )

virtual

Returns the curvature of the expression

Returns

CT_CONSTANT
CT_AFFINE
CT_CONVEX
CT_CONCAVE

Implements SmoothOperator.

Definition at line 366 of file c_operator.cpp.

MonotonicityType COperator::getMonotonicity ( )

virtual

Returns the monotonicity of the expression.

Returns

MT_NONDECREASING
MT_NONINCREASING
MT_NONMONOTONIC

Implements SmoothOperator.

Definition at line 360 of file c_operator.cpp.

OperatorName COperator::getName ( )

virtual

Asks the expression for its name.

Returns

the name of the expression.

Implements SmoothOperator.

Definition at line 547 of file c_operator.cpp.

int COperator::increaseID

(

)

ID Operator.

Definition at line 116 of file c_operator.cpp.

BooleanType COperator::isDependingOn ( VariableType  var ) const

virtual

Asks the expression whether it is depending on a certian type of
variable.

Returns

BT_TRUE if a dependency is detected,
BT_FALSE otherwise.

Implements SmoothOperator.

Definition at line 308 of file c_operator.cpp.

BooleanType COperator::isDependingOn ( int  dim, VariableType *  varType, int *  component, BooleanType *  implicit_dep  )

virtual

Checks whether the expression is depending on a variable

Returns

BT_FALSE if no dependence is detected
BT_TRUE otherwise

Parameters

dim	number of directions
varType	the variable types
component	and their components
implicit_dep	implicit dependencies

Implements SmoothOperator.

Definition at line 319 of file c_operator.cpp.

BooleanType COperator::isLinearIn ( int  dim, VariableType *  varType, int *  component, BooleanType *  implicit_dep  )

virtual

Checks whether the expression is linear in
(or not depending on) a variable

Returns

BT_FALSE if no linearity is
detected
BT_TRUE otherwise

Parameters

dim	number of directions
varType	the variable types
component	and their components
implicit_dep	implicit dependencies

Implements SmoothOperator.

Definition at line 333 of file c_operator.cpp.

NeutralElement COperator::isOneOrZero ( ) const

virtual

Checks whether the expression is zero or one

Returns

NE_ZERO
NE_ONE
NE_NEITHER_ONE_NOR_ZERO

Implements SmoothOperator.

Definition at line 301 of file c_operator.cpp.

BooleanType COperator::isPolynomialIn ( int  dim, VariableType *  varType, int *  component, BooleanType *  implicit_dep  )

virtual

Checks whether the expression is polynomial in
the specified variables

Returns

BT_FALSE if the expression is not polynomial
BT_TRUE otherwise

Parameters

dim	number of directions
varType	the variable types
component	and their components
implicit_dep	implicit dependencies

Implements SmoothOperator.

Definition at line 342 of file c_operator.cpp.

BooleanType COperator::isRationalIn ( int  dim, VariableType *  varType, int *  component, BooleanType *  implicit_dep  )

virtual

Checks whether the expression is rational in
the specified variables

Returns

BT_FALSE if the expression is not rational
BT_TRUE otherwise

Parameters

dim	number of directions
varType	the variable types
component	and their components
implicit_dep	implicit dependencies

Implements SmoothOperator.

Definition at line 351 of file c_operator.cpp.

BooleanType COperator::isSymbolic ( ) const

virtual

Asks whether all elements are purely symbolic.

Returns

BT_TRUE if the complete tree is symbolic.
BT_FALSE otherwise (e.g. if C functions are linked).

Implements SmoothOperator.

Definition at line 573 of file c_operator.cpp.

BooleanType COperator::isVariable ( VariableType &  varType, int &  component  ) const

virtual

Asks the expression whether it is a variable.

Returns

The answer.

Implements SmoothOperator.

Definition at line 553 of file c_operator.cpp.

returnValue COperator::loadIndices ( SymbolicIndexList *  indexList )

virtual

The function loadIndices passes an IndexList through
the whole expression tree. Whenever a variable gets the
IndexList it tries to make an entry. However if a
variable recognices that it has already been added
before it will not be allowed to make a second entry.
Note that all variables, in paticular the intermediate
states, will keep in mind whether they were allowed
to make an entry or not. This guarantees that
intermediate states are never evaluated twice if they
occur at several knots of the tree.

THIS FUNCTION IS FOR INTERNAL USE ONLY.

PLEASE CALL THIS FUNTION AT MOST ONES FOR AN EXPRESSION
AS A KIND OF INIT ROUTINE.

Returns

the name of the expression.

Parameters

indexList

The index list to be filled with entries

Implements SmoothOperator.

Definition at line 559 of file c_operator.cpp.

COperator & COperator::operator=

(

const COperator &

arg

)

Assignment Operator (deep copy).

Definition at line 105 of file c_operator.cpp.

std::ostream & COperator::print ( std::ostream &  stream ) const

virtual

Prints the expression into a stream.

Returns

SUCCESFUL_RETURN

Implements SmoothOperator.

Definition at line 504 of file c_operator.cpp.

returnValue COperator::setCurvature ( CurvatureType  curvature_ )

virtual

Overwrites the curvature of the expression.
(For the case that the curvature is explicitly known)

Returns

SUCCESSFUL_RETURN

Implements SmoothOperator.

Definition at line 378 of file c_operator.cpp.

returnValue COperator::setMonotonicity ( MonotonicityType  monotonicity_ )

virtual

Overwrites the monotonicity of the expression.
(For the case that the monotonicity is explicitly known)

Returns

SUCCESSFUL_RETURN

Implements SmoothOperator.

Definition at line 372 of file c_operator.cpp.

Operator * COperator::substitute ( int  index, const Operator *  sub  )

virtual

Substitutes var(index) with the expression sub.

Returns

The substituted expression.

Parameters

index	subst. index
sub	the substitution

Implements SmoothOperator.

Definition at line 294 of file c_operator.cpp.

Member Data Documentation

Expression COperator::argument

protected

The argument for the evaluation

Definition at line 460 of file c_operator.hpp.

uint COperator::bufferSize

protected

The size of the buffer.

Definition at line 469 of file c_operator.hpp.

CFunction COperator::cFunction

protected

The C function to be evaluated

Definition at line 459 of file c_operator.hpp.

int COperator::component

protected

The component of the CFunction

Definition at line 468 of file c_operator.hpp.

BEGIN_NAMESPACE_ACADO int COperator::counter = 0

staticprotected

counter of the C-Operators

Definition at line 475 of file c_operator.hpp.

double** COperator::cresult

protected

The results of the evaluation of the Cfunction

Definition at line 465 of file c_operator.hpp.

double** COperator::d_cresult

protected

The results for the derivative of the Cfunction

Definition at line 466 of file c_operator.hpp.

double** COperator::d_result

protected

The results for the derivative of the argument

Definition at line 463 of file c_operator.hpp.

BooleanType COperator::first

protected

Whether this compontent is evaluated first

Definition at line 471 of file c_operator.hpp.

int COperator::globalTypeID

protected

global ID of the C-Operator

Definition at line 474 of file c_operator.hpp.

int* COperator::idx

protected

variable index list

Definition at line 473 of file c_operator.hpp.

double** COperator::result

protected

The results of the evaluation of the argument

Definition at line 462 of file c_operator.hpp.

---

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

• c_operator.hpp
• c_operator.cpp