ExportGaussNewtonCondensed Class Reference

A class for export of Gauss-Newton condensed OCP solver. More...

#include <export_gauss_newton_condensed.hpp>

Inheritance diagram for ExportGaussNewtonCondensed:

Public Member Functions
	ExportGaussNewtonCondensed (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")
virtual returnValue	getCode (ExportStatementBlock &code)
virtual returnValue	getDataDeclarations (ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const
virtual returnValue	getFunctionDeclarations (ExportStatementBlock &declarations) const
unsigned	getNumQPvars () const
virtual unsigned	getNumStateBounds () const
virtual returnValue	setup ()
virtual	~ExportGaussNewtonCondensed ()
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
bool	performFullCondensing () const
virtual returnValue	setupCondensing ()
virtual returnValue	setupConstraintsEvaluation (void)
virtual returnValue	setupEvaluation ()
virtual returnValue	setupMultiplicationRoutines ()
virtual returnValue	setupObjectiveEvaluation (void)
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)

Private Attributes
ExportVariable	Dx0
ExportVariable	x0
Objective evaluation
ExportFunction	evaluateObjective
ExportFunction	setObjQ1Q2
ExportFunction	setObjR1R2
ExportFunction	setObjQN1QN2
Condensing functions and variables
ExportFunction	condensePrep
ExportFunction	condenseFdb
ExportFunction	expand
ExportVariable	T
ExportVariable	E
ExportVariable	QE
ExportVariable	QGx
ExportVariable	QDy
ExportVariable	Qd
ExportVariable	H00
ExportVariable	H10
ExportVariable	H11
ExportVariable	g0
ExportVariable	g1
ExportCholeskySolver	cholSolver
std::vector< unsigned >	xBoundsIdx
ExportVariable	lbValues
ExportVariable	ubValues
ExportVariable	lbAValues
ExportVariable	ubAValues
Helper functions
ExportFunction	multGxd
ExportFunction	moveGxT
ExportFunction	multGxGx
ExportFunction	multGxGu
ExportFunction	moveGuE
ExportFunction	setBlockH11
ExportFunction	setBlockH11_R1
ExportFunction	zeroBlockH11
ExportFunction	copyHTH
ExportFunction	multQ1d
ExportFunction	multQN1d
ExportFunction	multRDy
ExportFunction	multQDy
ExportFunction	multEQDy
ExportFunction	multQETGx
ExportFunction	zeroBlockH10
ExportFunction	multEDu
ExportFunction	multQ1Gx
ExportFunction	multQN1Gx
ExportFunction	multQ1Gu
ExportFunction	multQN1Gu
ExportFunction	zeroBlockH00
ExportFunction	multCTQC
ExportFunction	macCTSlx
ExportFunction	macETSlu
ExportFunction	multHxC
ExportFunction	multHxE
ExportFunction	macHxd
Contraint evaluation variables
ExportVariable	A10
ExportVariable	A20
ExportVariable	pacA01Dx0
ExportVariable	pocA02Dx0
RTI related
ExportFunction	preparation
ExportFunction	feedback
ExportFunction	getKKT
Covariance calculation varibables and functions
ExportVariable	CEN
ExportVariable	sigmaTmp
ExportVariable	sigma
ExportVariable	sigmaN
ExportFunction	calculateCovariance
qpOASES interface variables
ExportVariable	H
ExportVariable	R
ExportVariable	A
ExportVariable	g
ExportVariable	lb
ExportVariable	ub
ExportVariable	lbA
ExportVariable	ubA
ExportVariable	xVars
ExportVariable	yVars

Additional Inherited Members
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 Gauss-Newton condensed OCP solver.

The class ExportGaussNewtonCondensed allows to export an OCP solver using the generalized Gauss-Newton method. The sparse QP is condensed and solved with qpOASES QP solver.

Authors

Hans Joachim Ferreau, Boris Houska, Milan Vukov

Definition at line 51 of file export_gauss_newton_condensed.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO ExportGaussNewtonCondensed::ExportGaussNewtonCondensed	(	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 41 of file export_gauss_newton_condensed.cpp.

virtual ExportGaussNewtonCondensed::~ExportGaussNewtonCondensed ( )

inlinevirtual

Destructor.

Definition at line 66 of file export_gauss_newton_condensed.hpp.

Member Function Documentation

returnValue ExportGaussNewtonCondensed::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 ExportNLPSolver.

Definition at line 165 of file export_gauss_newton_condensed.cpp.

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

virtual

Adds all data declarations of the auto-generated condensing algorithm to given list of declarations.

Parameters

[in]

declarations

List of declarations.

Returns

SUCCESSFUL_RETURN

Reimplemented from ExportNLPSolver.

Definition at line 91 of file export_gauss_newton_condensed.cpp.

returnValue ExportGaussNewtonCondensed::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

Implements ExportNLPSolver.

Definition at line 143 of file export_gauss_newton_condensed.cpp.

unsigned ExportGaussNewtonCondensed::getNumQPvars ( ) const

virtual

Returns number of variables in underlying QP.

Returns

Number of variables in underlying QP

Implements ExportNLPSolver.

Definition at line 265 of file export_gauss_newton_condensed.cpp.

unsigned ExportGaussNewtonCondensed::getNumStateBounds ( ) const

virtual

Returns number of bounds on differential states.

Returns

Number of bounds on differential states

Definition at line 273 of file export_gauss_newton_condensed.cpp.

bool ExportGaussNewtonCondensed::performFullCondensing ( ) const

protected

Indicator for full condensing.

Definition at line 2424 of file export_gauss_newton_condensed.cpp.

returnValue ExportGaussNewtonCondensed::setup ( )

virtual

Initializes export of an algorithm.

\return SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 46 of file export_gauss_newton_condensed.cpp.

returnValue ExportGaussNewtonCondensed::setupCondensing ( void  )

protectedvirtual

Setup condensing routine variables and functions.

Definition at line 1223 of file export_gauss_newton_condensed.cpp.

returnValue ExportGaussNewtonCondensed::setupConstraintsEvaluation ( void  )

protectedvirtual

Set-up evaluation of constraints

• box constraints on states and controls

Returns

SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 491 of file export_gauss_newton_condensed.cpp.

returnValue ExportGaussNewtonCondensed::setupEvaluation ( )

protectedvirtual

Exports source code containing the evaluation routines of the algorithm.

\return SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 2239 of file export_gauss_newton_condensed.cpp.

returnValue ExportGaussNewtonCondensed::setupMultiplicationRoutines ( )

protectedvirtual

Exports source code containing the multiplication routines of the algorithm.

\return SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 2096 of file export_gauss_newton_condensed.cpp.

returnValue ExportGaussNewtonCondensed::setupObjectiveEvaluation ( void  )

protectedvirtual

Setting up of an objective evaluation:

• functions and derivatives evaulation
• creating Hessians and gradients

Returns

SUCCESSFUL_RETURN

Definition at line 282 of file export_gauss_newton_condensed.cpp.

returnValue ExportGaussNewtonCondensed::setupQPInterface ( )

protectedvirtual

Setup qpOASES interface.

Definition at line 2333 of file export_gauss_newton_condensed.cpp.

returnValue ExportGaussNewtonCondensed::setupVariables ( )

protectedvirtual

Initialization of all member variables.

\return SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 2004 of file export_gauss_newton_condensed.cpp.

Member Data Documentation

ExportVariable ExportGaussNewtonCondensed::A

private

Variable containing the QP constraint matrix.

Definition at line 260 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::A10

private

Definition at line 233 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::A20

private

Definition at line 234 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::calculateCovariance

private

Definition at line 250 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::CEN

private

Definition at line 249 of file export_gauss_newton_condensed.hpp.

ExportCholeskySolver ExportGaussNewtonCondensed::cholSolver

private

Definition at line 190 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::condenseFdb

private

Definition at line 182 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::condensePrep

private

Definition at line 181 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::copyHTH

private

Definition at line 207 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::Dx0

private

Current state feedback deviation.

Definition at line 169 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::E

private

Definition at line 185 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::evaluateObjective

private

Definition at line 173 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::expand

private

Definition at line 183 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::feedback

private

Definition at line 242 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::g

private

Variable containing the QP gradient.

Definition at line 262 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::g0

private

Definition at line 188 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::g1

private

Definition at line 188 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::getKKT

private

Definition at line 244 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::H

private

Variable containing the QP Hessian matrix.

Definition at line 256 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::H00

private

Definition at line 187 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::H10

private

Definition at line 187 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::H11

private

Definition at line 187 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::lb

private

Variable containing the lower limits on QP variables.

Definition at line 264 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::lbA

private

Variable containing lower limits on QP constraints.

Definition at line 268 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::lbAValues

private

Definition at line 194 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::lbValues

private

Definition at line 193 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::macCTSlx

private

Definition at line 223 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::macETSlu

private

Definition at line 224 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::macHxd

private

Definition at line 228 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::moveGuE

private

Definition at line 203 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::moveGxT

private

Definition at line 200 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multCTQC

private

Definition at line 221 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multEDu

private

Definition at line 215 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multEQDy

private

Definition at line 212 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multGxd

private

Definition at line 199 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multGxGu

private

Definition at line 202 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multGxGx

private

Definition at line 201 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multHxC

private

Definition at line 226 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multHxE

private

Definition at line 227 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multQ1d

private

Definition at line 208 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multQ1Gu

private

Definition at line 218 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multQ1Gx

private

Definition at line 216 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multQDy

private

Definition at line 211 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multQETGx

private

Definition at line 213 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multQN1d

private

Definition at line 209 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multQN1Gu

private

Definition at line 219 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multQN1Gx

private

Definition at line 217 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::multRDy

private

Definition at line 210 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::pacA01Dx0

private

Definition at line 235 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::pocA02Dx0

private

Definition at line 236 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::preparation

private

Definition at line 241 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::Qd

private

Definition at line 185 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::QDy

private

Definition at line 185 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::QE

private

Definition at line 185 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::QGx

private

Definition at line 185 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::R

private

Variable containing factorization of the QP Hessian matrix; R' * R = H.

Definition at line 258 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::setBlockH11

private

Definition at line 204 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::setBlockH11_R1

private

Definition at line 205 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::setObjQ1Q2

private

Definition at line 174 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::setObjQN1QN2

private

Definition at line 176 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::setObjR1R2

private

Definition at line 175 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::sigma

private

Definition at line 249 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::sigmaN

private

Definition at line 249 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::sigmaTmp

private

Definition at line 249 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::T

private

Definition at line 185 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::ub

private

Variable containing the upper limits on QP variables.

Definition at line 266 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::ubA

private

Variable containing upper limits on QP constraints.

Definition at line 270 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::ubAValues

private

Definition at line 194 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::ubValues

private

Definition at line 193 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::x0

private

Current state feedback.

Definition at line 167 of file export_gauss_newton_condensed.hpp.

std::vector< unsigned > ExportGaussNewtonCondensed::xBoundsIdx

private

Definition at line 192 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::xVars

private

Variable containing the primal QP variables.

Definition at line 272 of file export_gauss_newton_condensed.hpp.

ExportVariable ExportGaussNewtonCondensed::yVars

private

Variable containing the dual QP variables.

Definition at line 274 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::zeroBlockH00

private

Definition at line 220 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::zeroBlockH10

private

Definition at line 214 of file export_gauss_newton_condensed.hpp.

ExportFunction ExportGaussNewtonCondensed::zeroBlockH11

private

Definition at line 206 of file export_gauss_newton_condensed.hpp.

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

• export_gauss_newton_condensed.hpp
• export_gauss_newton_condensed.cpp