ExportExactHessianQpDunes Class Reference

A class for export of an OCP solver using sparse QP solver qpDUNES. More...

#include <export_exact_hessian_qpdunes.hpp>

Inheritance diagram for ExportExactHessianQpDunes:

Public Member Functions
	ExportExactHessianQpDunes (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")
virtual returnValue	getCode (ExportStatementBlock &code)
virtual returnValue	getFunctionDeclarations (ExportStatementBlock &declarations) const
virtual returnValue	setup ()
virtual	~ExportExactHessianQpDunes ()
Public Member Functions inherited from ExportGaussNewtonQpDunes
	ExportGaussNewtonQpDunes (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")
virtual returnValue	getDataDeclarations (ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const
unsigned	getNumQPvars () const
virtual	~ExportGaussNewtonQpDunes ()
Public Member Functions inherited from ExportNLPSolver
	ExportNLPSolver (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")
unsigned	getNumComplexConstraints (void)
unsigned	getNumPathConstraints (void)
bool	initialStateFixed () const
bool	performsSingleShooting () const
returnValue	setConstraints (const OCP &_ocp)
returnValue	setGeneralObjective (const Objective &_objective)
returnValue	setIntegratorExport (IntegratorExportPtr const _integrator)
returnValue	setLevenbergMarquardt (double _levenbergMarquardt)
returnValue	setLSQObjective (const Objective &_objective)
returnValue	setObjective (const Objective &_objective)
bool	usingLinearTerms () const
unsigned	weightingMatricesType (void) const
virtual	~ExportNLPSolver ()
Public Member Functions inherited from ExportAlgorithm
	ExportAlgorithm (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName=std::string())
uint	getN () const
uint	getNDX () const
uint	getNOD () const
uint	getNP () const
uint	getNU () const
uint	getNX () const
uint	getNXA () const
uint	getNY () const
uint	getNYN () const
returnValue	setDimensions (uint _NX=0, uint _NU=0, uint _NP=0, uint _NI=0, uint _NOD=0)
returnValue	setDimensions (uint _NX, uint _NDX, uint _NXA, uint _NU, uint _NP, uint _NI, uint _NOD)
void	setNY (uint NY_)
void	setNYN (uint NYN_)
virtual	~ExportAlgorithm ()
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
AlgorithmicBase &	operator= (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 ()

Protected Member Functions
virtual returnValue	setupHessianRegularization (void)
virtual returnValue	setupObjectiveEvaluation (void)
Protected Member Functions inherited from ExportGaussNewtonQpDunes
virtual returnValue	setupConstraintsEvaluation (void)
virtual returnValue	setupEvaluation ()
virtual returnValue	setupMultiplicationRoutines ()
virtual returnValue	setupQPInterface ()
virtual returnValue	setupVariables ()
Protected Member Functions inherited from ExportNLPSolver
returnValue	setupArrivalCostCalculation ()
returnValue	setupAuxiliaryFunctions ()
virtual returnValue	setupGetGeneralObjective ()
virtual returnValue	setupGetLSQObjective ()
virtual returnValue	setupGetObjective ()
virtual returnValue	setupInitialization ()
virtual returnValue	setupSimulation (void)

Additional Inherited Members
Protected Attributes inherited from ExportGaussNewtonQpDunes
std::shared_ptr< ExportQpDunesInterface >	qpInterface
ExportVariable	x0
ExportVariable	qpH
ExportVariable	qpg
ExportVariable	qpgN
ExportVariable	qpC
ExportVariable	qpc
ExportVariable	qpLb0
ExportVariable	qpUb0
ExportVariable	qpLb
ExportVariable	qpUb
ExportVariable	lbValues
ExportVariable	ubValues
ExportVariable	qpA
ExportVariable	qpLbA
ExportVariable	qpUbA
ExportVariable	qpPrimal
ExportVariable	qpLambda
ExportVariable	qpMu
ExportFunction	evaluateObjective
ExportFunction	setStageH
ExportFunction	setStagef
ExportFunction	setObjQ1Q2
ExportFunction	setObjR1R2
ExportFunction	setObjQN1QN2
bool	diagH
bool	diagHN
ExportFunction	evaluateConstraints
ExportFunction	setStagePac
std::vector< unsigned >	qpConDim
ExportFunction	preparation
ExportFunction	feedback
ExportFunction	cleanup
ExportFunction	shiftQpData
ExportFunction	getKKT
ExportFunction	acc
Protected Attributes inherited from ExportNLPSolver
IntegratorExportPtr	integrator
ExportFunction	modelSimulation
ExportVariable	state
ExportVariable	x
ExportVariable	z
ExportVariable	u
ExportVariable	od
ExportVariable	d
ExportVariable	evGx
ExportVariable	evGu
double	levenbergMarquardt
ExportVariable	y
ExportVariable	yN
ExportVariable	Dy
ExportVariable	DyN
ExportVariable	mu
ExportVariable	objg
ExportVariable	objS
ExportVariable	objSEndTerm
ExportVariable	objEvFx
ExportVariable	objEvFu
ExportVariable	objEvFxEnd
ExportVariable	objEvFxx
ExportVariable	objEvFxu
ExportVariable	objEvFuu
ExportVariable	objEvFxxEnd
ExportVariable	objAuxVar
ExportVariable	objValueIn
ExportVariable	objValueOut
ExportAcadoFunction	evaluateStageCost
ExportAcadoFunction	evaluateTerminalCost
ExportVariable	Q1
ExportVariable	Q2
ExportVariable	R1
ExportVariable	R2
ExportVariable	S1
ExportVariable	QN1
ExportVariable	QN2
ExportVariable	objSlx
ExportVariable	objSlu
bool	diagonalH
bool	diagonalHN
VariablesGrid	uBounds
VariablesGrid	xBounds
unsigned	dimPacH
ExportAcadoFunction	evaluatePathConstraints
ExportVariable	conAuxVar
ExportVariable	conValueIn
ExportVariable	conValueOut
DVector	lbPathConValues
DVector	ubPathConValues
ExportVariable	pacEvH
ExportVariable	pacEvHx
ExportVariable	pacEvHu
ExportVariable	pacEvHxd
ExportVariable	pacEvDDH
unsigned	dimPocH
std::vector< std::shared_ptr< ExportAcadoFunction > >	evaluatePointConstraints
DVector	lbPointConValues
DVector	ubPointConValues
std::vector< DVector >	pocLbStack
std::vector< DVector >	pocUbStack
ExportVariable	pocEvH
ExportVariable	pocEvHx
ExportVariable	pocEvHu
ExportVariable	pocEvHxd
ExportFunction	initialize
ExportFunction	shiftStates
ExportFunction	shiftControls
ExportFunction	getObjective
ExportFunction	initializeNodes
ExportFunction	updateArrivalCost
ExportCholeskyDecomposition	cholObjS
ExportCholeskyDecomposition	cholSAC
ExportHouseholderQR	acSolver
ExportVariable	acA
ExportVariable	acb
ExportVariable	acP
ExportVariable	acTmp
ExportVariable	acWL
ExportVariable	acVL
ExportVariable	acHx
ExportVariable	acHu
ExportVariable	acXx
ExportVariable	acXu
ExportVariable	acXTilde
ExportVariable	acHTilde
ExportVariable	SAC
ExportVariable	xAC
ExportVariable	DxAC
ExportFunction	regularizeHessian
ExportFunction	regularization
Protected Attributes inherited from ExportAlgorithm
std::string	commonHeaderName
uint	N
uint	NDX
uint	NOD
uint	NP
uint	NU
uint	NX
uint	NXA
uint	NY
uint	NYN
Protected Attributes inherited from AlgorithmicBase
int	outputLoggingIdx
BooleanType	useModuleStandalone
UserInteraction *	userInteraction

Detailed Description

A class for export of an OCP solver using sparse QP solver qpDUNES.

The class ExportExactHessianQpDunes allows export of an OCP solver using the generalized Exact-Hessian method. The underlying QP is solved using the structured sparse QP solver qpDUNES.

Author

Rien Quirynen

Definition at line 51 of file export_exact_hessian_qpdunes.hpp.

Constructor & Destructor Documentation

ExportExactHessianQpDunes::ExportExactHessianQpDunes	(	UserInteraction *	_userInteraction = 0,
		const std::string &	_commonHeaderName = ""
	)

Default constructor.

@param[in] _userInteraction         Pointer to corresponding user interface.
@param[in] _commonHeaderName        Name of common header file to be included.

Definition at line 39 of file export_exact_hessian_qpdunes.cpp.

virtual ExportExactHessianQpDunes::~ExportExactHessianQpDunes ( )

inlinevirtual

Destructor.

Definition at line 66 of file export_exact_hessian_qpdunes.hpp.

Member Function Documentation

returnValue ExportExactHessianQpDunes::getCode ( ExportStatementBlock &  code )

virtual

Exports source code of the auto-generated condensing algorithm into the given directory.

@param[in] code                             Code block containing the auto-generated condensing algorithm.

\return SUCCESSFUL_RETURN

Reimplemented from ExportGaussNewtonQpDunes.

Definition at line 104 of file export_exact_hessian_qpdunes.cpp.

returnValue ExportExactHessianQpDunes::getFunctionDeclarations ( ExportStatementBlock &  declarations ) const

virtual

Adds all function (forward) declarations of the auto-generated condensing algorithm to given list of declarations.

Parameters

[in]

declarations

List of declarations.

Returns

SUCCESSFUL_RETURN

Reimplemented from ExportGaussNewtonQpDunes.

Definition at line 94 of file export_exact_hessian_qpdunes.cpp.

returnValue ExportExactHessianQpDunes::setup ( )

virtual

Initializes export of an algorithm.

\return SUCCESSFUL_RETURN

Reimplemented from ExportGaussNewtonQpDunes.

Definition at line 44 of file export_exact_hessian_qpdunes.cpp.

returnValue ExportExactHessianQpDunes::setupHessianRegularization ( void  )

protectedvirtual

Setting up of a Hessian regularization routine

Definition at line 292 of file export_exact_hessian_qpdunes.cpp.

returnValue ExportExactHessianQpDunes::setupObjectiveEvaluation ( void  )

protectedvirtual

Setting up of an objective evaluation:

• functions and derivatives evaulation
• creating Hessians and gradients

Returns

SUCCESSFUL_RETURN

Reimplemented from ExportGaussNewtonQpDunes.

Definition at line 172 of file export_exact_hessian_qpdunes.cpp.

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

• export_exact_hessian_qpdunes.hpp
• export_exact_hessian_qpdunes.cpp