Allows to conveniently handle (one-dimensional) grids consisting of time points. More...

#include <grid.hpp>

Inheritance diagram for Grid:

Public Member Functions
returnValue	addTime (double _time)

returnValue	coarsenGrid (uint factor)

returnValue	equalizeGrids (Grid &arg)

int	findFirstTime (double _time, uint startIdx=0) const

int	findLastTime (double _time, uint startIdx=0) const

int	findTime (double _time, uint startIdx=0) const

uint	getCeilIndex (double time) const

double	getFirstTime () const

uint	getFloorIndex (double time) const

double	getIntervalLength () const

double	getIntervalLength (uint pointIdx) const

uint	getLastIndex () const

double	getLastTime () const

uint	getNumIntervals () const

uint	getNumPoints () const

returnValue	getSubGrid (double tStart, double tEnd, Grid &_subGrid) const

double	getTime (uint pointIdx) const

	Grid ()

	Grid (uint nPoints_, double *times_=0)

	Grid (const DVector &times_)

	Grid (double _firstTime, double _lastTime, uint _nPoints=2)

	Grid (const Grid &rhs)

BooleanType	hasTime (double _time) const

returnValue	init (uint _nPoints=0, const double *const _times=0)

returnValue	init (const DVector &times_)

returnValue	init (double _firstTime, double _lastTime, uint _nPoints=2)

returnValue	init (const Grid &rhs)

BooleanType	isEmpty () const

BooleanType	isEquidistant () const

BooleanType	isInInterval (double _time) const

BooleanType	isInInterval (uint pointIdx, double _time) const

BooleanType	isInLowerHalfOpenInterval (uint pointIdx, double _time) const

BooleanType	isInUpperHalfOpenInterval (uint pointIdx, double _time) const

BooleanType	isLast (uint pointIdx) const

returnValue	merge (const Grid &arg, MergeMethod _mergeMethod=MM_DUPLICATE, BooleanType keepOverlap=BT_TRUE)

BooleanType	operator!= (const Grid &arg) const

Grid &	operator& (const Grid &arg)

BooleanType	operator< (const Grid &arg) const

BooleanType	operator<= (const Grid &arg) const

Grid &	operator= (const Grid &rhs)

BooleanType	operator== (const Grid &arg) const

BooleanType	operator> (const Grid &arg) const

BooleanType	operator>= (const Grid &arg) const

returnValue	print () const

returnValue	refineGrid (uint factor)

returnValue	scaleTimes (double scaling)

returnValue	setTime (double _time)

returnValue	setTime (uint pointIdx, double _time)

Grid &	shiftTimes (double timeShift)

	~Grid ()

Protected Member Functions
int	findNextIndex () const

returnValue	setupEquidistant (double _firstTime, double _lastTime)

Protected Attributes
uint	nPoints

double *	times

Detailed Description

Allows to conveniently handle (one-dimensional) grids consisting of time points.

The class Grid allows to conveniently handle (one-dimensional) grids consisting of time points, as they usually occur when discretizing optimal control problems.

\note Time points of the grid are assumed to be ordered in increasing order.

\author Hans Joachim Ferreau, Boris Houska

Definition at line 58 of file grid.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO Grid::Grid ( )

Default constructor.

Definition at line 47 of file grid.cpp.

Grid::Grid	(	uint	nPoints_,
		double *	times_ = `0`
	)

Constructor that takes the number of grid points along with with an optional double array containing the initialization of the times.

Parameters

[in]	_nPoints	Number of grid points.
[in]	times_	Initialization of time points.

Definition at line 54 of file grid.cpp.

Grid::Grid ( const DVector & times_ )

Constructor that takes the number of grid points along with with a initialization of the times in form of a vector.

Parameters

[in] times Initialization of times.

Definition at line 63 of file grid.cpp.

Grid::Grid	(	double	_firstTime,
		double	_lastTime,
		uint	_nPoints = `2`
	)

Constructor that takes the number of grid points as well as as the time of the first and the last grid point. All intermediate grid points are setup to form a equidistant grid of time points.

Parameters

[in]	_firstTime	Time of first grid point.
[in]	_lastTime	Time of last grid point.
[in]	_nPoints	Number of grid points.

Definition at line 71 of file grid.cpp.

Grid::Grid ( const Grid & rhs )

Copy constructor (deep copy).

@param[in] rhs      Right-hand side object.

Definition at line 82 of file grid.cpp.

Grid::~Grid ( )

Destructor.

Definition at line 100 of file grid.cpp.

Member Function Documentation

returnValue Grid::addTime ( double _time )

Adds a new grid point with given time to grid.

@param[in] _time    Time point to be added.

Returns: SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Definition at line 339 of file grid.cpp.

returnValue Grid::coarsenGrid ( uint factor )

Coarsens grid by a given factor by equally leaving out time points from the existing ones.

Parameters

[in] factor Coarsening factor.

Returns: RET_NOT_YET_IMPLEMENTED,
RET_INVALID_ARGUMENTS

Definition at line 506 of file grid.cpp.

returnValue Grid::equalizeGrids ( Grid & arg )

Constructs the set union of two grids and replaces both grids by this union grid. Note that both the original as well as the argument grid is changed!

@param[in] arg      Right-hand side object.

Returns: SUCCESSFUL_RETURN

Definition at line 293 of file grid.cpp.

int Grid::findFirstTime	(	double	_time,
		uint	startIdx = `0`
	)		const

Returns index of first grid point at given time, starting at startIdx.

Parameters

[in]	_time	Time to be found.
[in]	startIdx	Start index for searching for time point.

Returns: >= 0: index of first grid point with given time,
-1: time point does not exist

Definition at line 539 of file grid.cpp.

int Grid::findLastTime	(	double	_time,
		uint	startIdx = `0`
	)		const

Returns index of last grid point at given time, starting at startIdx.

Parameters

[in]	_time	Time to be found.
[in]	startIdx	Start index for searching for time point.

Returns: >= 0: index of last grid point with given time,
-1: time point does not exist

Definition at line 561 of file grid.cpp.

int Grid::findNextIndex ( ) const

protected

Returns index of next unintialized grid point.

Returns: >= 0: index of next unintialized grid point,
-1: time point does not exist

Definition at line 741 of file grid.cpp.

int Grid::findTime	(	double	_time,
		uint	startIdx = `0`
	)		const

Returns index of an grid point at given time, starting at startIdx.

Parameters

[in]	_time	Time to be found.
[in]	startIdx	Start index for searching for time point.

Returns: >= 0: index of grid point with given time,
-1: time point does not exist

Definition at line 531 of file grid.cpp.

uint Grid::getCeilIndex ( double time ) const

Returns index of grid point with smallest time greater or equal to given time.

@param[in] _time    Time smaller or equal than that of the time point to be found.

Returns: >= 0: index of grid point with smallest time greater or equal to given time,
-1: time point does not exist

Definition at line 625 of file grid.cpp.

double Grid::getFirstTime ( ) const

inline

Returns time of first grid point.

Returns: Time of first grid point

uint Grid::getFloorIndex ( double time ) const

Returns index of grid point with greatest time smaller or equal to given time.

@param[in] _time    Time greater or equal than that of the time point to be found.

Returns: >= 0: index of grid point with greatest time smaller or equal to given time,
-1: time point does not exist

Definition at line 593 of file grid.cpp.

double Grid::getIntervalLength ( ) const

inline

Returns total interval length of grid.

Returns: Total interval length of grid

double Grid::getIntervalLength ( uint pointIdx ) const

inline

Returns interval length between given grid point and next one.

@param[in] pointIdx         Index of grid point at beginning of interval.

Returns: Interval length between given grid point and next one

uint Grid::getLastIndex ( ) const

inline

Returns largest index of grid (note the difference to getNumPoints()).

Returns: Largest index of grid.

double Grid::getLastTime ( ) const

inline

Returns time of last grid point.

Returns: Time of last grid point

uint Grid::getNumIntervals ( ) const

inline

Returns number of grid intervals.

Returns: Number of grid intervals

uint Grid::getNumPoints ( ) const

inline

Returns number of grid points.

Returns: Number of grid points

returnValue Grid::getSubGrid	(	double	tStart,
		double	tEnd,
		Grid &	_subGrid
	)		const

Returns a sub-grid of current grid starting a given start time end ending at given end time.

Parameters

[in]	tStart	Start time of sub-grid.
[in]	tEnd	End time of sub-grid.
[out]	_subGrid	Desired sub-grid.

Returns: SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Definition at line 655 of file grid.cpp.

double Grid::getTime ( uint pointIdx ) const

inline

Returns time of grid point with given index.

@param[in] pointIdx         Index of grid point.

Returns: Time of grid point with given index

BooleanType Grid::hasTime ( double _time ) const

Returns whether the grid contains a given time point.

@param[in] _time    Time point to be checked for existence.

Returns: BT_TRUE iff grid contains given time point,
BT_FALSE otherwise

Definition at line 520 of file grid.cpp.

returnValue Grid::init	(	uint	_nPoints = `0`,
		const double *const	_times = `0`
	)

Initializes grid with given number of grid points and given times.

Parameters

[in]	_nPoints	Number of grid points.
[in]	_times	Initialization of times.

Returns: SUCCESSFUL_RETURN

Definition at line 107 of file grid.cpp.

returnValue Grid::init ( const DVector & times_ )

Initializes grid with given number of grid points and given times in form of a vector.

Parameters

[in] times Initialization of times.

Returns: SUCCESSFUL_RETURN

Definition at line 136 of file grid.cpp.

returnValue Grid::init	(	double	_firstTime,
		double	_lastTime,
		uint	_nPoints = `2`
	)

Initializes grid with given number of grid points and an equidistant grid of time points between given time of the first and last grid point.

Parameters

[in]	_firstTime	Time of first grid point.
[in]	_lastTime	Time of last grid point.
[in]	_nPoints	Number of grid points.

Returns: SUCCESSFUL_RETURN

Definition at line 156 of file grid.cpp.

returnValue Grid::init ( const Grid & rhs )

Initializes grid with given grid.

@param[in] rhs                      Grid to be taken for initialization.

\note This routine is introduced only for convenience and

is equivalent to the assignment operator.

Returns: SUCCESSFUL_RETURN

Definition at line 175 of file grid.cpp.

BooleanType Grid::isEmpty ( ) const

inline

Returns whether the grid is empty (i.e. no grid points) or not.

Returns: BT_TRUE iff grid is empty,
BT_FALSE otherwise

BooleanType Grid::isEquidistant ( ) const

inline

Returns whether the grid has equally spaced grid points or not.

Returns: BT_TRUE iff grid is equidistant,
BT_FALSE otherwise

BooleanType Grid::isInInterval ( double _time ) const

inline

Returns whether given time lies within the total interval of the grid.

@param[in] _time    Time point to be checked.

Returns: BT_TRUE iff time within total interval,
BT_FALSE otherwise

BooleanType Grid::isInInterval	(	uint	pointIdx,
		double	_time
	)		const

inline

Returns whether given time lies within the interval between given grid point and next one.

Parameters

[in]	pointIdx	Index of grid point at beginning of interval.
[in]	_time	Time point to be checked.

Returns: BT_TRUE iff time within interval,
BT_FALSE otherwise

BooleanType Grid::isInLowerHalfOpenInterval	(	uint	pointIdx,
		double	_time
	)		const

inline

Returns whether given time lies within the half-open interval between given grid point (given grid point not included) and next one.

Parameters

[in]	pointIdx	Index of grid point at beginning of interval.
[in]	_time	Time point to be checked.

Returns: BT_TRUE iff time within interval,
BT_FALSE otherwise

BooleanType Grid::isInUpperHalfOpenInterval	(	uint	pointIdx,
		double	_time
	)		const

inline

Returns whether given time lies within the half-open interval between given grid point and next one (next one not included).

Parameters

[in]	pointIdx	Index of grid point at beginning of interval.
[in]	_time	Time point to be checked.

Returns: BT_TRUE iff time within interval,
BT_FALSE otherwise

BooleanType Grid::isLast ( uint pointIdx ) const

inline

Returns whether given index is the last one of the grid.

@param[in] pointIdx         Index of grid point.

Returns: BT_TRUE iff given index is the last one,
BT_FALSE otherwise

returnValue Grid::merge	(	const Grid &	arg,
		MergeMethod	_mergeMethod = `MM_DUPLICATE`,
		BooleanType	keepOverlap = `BT_TRUE`
	)

Constructs the set union in time of current and given grid. A merge method defines the way duplicate entries are handled. Moreover, it can be specified whether an overlap in time of both grids shall be kept or if only the entries of one of them shall be kept according to the merge method.

Parameters

[in]	arg	Grid to append.
[in]	_mergeMethod	Merge method, see documentation of MergeMethod for details.
[in]	keepOverlap	Flag indicating whether overlap shall be kept.

Returns: SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Definition at line 358 of file grid.cpp.

BooleanType Grid::operator!= ( const Grid & arg ) const

inline

Tests for non-equality.

@param[in] rhs      Object of comparison.

Returns: BT_TRUE iff both objects are not equal (in the above-mentioned sense),
BT_FALSE otherwise

Grid & Grid::operator& ( const Grid & arg )

Constructs the set union of two grids.

@param[in] arg      Right-hand side object.

Returns: Set union of two grids

Definition at line 212 of file grid.cpp.

BooleanType Grid::operator< ( const Grid & arg ) const

inline

Tests if left-hand side grid is a strict subset of the right-hand side one, i.e. if each the rhs grid contains all time points of the lhs (but is not equal).

@param[in] rhs      Object of comparison.

Returns: BT_TRUE iff left object is a strict subset of the right one,
BT_FALSE otherwise

BooleanType Grid::operator<= ( const Grid & arg ) const

inline

Tests if left-hand side grid is a subset of the right-hand side one, i.e. if each the rhs grid contains all time points of the lhs.

@param[in] rhs      Object of comparison.

Returns: BT_TRUE iff left object is a subset of the right one,
BT_FALSE otherwise

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

Assignment operator (deep copy).

    @param[in] rhs  Right-hand side object.

Definition at line 185 of file grid.cpp.

BooleanType Grid::operator== ( const Grid & arg ) const

inline

Tests for equality, i.e. if number of grid points AND time values at all grid points are equal.

@param[in] rhs      Object of comparison.

Returns: BT_TRUE iff both objects are equal,
BT_FALSE otherwise

BooleanType Grid::operator> ( const Grid & arg ) const

inline

Tests if right-hand side grid is a strict subset of the left-hand side one, i.e. if each the lhs grid contains all time points of the rhs (but is not equal).

@param[in] rhs      Object of comparison.

Returns: BT_TRUE iff right object is a strict subset of the left one,
BT_FALSE otherwise

BooleanType Grid::operator>= ( const Grid & arg ) const

inline

Tests if right-hand side grid is a subset of the left-hand side one, i.e. if each the lhs grid contains all time points of the rhs.

@param[in] rhs      Object of comparison.

Returns: BT_TRUE iff right object is a subset of the left one,
BT_FALSE otherwise

returnValue Grid::print ( ) const

Prints times of all grid points to screen.

Returns: SUCCESSFUL_RETURN

Definition at line 700 of file grid.cpp.

returnValue Grid::refineGrid ( uint factor )

Refines grid by a given factor by adding equally spaced additional time points in between existing ones.

Parameters

[in] factor Refinement factor.

Returns: SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Definition at line 477 of file grid.cpp.

returnValue Grid::scaleTimes ( double scaling )

Scales times at all grid points by a given positive factor.

@param[in] scaling  Positive scaling factor.

Returns: SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Definition at line 460 of file grid.cpp.

returnValue Grid::setTime ( double _time )

Assigns next unintialized time point.

@param[in] _time    New time point.

Returns: SUCCESSFUL_RETURN,
RET_GRIDPOINT_SETUP_FAILED,
RET_GRIDPOINT_HAS_INVALID_TIME

Definition at line 307 of file grid.cpp.

returnValue Grid::setTime	(	uint	pointIdx,
		double	_time
	)

Assigns new time to grid point with given index.

@param[in] pointIdx         Index of grid point.
@param[in] _time            New time.

Returns: SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS

Definition at line 326 of file grid.cpp.

returnValue Grid::setupEquidistant	(	double	_firstTime,
		double	_lastTime
	)

protected

Sets-up all times in an equidistant manner, starting at given start time and ending at given end time.

Parameters

[in]	_firstTime	Time of first grid point.
[in]	_lastTime	Time of last grid point.

Definition at line 715 of file grid.cpp.

Grid & Grid::shiftTimes ( double timeShift )

Shifts times at all grid points by a given offset.

@param[in] timeShift        Time offset for shifting.

Returns: Reference to object with shifted times

Definition at line 449 of file grid.cpp.

Member Data Documentation

uint Grid::nPoints

protected

Number of grid points.

Definition at line 613 of file grid.hpp.

double* Grid::times

protected

Time values at grid points.

Definition at line 614 of file grid.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