ExportGaussNewtonBlockQpDunes Class Reference

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_qpdunes.hpp>

Inheritance diagram for ExportGaussNewtonBlockQpDunes:

Public Member Functions
	ExportGaussNewtonBlockQpDunes (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")
virtual returnValue	getCode (ExportStatementBlock &code)
virtual returnValue	setup ()
virtual	~ExportGaussNewtonBlockQpDunes ()
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	setupEvaluation ()
virtual returnValue	setupQPInterface ()
Protected Member Functions inherited from ExportGaussNewtonBlockCN2
virtual returnValue	setupCondensing ()
virtual returnValue	setupConstraintsEvaluation (void)
virtual returnValue	setupMultiplicationRoutines ()
virtual returnValue	setupVariables ()
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::shared_ptr< ExportSplitQpDunesInterface >	qpInterface
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 51 of file export_gauss_newton_block_qpdunes.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO ExportGaussNewtonBlockQpDunes::ExportGaussNewtonBlockQpDunes	(	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 38 of file export_gauss_newton_block_qpdunes.cpp.

virtual ExportGaussNewtonBlockQpDunes::~ExportGaussNewtonBlockQpDunes ( )

inlinevirtual

Destructor.

Definition at line 65 of file export_gauss_newton_block_qpdunes.hpp.

Member Function Documentation

returnValue ExportGaussNewtonBlockQpDunes::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 69 of file export_gauss_newton_block_qpdunes.cpp.

returnValue ExportGaussNewtonBlockQpDunes::setup ( )

virtual

Initializes export of an algorithm.

\return SUCCESSFUL_RETURN

Reimplemented from ExportGaussNewtonBlockCN2.

Definition at line 43 of file export_gauss_newton_block_qpdunes.cpp.

returnValue ExportGaussNewtonBlockQpDunes::setupEvaluation ( )

protectedvirtual

Exports source code containing the evaluation routines of the algorithm.

\return SUCCESSFUL_RETURN

Implements ExportGaussNewtonBlockCN2.

Definition at line 83 of file export_gauss_newton_block_qpdunes.cpp.

returnValue ExportGaussNewtonBlockQpDunes::setupQPInterface ( )

protectedvirtual

Implements ExportGaussNewtonBlockCN2.

Definition at line 262 of file export_gauss_newton_block_qpdunes.cpp.

Member Data Documentation

std::shared_ptr< ExportSplitQpDunesInterface > ExportGaussNewtonBlockQpDunes::qpInterface

protected

qpDUNES interface object.

Definition at line 99 of file export_gauss_newton_block_qpdunes.hpp.

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

• export_gauss_newton_block_qpdunes.hpp
• export_gauss_newton_block_qpdunes.cpp