An OCP solver based on the block N^2 condensing algorithm, in combination with qpDUNES as the QP solver. More...

#include <export_gauss_newton_block_forces.hpp>

Inheritance diagram for ExportGaussNewtonBlockForces:

[legend]

Public Member Functions
	ExportGaussNewtonBlockForces (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")

virtual returnValue	getCode (ExportStatementBlock &code)

virtual returnValue	setup ()

virtual	~ExportGaussNewtonBlockForces ()

Public Member Functions inherited from ExportGaussNewtonBlockCN2
	ExportGaussNewtonBlockCN2 (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")

uint	getBlockSize () const

virtual returnValue	getDataDeclarations (ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const

virtual returnValue	getFunctionDeclarations (ExportStatementBlock &declarations) const

uint	getNumberOfBlocks () const

uint	getNumBlockVariables () const

unsigned	getNumQPvars () const

virtual unsigned	getNumStateBoundsPerBlock () const

virtual	~ExportGaussNewtonBlockCN2 ()

Public Member Functions inherited from ExportGaussNewtonCN2
	ExportGaussNewtonCN2 (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")

unsigned	getNumQPvars () const

virtual unsigned	getNumStateBounds () const

virtual	~ExportGaussNewtonCN2 ()

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	setupCondensing ()

virtual returnValue	setupConstraintsEvaluation (void)

virtual returnValue	setupEvaluation ()

virtual returnValue	setupQPInterface ()

virtual returnValue	setupVariables ()

Protected Member Functions inherited from ExportGaussNewtonBlockCN2
virtual returnValue	setupMultiplicationRoutines ()

Protected Member Functions inherited from ExportGaussNewtonCN2
bool	performFullCondensing () const

virtual returnValue	setupObjectiveEvaluation (void)

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)

Protected Attributes
std::vector< ExportVariable >	conA

std::vector< ExportVariable >	conAB

std::vector< unsigned >	conABDimensions

std::vector< ExportVariable >	conC

std::vector< ExportVariable >	cond

std::vector< ExportVariable >	conLB

std::vector< std::vector< unsigned > >	conLBIndices

std::vector< ExportVariable >	conUB

std::vector< std::vector< unsigned > >	conUBIndices

ExportFunction	evaluateAffineConstraints

std::vector< ExportVariable >	objGradients

std::vector< ExportVariable >	objHessians

std::shared_ptr< ExportForcesGenerator >	qpGenerator

std::shared_ptr< ExportForcesInterface >	qpInterface

QP interface
std::string	qpModuleName

std::string	qpObjPrefix

Protected Attributes inherited from ExportGaussNewtonBlockCN2
ExportIndex	blockI

ExportFunction	cleanup

ExportFunction	evaluateConstraints

ExportVariable	qpC

ExportVariable	qpc

std::vector< unsigned >	qpConDim

ExportVariable	qpgN

ExportVariable	qpH

ExportVariable	qpLambda

ExportVariable	qpLb0

ExportVariable	qpMu

ExportVariable	qpUb0

ExportFunction	shiftQpData

Protected Attributes inherited from ExportGaussNewtonCN2
ExportVariable	A

ExportVariable	C

ExportFunction	condenseFdb

ExportFunction	condensePrep

ExportFunction	copyHTH

ExportFunction	copyHTH1

ExportVariable	Dx0

ExportVariable	E

ExportFunction	evaluateObjective

ExportFunction	expand

ExportFunction	expansionStep

ExportFunction	expansionStep2

ExportFunction	feedback

ExportVariable	g

ExportFunction	getKKT

ExportVariable	H

ExportVariable	lb

ExportVariable	lbA

ExportVariable	lbAValues

ExportVariable	lbValues

ExportFunction	mac_S1T_E

ExportFunction	mac_ST_C

ExportFunction	macASbar

ExportFunction	macATw1QDy

ExportFunction	macBTw1

ExportFunction	macBTW1_R1

ExportFunction	macGxTGx

ExportFunction	macHxd

ExportFunction	macQEW2

ExportFunction	macQSbarW2

ExportFunction	macS1TSbar

ExportFunction	moveGuE

ExportFunction	moveGxT

ExportFunction	mult_BT_T1

ExportFunction	multBTW1

ExportFunction	multEDu

ExportFunction	multEQDy

ExportFunction	multGxd

ExportFunction	multGxGu

ExportFunction	multGxGx

ExportFunction	multGxTGu

ExportFunction	multGxTGx

ExportFunction	multHxC

ExportFunction	multHxE

ExportFunction	multQ1d

ExportFunction	multQ1Gu

ExportFunction	multQ1Gx

ExportFunction	multQDy

ExportFunction	multQETGx

ExportFunction	multQN1d

ExportFunction	multQN1Gu

ExportFunction	multQN1Gx

ExportFunction	multRDy

ExportFunction	preparation

ExportVariable	Qd

ExportVariable	QDy

ExportVariable	sbar

ExportFunction	setObjQ1Q2

ExportFunction	setObjQN1QN2

ExportFunction	setObjR1R2

ExportFunction	setObjS1

ExportVariable	T1

ExportVariable	T2

ExportVariable	ub

ExportVariable	ubA

ExportVariable	ubAValues

ExportVariable	ubValues

ExportVariable	W1

ExportVariable	w1

ExportVariable	W2

ExportVariable	w2

ExportVariable	x0

std::vector< unsigned >	xBoundsIdx

ExportVariable	xVars

ExportVariable	yVars

ExportVariable	A10

ExportVariable	A20

ExportVariable	pacA01Dx0

ExportVariable	pocA02Dx0

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

An OCP solver based on the block N^2 condensing algorithm, in combination with qpDUNES as the QP solver.

Authors: Rien Quirynen

Note: Still a limited experimental version

Definition at line 52 of file export_gauss_newton_block_forces.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO ExportGaussNewtonBlockForces::ExportGaussNewtonBlockForces	(	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 40 of file export_gauss_newton_block_forces.cpp.

virtual ExportGaussNewtonBlockForces::~ExportGaussNewtonBlockForces ( )

inlinevirtual

Destructor.

Definition at line 66 of file export_gauss_newton_block_forces.hpp.

Member Function Documentation

returnValue ExportGaussNewtonBlockForces::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

Implements ExportGaussNewtonBlockCN2.

Definition at line 63 of file export_gauss_newton_block_forces.cpp.

returnValue ExportGaussNewtonBlockForces::setup ( )

virtual

Initializes export of an algorithm.

\return SUCCESSFUL_RETURN

Reimplemented from ExportGaussNewtonBlockCN2.

Definition at line 48 of file export_gauss_newton_block_forces.cpp.

returnValue ExportGaussNewtonBlockForces::setupCondensing ( void )

protectedvirtual

Reimplemented from ExportGaussNewtonBlockCN2.

Definition at line 78 of file export_gauss_newton_block_forces.cpp.

returnValue ExportGaussNewtonBlockForces::setupConstraintsEvaluation ( void )

protectedvirtual

Set-up evaluation of constraints

box constraints on states and controls

Returns: SUCCESSFUL_RETURN

Reimplemented from ExportGaussNewtonBlockCN2.

Definition at line 172 of file export_gauss_newton_block_forces.cpp.

returnValue ExportGaussNewtonBlockForces::setupEvaluation ( )

protectedvirtual

Exports source code containing the evaluation routines of the algorithm.

\return SUCCESSFUL_RETURN

Implements ExportGaussNewtonBlockCN2.

Definition at line 346 of file export_gauss_newton_block_forces.cpp.

returnValue ExportGaussNewtonBlockForces::setupQPInterface ( )

protectedvirtual

Implements ExportGaussNewtonBlockCN2.

Definition at line 478 of file export_gauss_newton_block_forces.cpp.

returnValue ExportGaussNewtonBlockForces::setupVariables ( )

protectedvirtual

Initialization of all member variables.

\return SUCCESSFUL_RETURN

Reimplemented from ExportGaussNewtonBlockCN2.

Definition at line 335 of file export_gauss_newton_block_forces.cpp.

Member Data Documentation

std::vector< ExportVariable > ExportGaussNewtonBlockForces::conA

protected

Definition at line 127 of file export_gauss_newton_block_forces.hpp.

std::vector< ExportVariable > ExportGaussNewtonBlockForces::conAB

protected

Definition at line 127 of file export_gauss_newton_block_forces.hpp.

std::vector< unsigned > ExportGaussNewtonBlockForces::conABDimensions

protected

Definition at line 129 of file export_gauss_newton_block_forces.hpp.

std::vector< ExportVariable > ExportGaussNewtonBlockForces::conC

protected

Definition at line 131 of file export_gauss_newton_block_forces.hpp.

std::vector< ExportVariable > ExportGaussNewtonBlockForces::cond

protected

Definition at line 132 of file export_gauss_newton_block_forces.hpp.

std::vector< ExportVariable > ExportGaussNewtonBlockForces::conLB

protected

Definition at line 123 of file export_gauss_newton_block_forces.hpp.

std::vector< std::vector< unsigned > > ExportGaussNewtonBlockForces::conLBIndices

protected

Definition at line 125 of file export_gauss_newton_block_forces.hpp.

std::vector< ExportVariable > ExportGaussNewtonBlockForces::conUB

protected

Definition at line 124 of file export_gauss_newton_block_forces.hpp.

std::vector< std::vector< unsigned > > ExportGaussNewtonBlockForces::conUBIndices

protected

Definition at line 125 of file export_gauss_newton_block_forces.hpp.

ExportFunction ExportGaussNewtonBlockForces::evaluateAffineConstraints

protected

Definition at line 128 of file export_gauss_newton_block_forces.hpp.

std::vector< ExportVariable > ExportGaussNewtonBlockForces::objGradients

protected

Definition at line 121 of file export_gauss_newton_block_forces.hpp.

std::vector< ExportVariable > ExportGaussNewtonBlockForces::objHessians

protected

Definition at line 120 of file export_gauss_newton_block_forces.hpp.

std::shared_ptr< ExportForcesGenerator > ExportGaussNewtonBlockForces::qpGenerator

protected

Definition at line 136 of file export_gauss_newton_block_forces.hpp.

std::shared_ptr< ExportForcesInterface > ExportGaussNewtonBlockForces::qpInterface

protected

FORCES interface object.

Definition at line 135 of file export_gauss_newton_block_forces.hpp.

std::string ExportGaussNewtonBlockForces::qpModuleName

protected

Definition at line 116 of file export_gauss_newton_block_forces.hpp.

std::string ExportGaussNewtonBlockForces::qpObjPrefix

protected

Definition at line 117 of file export_gauss_newton_block_forces.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