ExportNLPSolver Class Reference

Base class for export of NLP/OCP solvers. More...

#include <export_nlp_solver.hpp>

Inheritance diagram for ExportNLPSolver:

Public Member Functions
	ExportNLPSolver (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")
virtual returnValue	getCode (ExportStatementBlock &code)=0
virtual returnValue	getDataDeclarations (ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const
virtual returnValue	getFunctionDeclarations (ExportStatementBlock &declarations) const =0
unsigned	getNumComplexConstraints (void)
unsigned	getNumPathConstraints (void)
virtual unsigned	getNumQPvars () const =0
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)
virtual returnValue	setup ()=0
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
returnValue	setupArrivalCostCalculation ()
returnValue	setupAuxiliaryFunctions ()
virtual returnValue	setupConstraintsEvaluation ()=0
virtual returnValue	setupEvaluation ()=0
virtual returnValue	setupGetGeneralObjective ()
virtual returnValue	setupGetLSQObjective ()
virtual returnValue	setupGetObjective ()
virtual returnValue	setupInitialization ()
virtual returnValue	setupMultiplicationRoutines ()=0
virtual returnValue	setupSimulation (void)
virtual returnValue	setupVariables ()=0

Protected Attributes
Evaluation of model dynamics.
IntegratorExportPtr	integrator
ExportFunction	modelSimulation
ExportVariable	state
ExportVariable	x
ExportVariable	z
ExportVariable	u
ExportVariable	od
ExportVariable	d
ExportVariable	evGx
ExportVariable	evGu
Evaluation of objective
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
Evaluation of box constraints
VariablesGrid	uBounds
VariablesGrid	xBounds
Evaluation of path constraints
unsigned	dimPacH
ExportAcadoFunction	evaluatePathConstraints
ExportVariable	conAuxVar
ExportVariable	conValueIn
ExportVariable	conValueOut
DVector	lbPathConValues
DVector	ubPathConValues
ExportVariable	pacEvH
ExportVariable	pacEvHx
ExportVariable	pacEvHu
ExportVariable	pacEvHxd
ExportVariable	pacEvDDH
Evaluation of point constraints
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
Auxiliary functions
ExportFunction	initialize
ExportFunction	shiftStates
ExportFunction	shiftControls
ExportFunction	getObjective
ExportFunction	initializeNodes
Arrival cost related
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

Private Member Functions
returnValue	setupObjectiveLinearTerms (const Objective &_objective)
returnValue	setupResidualVariables ()

Detailed Description

Base class for export of NLP/OCP solvers.

This base class is basically used to extract information from an OCP object and prepare low level structures. Later, a derived class is actually building the solver to solve an OCP problem.

Author

Milan Vukov

Note

Based on code originally developed by Boris Houska and Hand Joachim Ferreau.

Definition at line 62 of file export_nlp_solver.hpp.

Constructor & Destructor Documentation

ExportNLPSolver::ExportNLPSolver	(	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_nlp_solver.cpp.

virtual ExportNLPSolver::~ExportNLPSolver ( )

inlinevirtual

Destructor.

Definition at line 76 of file export_nlp_solver.hpp.

Member Function Documentation

virtual returnValue ExportNLPSolver::getCode ( ExportStatementBlock &  code )

pure 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 ExportAlgorithm.

Implemented in ExportGaussNewtonForces, ExportGaussNewtonQpDunes, ExportGaussNewtonCondensed, ExportGaussNewtonHpmpc, ExportGaussNewtonBlockCN2, ExportGaussNewtonCn2Factorization, ExportGaussNewtonGeneric, ExportGaussNewtonCN2, ExportExactHessianQpDunes, ExportGaussNewtonBlockForces, and ExportGaussNewtonBlockQpDunes.

returnValue ExportNLPSolver::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

Implements ExportAlgorithm.

Reimplemented in ExportGaussNewtonForces, ExportGaussNewtonQpDunes, ExportGaussNewtonCondensed, ExportGaussNewtonHpmpc, ExportGaussNewtonBlockCN2, ExportGaussNewtonCn2Factorization, ExportGaussNewtonGeneric, and ExportGaussNewtonCN2.

Definition at line 89 of file export_nlp_solver.cpp.

virtual returnValue ExportNLPSolver::getFunctionDeclarations ( ExportStatementBlock &  declarations ) const

pure 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 ExportAlgorithm.

Implemented in ExportGaussNewtonForces, ExportGaussNewtonQpDunes, ExportGaussNewtonCondensed, ExportGaussNewtonHpmpc, ExportGaussNewtonBlockCN2, ExportGaussNewtonCn2Factorization, ExportGaussNewtonGeneric, ExportGaussNewtonCN2, ExportExactHessianQpDunes, and ExportExactHessianCN2.

unsigned ExportNLPSolver::getNumComplexConstraints

(

void

)

Get the number of complex constraints - path + point constraints.

Returns

Number of complex constraints

Definition at line 1579 of file export_nlp_solver.cpp.

unsigned ExportNLPSolver::getNumPathConstraints

(

void

)

Get the number of path constraints.

Returns

Number of path constraints

Definition at line 1584 of file export_nlp_solver.cpp.

virtual unsigned ExportNLPSolver::getNumQPvars ( ) const

pure virtual

Returns number of variables in underlying QP.

Returns

Number of variables in underlying QP

Implemented in ExportGaussNewtonForces, ExportGaussNewtonCondensed, ExportGaussNewtonQpDunes, ExportGaussNewtonHpmpc, ExportGaussNewtonBlockCN2, ExportGaussNewtonCn2Factorization, ExportGaussNewtonGeneric, and ExportGaussNewtonCN2.

bool ExportNLPSolver::initialStateFixed

(

)

const

Indicates whether initial state is fixed.

Definition at line 1589 of file export_nlp_solver.cpp.

bool ExportNLPSolver::performsSingleShooting

(

)

const

Returns whether a single shooting state discretization is used.

\return true  iff single shooting state discretization is used, \n
        false otherwise

Definition at line 78 of file export_nlp_solver.cpp.

returnValue ExportNLPSolver::setConstraints

(

const OCP &

_ocp

)

Set the "complex" path and point constraints

Returns

SUCCESSFUL_RETURN

Definition at line 1227 of file export_nlp_solver.cpp.

returnValue ExportNLPSolver::setGeneralObjective

(

const Objective &

_objective

)

Definition at line 456 of file export_nlp_solver.cpp.

returnValue ExportNLPSolver::setIntegratorExport

(

IntegratorExportPtr const

_integrator

)

Assigns module for exporting a tailored integrator.

@param[in] _integrator      Integrator module.

\return SUCCESSFUL_RETURN

Definition at line 55 of file export_nlp_solver.cpp.

returnValue ExportNLPSolver::setLevenbergMarquardt

(

double

_levenbergMarquardt

)

Assigns new constant for Levenberg-Marquardt regularization.

@param[in] _levenbergMarquardt              Non-negative constant for Levenberg-Marquardt regularization.

\return SUCCESSFUL_RETURN

Definition at line 62 of file export_nlp_solver.cpp.

returnValue ExportNLPSolver::setLSQObjective

(

const Objective &

_objective

)

Definition at line 715 of file export_nlp_solver.cpp.

returnValue ExportNLPSolver::setObjective

(

const Objective &

_objective

)

Set objective function

Returns

SUCCESSFUL_RETURN,
RET_INITIALIZE_FIRST,
RET_INVALID_OBJECTIVE_FOR_CODE_EXPORT,
RET_INVALID_ARGUMENTS

Definition at line 445 of file export_nlp_solver.cpp.

virtual returnValue ExportNLPSolver::setup ( )

pure virtual

Initializes export of an algorithm.

\return SUCCESSFUL_RETURN

Reimplemented from ExportAlgorithm.

Implemented in ExportGaussNewtonForces, ExportGaussNewtonQpDunes, ExportExactHessianQpDunes, ExportGaussNewtonBlockForces, ExportGaussNewtonCondensed, ExportGaussNewtonBlockQpDunes, ExportGaussNewtonHpmpc, ExportGaussNewtonBlockCN2, ExportExactHessianCN2, ExportGaussNewtonCn2Factorization, ExportGaussNewtonGeneric, and ExportGaussNewtonCN2.

returnValue ExportNLPSolver::setupArrivalCostCalculation ( )

protected

Setup of functions and variables for evaluation of arrival cost.

Definition at line 1938 of file export_nlp_solver.cpp.

returnValue ExportNLPSolver::setupAuxiliaryFunctions ( )

protected

Setup of functions for evaluation of auxiliary functions.

Definition at line 1605 of file export_nlp_solver.cpp.

virtual returnValue ExportNLPSolver::setupConstraintsEvaluation ( )

protectedpure virtual

Setup of functions for evaluation of constraints.

Implemented in ExportGaussNewtonCondensed, ExportGaussNewtonForces, ExportGaussNewtonCn2Factorization, ExportGaussNewtonCN2, ExportGaussNewtonQpDunes, ExportGaussNewtonBlockCN2, ExportGaussNewtonHpmpc, ExportGaussNewtonGeneric, and ExportGaussNewtonBlockForces.

virtual returnValue ExportNLPSolver::setupEvaluation ( )

protectedpure virtual

Exports source code containing the evaluation routines of the algorithm.

Implemented in ExportGaussNewtonCondensed, ExportGaussNewtonForces, ExportGaussNewtonCn2Factorization, ExportGaussNewtonCN2, ExportGaussNewtonBlockCN2, ExportGaussNewtonHpmpc, ExportGaussNewtonGeneric, ExportGaussNewtonQpDunes, ExportGaussNewtonBlockForces, and ExportGaussNewtonBlockQpDunes.

returnValue ExportNLPSolver::setupGetGeneralObjective ( )

protectedvirtual

Setup the function for evaluating the actual objective value.

Definition at line 1876 of file export_nlp_solver.cpp.

returnValue ExportNLPSolver::setupGetLSQObjective ( )

protectedvirtual

Setup the function for evaluating the actual LSQ objective value.

Definition at line 1788 of file export_nlp_solver.cpp.

returnValue ExportNLPSolver::setupGetObjective ( )

protectedvirtual

Setup the function for evaluating the actual objective value.

Definition at line 1777 of file export_nlp_solver.cpp.

returnValue ExportNLPSolver::setupInitialization ( )

protectedvirtual

Setup main initialization code for the solver

Definition at line 165 of file export_nlp_solver.cpp.

virtual returnValue ExportNLPSolver::setupMultiplicationRoutines ( )

protectedpure virtual

Exports source code containing the multiplication routines of the algorithm.

\return SUCCESSFUL_RETURN

Implemented in ExportGaussNewtonCondensed, ExportGaussNewtonForces, ExportGaussNewtonCn2Factorization, ExportGaussNewtonCN2, ExportGaussNewtonQpDunes, ExportGaussNewtonBlockCN2, ExportGaussNewtonHpmpc, and ExportGaussNewtonGeneric.

returnValue ExportNLPSolver::setupObjectiveLinearTerms ( const Objective &  _objective )

private

Definition at line 1150 of file export_nlp_solver.cpp.

returnValue ExportNLPSolver::setupResidualVariables ( )

private

Definition at line 1214 of file export_nlp_solver.cpp.

returnValue ExportNLPSolver::setupSimulation ( void  )

protectedvirtual

Setting up of a model simulation:

• model integration
• sensitivity generation

Returns

SUCCESSFUL_RETURN

Definition at line 193 of file export_nlp_solver.cpp.

virtual returnValue ExportNLPSolver::setupVariables ( )

protectedpure virtual

Initialization of member variables.

\return SUCCESSFUL_RETURN

Implemented in ExportGaussNewtonCondensed, ExportGaussNewtonForces, ExportGaussNewtonCn2Factorization, ExportGaussNewtonCN2, ExportGaussNewtonQpDunes, ExportGaussNewtonBlockCN2, ExportGaussNewtonHpmpc, ExportGaussNewtonGeneric, and ExportGaussNewtonBlockForces.

bool ExportNLPSolver::usingLinearTerms

(

)

const

Indicates whether linear terms in the objective are used.

Definition at line 1597 of file export_nlp_solver.cpp.

unsigned ExportNLPSolver::weightingMatricesType

(

void

)

const

Return type of weighting matrices.

Returns

Type of weighting matrices.

Definition at line 1924 of file export_nlp_solver.cpp.

Member Data Documentation

ExportVariable ExportNLPSolver::acA

protected

Definition at line 338 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::acb

protected

Definition at line 338 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::acHTilde

protected

Definition at line 340 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::acHu

protected

Definition at line 340 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::acHx

protected

Definition at line 340 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::acP

protected

Definition at line 338 of file export_nlp_solver.hpp.

ExportHouseholderQR ExportNLPSolver::acSolver

protected

Definition at line 336 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::acTmp

protected

Definition at line 338 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::acVL

protected

Definition at line 340 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::acWL

protected

Definition at line 340 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::acXTilde

protected

Definition at line 340 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::acXu

protected

Definition at line 340 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::acXx

protected

Definition at line 340 of file export_nlp_solver.hpp.

ExportCholeskyDecomposition ExportNLPSolver::cholObjS

protected

Definition at line 333 of file export_nlp_solver.hpp.

ExportCholeskyDecomposition ExportNLPSolver::cholSAC

protected

Definition at line 334 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::conAuxVar

protected

Definition at line 294 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::conValueIn

protected

Definition at line 295 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::conValueOut

protected

Definition at line 296 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::d

protected

Definition at line 247 of file export_nlp_solver.hpp.

bool ExportNLPSolver::diagonalH

protected

Definition at line 280 of file export_nlp_solver.hpp.

bool ExportNLPSolver::diagonalHN

protected

Definition at line 280 of file export_nlp_solver.hpp.

unsigned ExportNLPSolver::dimPacH

protected

Definition at line 292 of file export_nlp_solver.hpp.

unsigned ExportNLPSolver::dimPocH

protected

Definition at line 307 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::DxAC

protected

Definition at line 343 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::Dy

protected

Definition at line 260 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::DyN

protected

Definition at line 260 of file export_nlp_solver.hpp.

ExportAcadoFunction ExportNLPSolver::evaluatePathConstraints

protected

Definition at line 293 of file export_nlp_solver.hpp.

std::vector< std::shared_ptr< ExportAcadoFunction > > ExportNLPSolver::evaluatePointConstraints

protected

Definition at line 308 of file export_nlp_solver.hpp.

ExportAcadoFunction ExportNLPSolver::evaluateStageCost

protected

Definition at line 270 of file export_nlp_solver.hpp.

ExportAcadoFunction ExportNLPSolver::evaluateTerminalCost

protected

Definition at line 271 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::evGu

protected

Definition at line 250 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::evGx

protected

Definition at line 249 of file export_nlp_solver.hpp.

ExportFunction ExportNLPSolver::getObjective

protected

Definition at line 325 of file export_nlp_solver.hpp.

ExportFunction ExportNLPSolver::initialize

protected

Main initialization function for the solver.

Definition at line 321 of file export_nlp_solver.hpp.

ExportFunction ExportNLPSolver::initializeNodes

protected

Definition at line 326 of file export_nlp_solver.hpp.

IntegratorExportPtr ExportNLPSolver::integrator

protected

Module for exporting a tailored integrator.

Definition at line 238 of file export_nlp_solver.hpp.

DVector ExportNLPSolver::lbPathConValues

protected

Definition at line 298 of file export_nlp_solver.hpp.

DVector ExportNLPSolver::lbPointConValues

protected

Definition at line 309 of file export_nlp_solver.hpp.

double ExportNLPSolver::levenbergMarquardt

protected

Non-negative constant for Levenberg-Marquardt regularization.

Definition at line 258 of file export_nlp_solver.hpp.

ExportFunction ExportNLPSolver::modelSimulation

protected

Definition at line 240 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::mu

protected

Definition at line 263 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::objAuxVar

protected

Definition at line 269 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::objEvFu

protected

Definition at line 266 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::objEvFuu

protected

Definition at line 267 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::objEvFx

protected

Definition at line 266 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::objEvFxEnd

protected

Definition at line 266 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::objEvFxu

protected

Definition at line 267 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::objEvFxx

protected

Definition at line 267 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::objEvFxxEnd

protected

Definition at line 267 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::objg

protected

Definition at line 265 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::objS

protected

Definition at line 265 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::objSEndTerm

protected

Definition at line 265 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::objSlu

protected

Definition at line 278 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::objSlx

protected

Definition at line 278 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::objValueIn

protected

Definition at line 269 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::objValueOut

protected

Definition at line 269 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::od

protected

Definition at line 246 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::pacEvDDH

protected

Definition at line 302 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::pacEvH

protected

Definition at line 300 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::pacEvHu

protected

Definition at line 301 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::pacEvHx

protected

Definition at line 301 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::pacEvHxd

protected

Definition at line 301 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::pocEvH

protected

Definition at line 313 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::pocEvHu

protected

Definition at line 314 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::pocEvHx

protected

Definition at line 314 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::pocEvHxd

protected

Definition at line 314 of file export_nlp_solver.hpp.

std::vector< DVector > ExportNLPSolver::pocLbStack

protected

Definition at line 311 of file export_nlp_solver.hpp.

std::vector< DVector > ExportNLPSolver::pocUbStack

protected

Definition at line 311 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::Q1

protected

Definition at line 273 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::Q2

protected

Definition at line 273 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::QN1

protected

Definition at line 276 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::QN2

protected

Definition at line 276 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::R1

protected

Definition at line 274 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::R2

protected

Definition at line 274 of file export_nlp_solver.hpp.

ExportFunction ExportNLPSolver::regularization

protected

Definition at line 346 of file export_nlp_solver.hpp.

ExportFunction ExportNLPSolver::regularizeHessian

protected

Definition at line 345 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::S1

protected

Definition at line 275 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::SAC

protected

Definition at line 343 of file export_nlp_solver.hpp.

ExportFunction ExportNLPSolver::shiftControls

protected

Definition at line 324 of file export_nlp_solver.hpp.

ExportFunction ExportNLPSolver::shiftStates

protected

Definition at line 323 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::state

protected

Definition at line 242 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::u

protected

Definition at line 245 of file export_nlp_solver.hpp.

VariablesGrid ExportNLPSolver::uBounds

protected

Definition at line 286 of file export_nlp_solver.hpp.

DVector ExportNLPSolver::ubPathConValues

protected

Definition at line 298 of file export_nlp_solver.hpp.

DVector ExportNLPSolver::ubPointConValues

protected

Definition at line 309 of file export_nlp_solver.hpp.

ExportFunction ExportNLPSolver::updateArrivalCost

protected

Definition at line 331 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::x

protected

Definition at line 243 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::xAC

protected

Definition at line 343 of file export_nlp_solver.hpp.

VariablesGrid ExportNLPSolver::xBounds

protected

Definition at line 287 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::y

protected

Definition at line 260 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::yN

protected

Definition at line 260 of file export_nlp_solver.hpp.

ExportVariable ExportNLPSolver::z

protected

Definition at line 244 of file export_nlp_solver.hpp.

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

• export_nlp_solver.hpp
• export_nlp_solver.cpp