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

#include <export_gauss_newton_qpdunes.hpp>

Inheritance diagram for ExportGaussNewtonQpDunes:

[legend]

Public Member Functions
	ExportGaussNewtonQpDunes (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 returnValue	setup ()

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	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)

Protected Attributes
std::shared_ptr< ExportQpDunesInterface >	qpInterface

ExportVariable	x0

QP interface variables
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

Objective evaluation.
ExportFunction	evaluateObjective

ExportFunction	setStageH

ExportFunction	setStagef

ExportFunction	setObjQ1Q2

ExportFunction	setObjR1R2

ExportFunction	setObjQN1QN2

bool	diagH

bool	diagHN

Constraint evaluation
ExportFunction	evaluateConstraints

ExportFunction	setStagePac

std::vector< unsigned >	qpConDim

RTI related
ExportFunction	preparation

ExportFunction	feedback

qpDUNES interface functions
ExportFunction	cleanup

ExportFunction	shiftQpData

Auxiliary functions
ExportFunction	getKKT

Helper functions
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 ExportGaussNewtonQpDunes allows export of and OCP solver using the generalized Gauss-Newton method. The underlying QP is solved using the structured sparse QP solver qpDUNES.

Author: Milan Vukov

Definition at line 52 of file export_gauss_newton_qpdunes.hpp.

Constructor & Destructor Documentation

ExportGaussNewtonQpDunes::ExportGaussNewtonQpDunes	(	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_gauss_newton_qpdunes.cpp.

virtual ExportGaussNewtonQpDunes::~ExportGaussNewtonQpDunes ( )

inlinevirtual

Destructor.

Definition at line 67 of file export_gauss_newton_qpdunes.hpp.

Member Function Documentation

returnValue ExportGaussNewtonQpDunes::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.

Reimplemented in ExportExactHessianQpDunes.

Definition at line 149 of file export_gauss_newton_qpdunes.cpp.

returnValue ExportGaussNewtonQpDunes::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 90 of file export_gauss_newton_qpdunes.cpp.

returnValue ExportGaussNewtonQpDunes::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.

Reimplemented in ExportExactHessianQpDunes.

Definition at line 127 of file export_gauss_newton_qpdunes.cpp.

unsigned ExportGaussNewtonQpDunes::getNumQPvars ( ) const

virtual

Returns number of variables in underlying QP.

Returns: Number of variables in underlying QP

Implements ExportNLPSolver.

Definition at line 213 of file export_gauss_newton_qpdunes.cpp.

returnValue ExportGaussNewtonQpDunes::setup ( )

virtual

Initializes export of an algorithm.

\return SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Reimplemented in ExportExactHessianQpDunes.

Definition at line 44 of file export_gauss_newton_qpdunes.cpp.

returnValue ExportGaussNewtonQpDunes::setupConstraintsEvaluation ( void )

protectedvirtual

Set-up evaluation of constraints

box constraints on states and controls

Returns: SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 501 of file export_gauss_newton_qpdunes.cpp.

returnValue ExportGaussNewtonQpDunes::setupEvaluation ( )

protectedvirtual

Exports source code containing the evaluation routines of the algorithm.

Implements ExportNLPSolver.

Definition at line 996 of file export_gauss_newton_qpdunes.cpp.

returnValue ExportGaussNewtonQpDunes::setupMultiplicationRoutines ( )

protectedvirtual

Exports source code containing the multiplication routines of the algorithm.

\return SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 991 of file export_gauss_newton_qpdunes.cpp.

returnValue ExportGaussNewtonQpDunes::setupObjectiveEvaluation ( void )

protectedvirtual

Setting up of an objective evaluation:

functions and derivatives evaulation
creating Hessians and gradients

Returns: SUCCESSFUL_RETURN

Reimplemented in ExportExactHessianQpDunes.

Definition at line 222 of file export_gauss_newton_qpdunes.cpp.

returnValue ExportGaussNewtonQpDunes::setupQPInterface ( )

protectedvirtual

Setup of the glue code for the QP solver interaction.

Definition at line 1188 of file export_gauss_newton_qpdunes.cpp.

returnValue ExportGaussNewtonQpDunes::setupVariables ( )

protectedvirtual

Initialization of all member variables.

\return SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 980 of file export_gauss_newton_qpdunes.cpp.

Member Data Documentation

ExportFunction ExportGaussNewtonQpDunes::acc

protected

Definition at line 213 of file export_gauss_newton_qpdunes.hpp.

ExportFunction ExportGaussNewtonQpDunes::cleanup

protected

Definition at line 202 of file export_gauss_newton_qpdunes.hpp.

bool ExportGaussNewtonQpDunes::diagH

protected

Definition at line 184 of file export_gauss_newton_qpdunes.hpp.

bool ExportGaussNewtonQpDunes::diagHN

protected

Definition at line 184 of file export_gauss_newton_qpdunes.hpp.

ExportFunction ExportGaussNewtonQpDunes::evaluateConstraints

protected

Definition at line 189 of file export_gauss_newton_qpdunes.hpp.

ExportFunction ExportGaussNewtonQpDunes::evaluateObjective

protected

Definition at line 175 of file export_gauss_newton_qpdunes.hpp.

ExportFunction ExportGaussNewtonQpDunes::feedback

protected

Definition at line 197 of file export_gauss_newton_qpdunes.hpp.

ExportFunction ExportGaussNewtonQpDunes::getKKT

protected

Definition at line 208 of file export_gauss_newton_qpdunes.hpp.

ExportVariable ExportGaussNewtonQpDunes::lbValues

protected

Definition at line 165 of file export_gauss_newton_qpdunes.hpp.

ExportFunction ExportGaussNewtonQpDunes::preparation

protected

Definition at line 196 of file export_gauss_newton_qpdunes.hpp.

ExportVariable ExportGaussNewtonQpDunes::qpA

protected

Definition at line 167 of file export_gauss_newton_qpdunes.hpp.

ExportVariable ExportGaussNewtonQpDunes::qpC

protected

Definition at line 160 of file export_gauss_newton_qpdunes.hpp.

ExportVariable ExportGaussNewtonQpDunes::qpc

protected

Definition at line 161 of file export_gauss_newton_qpdunes.hpp.

std::vector< unsigned > ExportGaussNewtonQpDunes::qpConDim

protected

Definition at line 191 of file export_gauss_newton_qpdunes.hpp.

ExportVariable ExportGaussNewtonQpDunes::qpg

protected

Definition at line 157 of file export_gauss_newton_qpdunes.hpp.

ExportVariable ExportGaussNewtonQpDunes::qpgN

protected

Definition at line 158 of file export_gauss_newton_qpdunes.hpp.

ExportVariable ExportGaussNewtonQpDunes::qpH

protected

Definition at line 156 of file export_gauss_newton_qpdunes.hpp.

std::shared_ptr< ExportQpDunesInterface > ExportGaussNewtonQpDunes::qpInterface

protected

qpDUNES interface object.

Definition at line 217 of file export_gauss_newton_qpdunes.hpp.

ExportVariable ExportGaussNewtonQpDunes::qpLambda

protected

Definition at line 170 of file export_gauss_newton_qpdunes.hpp.

ExportVariable ExportGaussNewtonQpDunes::qpLb

protected

Definition at line 163 of file export_gauss_newton_qpdunes.hpp.

ExportVariable ExportGaussNewtonQpDunes::qpLb0

protected

Definition at line 162 of file export_gauss_newton_qpdunes.hpp.

ExportVariable ExportGaussNewtonQpDunes::qpLbA

protected

Definition at line 168 of file export_gauss_newton_qpdunes.hpp.

ExportVariable ExportGaussNewtonQpDunes::qpMu

protected

Definition at line 170 of file export_gauss_newton_qpdunes.hpp.

ExportVariable ExportGaussNewtonQpDunes::qpPrimal

protected

Definition at line 170 of file export_gauss_newton_qpdunes.hpp.

ExportVariable ExportGaussNewtonQpDunes::qpUb

protected

Definition at line 163 of file export_gauss_newton_qpdunes.hpp.

ExportVariable ExportGaussNewtonQpDunes::qpUb0

protected

Definition at line 162 of file export_gauss_newton_qpdunes.hpp.

ExportVariable ExportGaussNewtonQpDunes::qpUbA

protected

Definition at line 168 of file export_gauss_newton_qpdunes.hpp.

ExportFunction ExportGaussNewtonQpDunes::setObjQ1Q2

protected

Definition at line 180 of file export_gauss_newton_qpdunes.hpp.

ExportFunction ExportGaussNewtonQpDunes::setObjQN1QN2

protected

Definition at line 182 of file export_gauss_newton_qpdunes.hpp.

ExportFunction ExportGaussNewtonQpDunes::setObjR1R2

protected

Definition at line 181 of file export_gauss_newton_qpdunes.hpp.

ExportFunction ExportGaussNewtonQpDunes::setStagef

protected

Definition at line 178 of file export_gauss_newton_qpdunes.hpp.

ExportFunction ExportGaussNewtonQpDunes::setStageH

protected

Definition at line 177 of file export_gauss_newton_qpdunes.hpp.

ExportFunction ExportGaussNewtonQpDunes::setStagePac

protected

Definition at line 190 of file export_gauss_newton_qpdunes.hpp.

ExportFunction ExportGaussNewtonQpDunes::shiftQpData

protected

Definition at line 203 of file export_gauss_newton_qpdunes.hpp.

ExportVariable ExportGaussNewtonQpDunes::ubValues

protected

Definition at line 165 of file export_gauss_newton_qpdunes.hpp.

ExportVariable ExportGaussNewtonQpDunes::x0

protected

Current state feedback.

Definition at line 152 of file export_gauss_newton_qpdunes.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