Public Member Functions | List of all members

Discretizes a DifferentialEquation by means of a collocation scheme. More...

#include <collocation_method.hpp>

Inheritance diagram for CollocationMethod:
Inheritance graph
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Public Member Functions

virtual returnValue addStage (const DynamicSystem &dynamicSystem_, const Grid &stageIntervals, const IntegratorType &integratorType_=INT_UNKNOWN)
 
virtual returnValue addTransition (const Transition &transition_)
 
virtual returnValue clear ()
 
virtual DynamicDiscretizationclone () const
 
 CollocationMethod ()
 
 CollocationMethod (UserInteraction *_userInteraction)
 
 CollocationMethod (const CollocationMethod &rhs)
 
virtual returnValue deleteAllSeeds ()
 
virtual returnValue evaluate (OCPiterate &iter)
 
virtual returnValue evaluateSensitivities ()
 
virtual returnValue evaluateSensitivities (const BlockMatrix &seed, BlockMatrix &hessian)
 
virtual returnValue evaluateSensitivitiesLifted ()
 
virtual BooleanType isAffine () const
 
CollocationMethodoperator= (const CollocationMethod &rhs)
 
virtual returnValue unfreeze ()
 
virtual ~CollocationMethod ()
 
- Public Member Functions inherited from DynamicDiscretization
 DynamicDiscretization ()
 
 DynamicDiscretization (UserInteraction *_userInteraction)
 
 DynamicDiscretization (const DynamicDiscretization &rhs)
 
virtual returnValue getBackwardSensitivities (BlockMatrix &D) const
 
virtual returnValue getForwardSensitivities (BlockMatrix &D) const
 
int getNumberOfIntervals () const
 
virtual returnValue getResiduum (BlockMatrix &residuum_) const
 
DynamicDiscretizationoperator= (const DynamicDiscretization &rhs)
 
virtual returnValue setBackwardSeed (const BlockMatrix &seed)
 
virtual returnValue setForwardSeed (const BlockMatrix &xSeed_, const BlockMatrix &pSeed_, const BlockMatrix &uSeed_, const BlockMatrix &wSeed_)
 
virtual returnValue setUnitBackwardSeed ()
 
virtual returnValue setUnitForwardSeed ()
 
virtual ~DynamicDiscretization ()
 
- 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
 
AlgorithmicBaseoperator= (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 ()
 

Additional Inherited Members

- Protected Member Functions inherited from DynamicDiscretization
void copy (const DynamicDiscretization &rhs)
 
uint getNumEvaluationPoints () const
 
void initializeVariables ()
 
virtual returnValue setupLogging ()
 
virtual returnValue setupOptions ()
 
- Protected Attributes inherited from DynamicDiscretization
BlockMatrix bSeed
 
BlockMatrix dBackward
 
BlockMatrix dForward
 
BooleanType freezeTraj
 
int N
 
int na
 
int np
 
int nu
 
int nw
 
int nx
 
PrintLevel printLevel
 
BlockMatrix pSeed
 
VariablesGrid residuum
 
Grid unionGrid
 
BlockMatrix uSeed
 
BlockMatrix wSeed
 
BlockMatrix xSeed
 
- Protected Attributes inherited from AlgorithmicBase
int outputLoggingIdx
 
BooleanType useModuleStandalone
 
UserInteractionuserInteraction
 

Detailed Description

Discretizes a DifferentialEquation by means of a collocation scheme.

The class CollocationMethod allows to discretize a DifferentialEquation for use in optimal control algorithms by means of a collocation scheme.

Author
Boris Houska, Hans Joachim Ferreau

Definition at line 53 of file collocation_method.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO CollocationMethod::CollocationMethod ( )

Default constructor.

Definition at line 46 of file collocation_method.cpp.

CollocationMethod::CollocationMethod ( UserInteraction _userInteraction)

Definition at line 51 of file collocation_method.cpp.

CollocationMethod::CollocationMethod ( const CollocationMethod rhs)

Copy constructor (deep copy).

Definition at line 56 of file collocation_method.cpp.

CollocationMethod::~CollocationMethod ( )
virtual

Destructor.

Definition at line 63 of file collocation_method.cpp.

Member Function Documentation

returnValue CollocationMethod::addStage ( const DynamicSystem dynamicSystem_,
const Grid stageIntervals,
const IntegratorType integratorType_ = INT_UNKNOWN 
)
virtual

Set the Differential Equations stage by stage.

Implements DynamicDiscretization.

Definition at line 82 of file collocation_method.cpp.

returnValue CollocationMethod::addTransition ( const Transition transition_)
virtual

Set the Transition stages.

Implements DynamicDiscretization.

Definition at line 90 of file collocation_method.cpp.

returnValue CollocationMethod::clear ( )
virtual

Deletes all stages and transitions and resets the DynamicDiscretization.

Implements DynamicDiscretization.

Definition at line 97 of file collocation_method.cpp.

DynamicDiscretization * CollocationMethod::clone ( ) const
virtual

Clone constructor (deep copy).

Implements DynamicDiscretization.

Definition at line 75 of file collocation_method.cpp.

returnValue CollocationMethod::deleteAllSeeds ( )
virtual

Deletes all seeds that have been set with the methods above.
This function will also give the corresponding memory free.

Returns
SUCCESSFUL_RETURN
RET_NO_SEED_ALLOCATED

Reimplemented from DynamicDiscretization.

Definition at line 129 of file collocation_method.cpp.

returnValue CollocationMethod::evaluate ( OCPiterate iter)
virtual

Evaluates the descretized DifferentialEquation at a specified
VariablesGrid. The results are written into the residuum of the
type VariablesGrid. This routine is for a simple evaluation only.
If sensitivities are needed use one of the routines below
instead.

Returns
SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS
or a specific error message form an underlying
discretization instance.

Implements DynamicDiscretization.

Definition at line 104 of file collocation_method.cpp.

returnValue CollocationMethod::evaluateSensitivities ( )
virtual

Evaluates the sensitivities.

Returns
SUCCESSFUL_RETURN
RET_NOT_FROZEN

Implements DynamicDiscretization.

Definition at line 111 of file collocation_method.cpp.

returnValue CollocationMethod::evaluateSensitivities ( const BlockMatrix seed,
BlockMatrix hessian 
)
virtual

Evaluates the sensitivities and the hessian.

Returns
SUCCESSFUL_RETURN
RET_NOT_FROZEN

Implements DynamicDiscretization.

Definition at line 123 of file collocation_method.cpp.

returnValue CollocationMethod::evaluateSensitivitiesLifted ( )
virtual

Evaluates the sensitivities.

Returns
SUCCESSFUL_RETURN
RET_NOT_FROZEN

Implements DynamicDiscretization.

Definition at line 117 of file collocation_method.cpp.

BooleanType CollocationMethod::isAffine ( ) const
virtual

Implements DynamicDiscretization.

Definition at line 150 of file collocation_method.cpp.

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

Assignment operator (deep copy).

Definition at line 69 of file collocation_method.cpp.

returnValue CollocationMethod::unfreeze ( )
virtual

Implements DynamicDiscretization.

Definition at line 143 of file collocation_method.cpp.


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


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Mon Jun 10 2019 12:35:22