Stores and evaluates coupled path constraints within optimal control problems. More...

#include <coupled_path_constraint.hpp>

Inheritance diagram for CoupledPathConstraint:

Public Member Functions
returnValue	add (const double lb_, const Expression *arg, const double ub_)

	CoupledPathConstraint ()

	CoupledPathConstraint (const Grid &grid_)

	CoupledPathConstraint (const CoupledPathConstraint &rhs)

returnValue	evaluate (const OCPiterate &iter)

returnValue	evaluateSensitivities ()

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

int	getNC () const

CoupledPathConstraint &	operator= (const CoupledPathConstraint &rhs)

virtual	~CoupledPathConstraint ()

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 coupled path constraints within optimal control problems.

The class CoupledPathConstraint allows to manage and evaluate constraints along the whole horizon within optimal control problems that are coupled across control intervals. If the contraints are decoupled, the class PathConstraint should be used.