Base class for all kind of constraints (except for bounds) within optimal control problems. More...

#include <constraint_element.hpp>

Inheritance diagram for ConstraintElement:

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Public Member Functions
	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
virtual returnValue	initializeEvaluationPoints (const OCPiterate &iter)

Protected Attributes
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

Base class for all kind of constraints (except for bounds) within optimal control problems.

The class ConstraintElement serves as base class for all kind of different constraints (except for box constraints) within optimal control problems.

\author Boris Houska, Hans Joachim Ferreau

Definition at line 57 of file constraint_element.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO ConstraintElement::ConstraintElement ( )

Default constructor.

Definition at line 45 of file constraint_element.cpp.

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

Default constructor.

Definition at line 82 of file constraint_element.cpp.

ConstraintElement::ConstraintElement ( const ConstraintElement & rhs )

Copy constructor (deep copy).

Definition at line 133 of file constraint_element.cpp.

ConstraintElement::~ConstraintElement ( )

virtual

Destructor.

Definition at line 248 of file constraint_element.cpp.

Member Function Documentation

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

Definition at line 753 of file constraint_element.cpp.

returnValue ConstraintElement::getBackwardSensitivities	(	BlockMatrix *	D,
		int	order
	)

virtual

Returns the result for the backward sensitivities in BlockMatrix form.

Returns: SUCCESSFUL_RETURN
RET_INPUT_OUT_OF_RANGE

Parameters

D	the result for the forward sensitivi- ties
order	the order

Definition at line 709 of file constraint_element.cpp.

returnValue ConstraintElement::getForwardSensitivities	(	BlockMatrix *	D,
		int	order
	)

virtual

Returns the result for the forward sensitivities in BlockMatrix form.

Returns: SUCCESSFUL_RETURN
RET_INPUT_OUT_OF_RANGE

Parameters

D	the result for the forward sensitivi- ties
order	the order

Definition at line 692 of file constraint_element.cpp.

Grid& ConstraintElement::getGrid ( )

inline

returns the constraint grid

int ConstraintElement::getNP ( ) const

inline

Returns the number of parameters

Returns: The requested number of parameters.

int ConstraintElement::getNU ( ) const

inline

Returns the number of controls

Returns: The requested number of controls.

int ConstraintElement::getNW ( ) const

inline

Returns the number of disturbances

Returns: The requested number of disturbances.

int ConstraintElement::getNX ( ) const

inline

Returns the number of differential states

Returns: The requested number of differential states.

int ConstraintElement::getNXA ( ) const

inline

Returns the number of algebraic states

Returns: The requested number of algebraic states.

returnValue ConstraintElement::getResiduum	(	BlockMatrix &	lower_residuum,
		BlockMatrix &	upper_residuum
	)

virtual

Returns the result for the residuum.

Returns: SUCCESSFUL_RETURN

Parameters

lower_residuum	the lower residuum
upper_residuum	the upper residuum

Definition at line 681 of file constraint_element.cpp.

returnValue ConstraintElement::init ( const OCPiterate & iter )

Initializes the Constraint Element: The dimensions and
index lists.

Returns: SUCCESSFUL_RETURN

Definition at line 479 of file constraint_element.cpp.

returnValue ConstraintElement::initializeEvaluationPoints ( const OCPiterate & iter )

protectedvirtual

Reimplemented in AlgebraicConsistencyConstraint.

Definition at line 731 of file constraint_element.cpp.

BooleanType ConstraintElement::isAffine ( ) const

inline

returns whether the constraint element is affine.

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

Assignment operator (deep copy).

Definition at line 306 of file constraint_element.cpp.

returnValue ConstraintElement::setBackwardSeed	(	BlockMatrix *	seed,
		int	order
	)

virtual

Define a backward seed in form of a block matrix.

Returns: SUCCESFUL_RETURN
RET_INPUT_OUT_OF_RANGE

Parameters

seed	the seed matrix
order	the order of the seed.

Definition at line 649 of file constraint_element.cpp.

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

virtual

Define a forward seed in form of a block matrix.

Returns: SUCCESFUL RETURN
RET_INPUT_OUT_OF_RANGE

Parameters

xSeed_	the seed in x -direction
xaSeed_	the seed in xa-direction
pSeed_	the seed in p -direction
uSeed_	the seed in u -direction
wSeed_	the seed in w -direction
order	the order of the seed.

Definition at line 530 of file constraint_element.cpp.

returnValue ConstraintElement::setUnitForwardSeed ( )

virtual

Defines the first order forward seed to be
the unit-directions matrix.

Returns: SUCCESFUL_RETURN
RET_INPUT_OUT_OF_RANGE

Definition at line 631 of file constraint_element.cpp.

Member Data Documentation

BlockMatrix* ConstraintElement::bSeed

protected

the 1st order backward seed

Definition at line 284 of file constraint_element.hpp.

BlockMatrix* ConstraintElement::bSeed2

protected

the 2nd order backward seed

Definition at line 292 of file constraint_element.hpp.

CondensingType ConstraintElement::condType

protected

the condensing type

Definition at line 303 of file constraint_element.hpp.

BlockMatrix ConstraintElement::dBackward

protected

the first order backward derivatives

Definition at line 301 of file constraint_element.hpp.

BlockMatrix ConstraintElement::dForward

protected

the first order forward derivatives

Definition at line 300 of file constraint_element.hpp.

Function* ConstraintElement::fcn

protected

the functions

Definition at line 247 of file constraint_element.hpp.

Grid ConstraintElement::grid

protected

the constraint grid

Definition at line 246 of file constraint_element.hpp.

EvaluationPoint* ConstraintElement::JJ

protected

Definition at line 252 of file constraint_element.hpp.

double** ConstraintElement::lb

protected

lower bounds

Definition at line 248 of file constraint_element.hpp.

int ConstraintElement::na

protected

number of alg. states

Definition at line 266 of file constraint_element.hpp.

int ConstraintElement::nB

protected

number of bounds

Definition at line 273 of file constraint_element.hpp.

int ConstraintElement::nFcn

protected

number of functions

Definition at line 272 of file constraint_element.hpp.

int ConstraintElement::np

protected

number of parameters

Definition at line 268 of file constraint_element.hpp.

int ConstraintElement::nu

protected

number of controls

Definition at line 267 of file constraint_element.hpp.

int ConstraintElement::nw

protected

number of disturbances

Definition at line 269 of file constraint_element.hpp.

int ConstraintElement::nx

protected

number of diff. states

Definition at line 265 of file constraint_element.hpp.

int ConstraintElement::ny

protected

:= nx+na+nu+np+nw

Definition at line 270 of file constraint_element.hpp.

BlockMatrix* ConstraintElement::pSeed

protected

the 1st order forward seed in p-direction

Definition at line 280 of file constraint_element.hpp.

BlockMatrix* ConstraintElement::pSeed2

protected

the 2nd order forward seed in p-direction

Definition at line 288 of file constraint_element.hpp.

BlockMatrix ConstraintElement::residuumL

protected

the residuum vectors

Definition at line 297 of file constraint_element.hpp.

BlockMatrix ConstraintElement::residuumU

protected

the residuum vectors

Definition at line 298 of file constraint_element.hpp.

int* ConstraintElement::t_index

protected

time indices

Definition at line 259 of file constraint_element.hpp.

double** ConstraintElement::ub

protected

upper bounds

Definition at line 249 of file constraint_element.hpp.

BlockMatrix* ConstraintElement::uSeed

protected

the 1st order forward seed in u-direction

Definition at line 281 of file constraint_element.hpp.

BlockMatrix* ConstraintElement::uSeed2

protected

the 2nd order forward seed in u-direction

Definition at line 289 of file constraint_element.hpp.

BlockMatrix* ConstraintElement::wSeed

protected

the 1st order forward seed in w-direction

Definition at line 282 of file constraint_element.hpp.

BlockMatrix* ConstraintElement::wSeed2

protected

the 2nd order forward seed in w-direction

Definition at line 290 of file constraint_element.hpp.

BlockMatrix* ConstraintElement::xaSeed

protected

the 1st order forward seed in x-direction

Definition at line 279 of file constraint_element.hpp.

BlockMatrix* ConstraintElement::xaSeed2

protected

the 2nd order forward seed in x-direction

Definition at line 287 of file constraint_element.hpp.

BlockMatrix* ConstraintElement::xSeed

protected

the 1st order forward seed in x-direction

Definition at line 278 of file constraint_element.hpp.

BlockMatrix* ConstraintElement::xSeed2

protected

the 2nd order forward seed in x-direction

Definition at line 286 of file constraint_element.hpp.

int** ConstraintElement::y_index

protected

index lists

Definition at line 258 of file constraint_element.hpp.

EvaluationPoint* ConstraintElement::z

protected

the evaluation points

Definition at line 251 of file constraint_element.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