Allows to setup and evaluate a general function based on SymbolicExpressions. More...

#include <function_.hpp>

Inheritance diagram for Function:

[legend]

Public Member Functions
returnValue	AD_backward (const DVector &seed, EvaluationPoint &df, const int &number=0)

returnValue	AD_backward (int number, double seed, double df)

returnValue	AD_backward2 (int number, double seed1, double seed2, double df, double ddf)

DVector	AD_forward (const EvaluationPoint &x, const int &number=0)

returnValue	AD_forward (int number, double seed, double df)

returnValue	AD_forward2 (int number, double seed1, double seed2, double df, double ddf)

BooleanType	ADisSupported () const

returnValue	clearBuffer ()

DVector	evaluate (const EvaluationPoint &x, const int &number=0)

template<typename T >
Tmatrix< T >	evaluate (const TevaluationPoint< T > &x)

returnValue	evaluate (int number, double x, double _result)

returnValue	exportCode (std::ostream &stream, const char fcnName="ACADOfcn", const char realString="double", uint _numX=0, uint _numXA=0, uint _numU=0, uint _numP=0, uint _numDX=0, uint _numOD=0, bool allocateMemory=true, bool staticMemory=false) const

returnValue	exportForwardDeclarations (std::ostream &stream, const char fcnName="ACADOfcn", const char realString="double") const

	Function ()

	Function (const Function &rhs)

int	getDim () const

returnValue	getExpression (Expression &expression) const

Operator *	getExpression (uint componentIdx) const

std::string	getGlobalExportVariableName () const

unsigned	getGlobalExportVariableSize () const

int	getN () const

int	getN (VariableType &variableType_) const

int	getNDX () const

int	getNOD () const

int	getNP () const

int	getNPI () const

int	getNT () const

int	getNU () const

int	getNUI () const

int	getNumberOfVariables () const

int	getNW () const

int	getNX () const

int	getNXA () const

int	index (VariableType variableType_, int index_) const

BooleanType	isAffine ()

BooleanType	isConcave ()

BooleanType	isConstant ()

BooleanType	isConvex ()

BooleanType	isDependingOn (const Expression &variable)

BooleanType	isLinearIn (const Expression &variable)

BooleanType	isNondecreasing ()

BooleanType	isNonincreasing ()

NeutralElement	isOneOrZero ()

BooleanType	isPolynomialIn (const Expression &variable)

BooleanType	isRationalIn (const Expression &variable)

BooleanType	isSymbolic () const

returnValue	jacobian (DMatrix &x)
	calculate the jacobian of an evaluated function More...

Function	operator() (uint idx) const

DVector	operator() (const EvaluationPoint &x, const int &number=0)

Function &	operator<< (const Expression &arg)

Function &	operator<< (const double &arg)

Function &	operator<< (const DVector &arg)

Function &	operator<< (const DMatrix &arg)

Function &	operator= (const Function &rhs)

returnValue	print (std::ostream &stream, const char fcnName="ACADOfcn", const char realString="double") const

returnValue	reset ()

double	scale (VariableType variableType_, int index_) const

returnValue	setGlobalExportVariableName (const std::string &var)

returnValue	setMemoryOffset (int memoryOffset_)

returnValue	setScale (double *scale_)

returnValue	substitute (VariableType variableType_, int index_, double sub_)

virtual	~Function ()

Protected Attributes
FunctionEvaluationTree	evaluationTree

int	memoryOffset

double *	result

Friends
std::ostream &	operator<< (std::ostream &stream, const Function &arg)

Detailed Description

Allows to setup and evaluate a general function based on SymbolicExpressions.

The class Function allows to setup and evaluate general functions based on SymbolicExpressions.

Author: Boris Houska, Hans Joachim Ferreau

Definition at line 59 of file function_.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO Function::Function ( )

Default constructor.

Definition at line 49 of file function.cpp.

Function::Function ( const Function & rhs )

Copy constructor (deep copy).

Definition at line 56 of file function.cpp.

Function::~Function ( )

virtual

Destructor.

Definition at line 72 of file function.cpp.

Member Function Documentation

returnValue Function::AD_backward	(	const DVector &	seed,
		EvaluationPoint &	df,
		const int &	number = `0`
	)

Automatic Differentiation in backward mode.

Parameters

seed	the backward seed
df	the directional derivative (output)
number	the storage position

Returns: the result for the derivative.

Definition at line 546 of file function.cpp.

returnValue Function::AD_backward	(	int	number,
		double *	seed,
		double *	df
	)

Automatic Differentiation in backward mode based on
buffered values

Returns: SUCCESFUL_RETURN
RET_NAN

Parameters

number	the buffer position
seed	the seed
df	the derivative of the expression

Definition at line 435 of file function.cpp.

returnValue Function::AD_backward2	(	int	number,
		double *	seed1,
		double *	seed2,
		double *	df,
		double *	ddf
	)

Automatic Differentiation in backward mode for 2nd order
derivatives based on buffered values.
IMPORTANT REMARK: run AD_forward first to define
the point x and to compute f and df.

Returns: SUCCESFUL_RETURN
RET_NAN

Parameters

number	the buffer position
seed1	the seed1
seed2	the seed2
df	the 1st derivative of the expression
ddf	the 2nd derivative of the expression

Definition at line 448 of file function.cpp.

DVector Function::AD_forward	(	const EvaluationPoint &	x,
		const int &	number = `0`
	)

Automatic Differentiation in forward mode.

Parameters

x	the evaluation point
number	the storage position

Returns: The result of the evaluation.

Definition at line 533 of file function.cpp.

returnValue Function::AD_forward	(	int	number,
		double *	seed,
		double *	df
	)

Automatic Differentiation in forward mode.
This function uses the intermediate
results from a buffer

Returns: SUCCESFUL_RETURN
RET_NAN

Parameters

number	storage position
seed	the seed
df	the derivative of the expression

Definition at line 429 of file function.cpp.

returnValue Function::AD_forward2	(	int	number,
		double *	seed1,
		double *	seed2,
		double *	df,
		double *	ddf
	)

Automatic Differentiation in forward mode for
2nd derivatives.
This function uses intermediate
results from a buffer.

Returns: SUCCESFUL_RETURN
RET_NAN

Parameters

number	the buffer position
seed1	the seed
seed2	the seed for the first derivative
df	the derivative of the expression
ddf	the 2nd derivative of the expression

Definition at line 441 of file function.cpp.

BooleanType Function::ADisSupported ( ) const

inline

returnValue Function::clearBuffer ( )

Clears the buffer and resets the buffer size
to 1.

Returns: SUCCESFUL_RETURN

Definition at line 507 of file function.cpp.

DVector Function::evaluate	(	const EvaluationPoint &	x,
		const int &	number = `0`
	)

Evaluates the function.

Parameters

x	the evaluation point
number	the storage position

Returns: The result of the evaluation.

Definition at line 520 of file function.cpp.

template<typename T >

Tmatrix< T > Function::evaluate ( const TevaluationPoint< T > & x )

Evaluates the function at a templated
evaluation point.

Parameters

x	the evaluation point

Returns: The result of the evaluation.

Definition at line 526 of file function_.hpp.

returnValue Function::evaluate	(	int	number,
		double *	x,
		double *	_result
	)

Evaluates the function and stores the intermediate
results in a buffer (needed for automatic differentiation
in backward mode)

Returns: SUCCESFUL_RETURN
RET_NAN

Parameters

number	storage position
x	the input variable x
_result	the result

Definition at line 277 of file function.cpp.

returnValue Function::exportCode	(	std::ostream &	stream,
		const char *	fcnName = `"ACADOfcn"`,
		const char *	realString = `"double"`,
		uint	_numX = `0`,
		uint	_numXA = `0`,
		uint	_numU = `0`,
		uint	_numP = `0`,
		uint	_numDX = `0`,
		uint	_numOD = `0`,
		bool	allocateMemory = `true`,
		bool	staticMemory = `false`
	)		const

Definition at line 486 of file function.cpp.

returnValue Function::exportForwardDeclarations	(	std::ostream &	stream,
		const char *	fcnName = `"ACADOfcn"`,
		const char *	realString = `"double"`
	)		const

Definition at line 474 of file function.cpp.

int Function::getDim ( ) const

inline

Returns the dimension of the function

Returns: The requested dimension.

returnValue Function::getExpression ( Expression & expression ) const

Definition at line 139 of file function.cpp.

Operator * Function::getExpression ( uint componentIdx ) const

Returns the symbolic expression of the given component of the function.

Returns: The symbolic expression

Definition at line 271 of file function.cpp.

std::string Function::getGlobalExportVariableName ( ) const

Get name of the variable that holds intermediate values.

Definition at line 590 of file function.cpp.

unsigned Function::getGlobalExportVariableSize ( ) const

Get size of the variable that holds intermediate values.

Definition at line 600 of file function.cpp.

int Function::getN ( ) const

inline

Returns the number of intermediate expressions that have
been detected in the function.

Returns: The requested number of intermediate states.

int Function::getN ( VariableType & variableType_ ) const

Returns the number of differential states

Returns: The requested number of differential states.

Definition at line 187 of file function.cpp.

int Function::getNDX ( ) const

Returns the number of differential states derivatives

Returns: The requested number of differential state
derivatives.

Definition at line 217 of file function.cpp.

int Function::getNOD ( ) const

Return number of "online data" objects.

Definition at line 257 of file function.cpp.

int Function::getNP ( ) const

Returns the number of parameters

Returns: The requested number of parameters.

Definition at line 233 of file function.cpp.

int Function::getNPI ( ) const

Returns the number of integer parameters

Returns: The requested number of integer parameters.

Definition at line 239 of file function.cpp.

int Function::getNT ( ) const

Returns the number of time variables

Returns: The requested number of time variables.

Definition at line 251 of file function.cpp.

int Function::getNU ( ) const

Returns the number of controls

Returns: The requested number of controls.

Definition at line 222 of file function.cpp.

int Function::getNUI ( ) const

Returns the number of integer controls

Returns: The requested number of integer controls.

Definition at line 227 of file function.cpp.

int Function::getNumberOfVariables ( ) const

Returns the variable counter.

Returns: The number of variables

Definition at line 264 of file function.cpp.

int Function::getNW ( ) const

Returns the number of disturbances

Returns: The requested number of disturbances.

Definition at line 245 of file function.cpp.

int Function::getNX ( ) const

Returns the number of differential states

Returns: The requested number of differential states.

Definition at line 207 of file function.cpp.

int Function::getNXA ( ) const

Returns the number of algebraic states

Returns: The requested number of algebraic states.

Definition at line 212 of file function.cpp.

int Function::index	(	VariableType	variableType_,
		int	index_
	)		const

Returns the index of the variable with specified type and
component.

Returns: The index of the requested variable.

Definition at line 176 of file function.cpp.

BooleanType Function::isAffine ( )

Checks whether the function is affine.

Returns: BT_FALSE if the expression is not affine
BT_TRUE otherwise

Definition at line 368 of file function.cpp.

BooleanType Function::isConcave ( )

Checks whether the function is concave.

Returns: BT_FALSE if the expression is not (DCP-) concave
BT_TRUE otherwise

Definition at line 391 of file function.cpp.

BooleanType Function::isConstant ( )

Checks whether function is a constant.

Definition at line 360 of file function.cpp.

BooleanType Function::isConvex ( )

Checks whether the function is convex.

Returns: BT_FALSE if the expression is not (DCP-) convex
BT_TRUE otherwise

Definition at line 378 of file function.cpp.

BooleanType Function::isDependingOn ( const Expression & variable )

Checks whether the function is depending on
var(index)

Returns: BT_FALSE if no dependence is detected
BT_TRUE otherwise

Definition at line 314 of file function.cpp.

BooleanType Function::isLinearIn ( const Expression & variable )

Checks whether the function is linear in
(or not depending on) var(index)

Returns: BT_FALSE if no linearity is
detected
BT_TRUE otherwise

Definition at line 319 of file function.cpp.

BooleanType Function::isNondecreasing ( )

Checks whether the function is nondecreasing.

Returns: BT_FALSE if the expression is not nondecreasing
BT_TRUE otherwise

Definition at line 337 of file function.cpp.

BooleanType Function::isNonincreasing ( )

Checks whether the function is nonincreasing.

Returns: BT_FALSE if the expression is not nonincreasing
BT_TRUE otherwise

Definition at line 349 of file function.cpp.

NeutralElement Function::isOneOrZero ( )

Checks whether the function is zero or one

Returns: NE_ZERO
NE_ONE
NE_NEITHER_ONE_NOR_ZERO

Definition at line 307 of file function.cpp.

BooleanType Function::isPolynomialIn ( const Expression & variable )

Checks whether the function is polynomial in
the variable var(index)

Returns: BT_FALSE if the expression is not polynomial
BT_TRUE otherwise

Definition at line 325 of file function.cpp.

BooleanType Function::isRationalIn ( const Expression & variable )

Checks whether the function is rational in
the variable var(index)

Returns: BT_FALSE if the expression is not rational
BT_TRUE otherwise

Definition at line 331 of file function.cpp.

BooleanType Function::isSymbolic ( ) const

inline

Returns whether the function is symbolic or not. If BT_TRUE
is returned, automatic differentiation will be used by
default.

returnValue Function::jacobian ( DMatrix & x )

calculate the jacobian of an evaluated function

Calculates the matrix diff(fun(x,u,v,p,q,w),x)

Parameters

x	will be assigned jacobian(fun,differential states)

Definition at line 403 of file function.cpp.

Function Function::operator() ( uint idx ) const

Definition at line 145 of file function.cpp.

DVector Function::operator()	(	const EvaluationPoint &	x,
		const int &	number = `0`
	)

inline

Redundant evaluation routine which is equivalent to
to the evaluate routine above.

Parameters

x	the evaluation point
number	the storage position

Returns: The result of the evaluation.

Function & Function::operator<< ( const Expression & arg )

Loading Expressions (deep copy).

Definition at line 102 of file function.cpp.

Function & Function::operator<< ( const double & arg )

Loading Expressions (deep copy).

Definition at line 112 of file function.cpp.

Function & Function::operator<< ( const DVector & arg )

Loading Symbolic DVector (deep copy).

Definition at line 121 of file function.cpp.

Function & Function::operator<< ( const DMatrix & arg )

Loading Symbolic DMatrix (deep copy).

Definition at line 130 of file function.cpp.

Function & Function::operator= ( const Function & rhs )

Assignment operator (deep copy).

Definition at line 78 of file function.cpp.

returnValue Function::print	(	std::ostream &	stream,
		const char *	fcnName = `"ACADOfcn"`,
		const char *	realString = `"double"`
	)		const

Prints the function in form of plain C-code into a file. The integer
"precision" must be in [1,16] and defines the number of internal decimal places
which occur in "double" - valued parts of the expression tree.

Parameters

file	The file to which the expression should be printed.
fcnName	The name of the generated function (default: "ACADOfcn").
precision	The number of internal dec. places to be printed (default: 16).

Returns: SUCCESFUL_RETURN

Definition at line 463 of file function.cpp.

returnValue Function::reset ( )

Definition at line 163 of file function.cpp.

double Function::scale	(	VariableType	variableType_,
		int	index_
	)		const

Returns the scale of a given variable.

Returns: The requested scale or
1.0 if index is out of range

Definition at line 182 of file function.cpp.

returnValue Function::setGlobalExportVariableName ( const std::string & var )

Set name of the variable that holds intermediate values.

Definition at line 595 of file function.cpp.

returnValue Function::setMemoryOffset ( int memoryOffset_ )

inline

returnValue Function::setScale ( double * scale_ )

Defines a scale for the case that a C-function is used

Returns: SUCCESSFUL_RETURN

Definition at line 514 of file function.cpp.

returnValue Function::substitute	(	VariableType	variableType_,
		int	index_,
		double	sub_
	)

Substitutes var(index) with the double sub.

Returns: The substituted expression.

Parameters

index_	subst. index
sub_	the substitution

Definition at line 290 of file function.cpp.

Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	stream,
		const Function &	arg
	)

friend

Prints the function into a stream.

Definition at line 456 of file function.cpp.

Member Data Documentation

FunctionEvaluationTree Function::evaluationTree

protected

Definition at line 519 of file function_.hpp.

int Function::memoryOffset

protected

Definition at line 520 of file function_.hpp.

double* Function::result

protected

Definition at line 522 of file function_.hpp.

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

Public Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation