Base class for user-interfaces to formulate and solve optimal control problems and static NLPs. More...

#include <optimization_algorithm_base.hpp>

Inheritance diagram for OptimizationAlgorithmBase:

[legend]

Public Member Functions
returnValue	getAlgebraicStates (VariablesGrid &xa_) const

returnValue	getAlgebraicStates (const char *fileName) const

returnValue	getControls (VariablesGrid &p_) const

returnValue	getControls (const char *fileName) const

returnValue	getDifferentialStates (VariablesGrid &xd_) const

returnValue	getDifferentialStates (const char *fileName) const

returnValue	getDisturbances (VariablesGrid &w_) const

returnValue	getDisturbances (const char *fileName) const

double	getEndTime () const

virtual uint	getNP () const

virtual uint	getNU () const

virtual uint	getNW () const

virtual uint	getNX () const

virtual uint	getNXA () const

double	getObjectiveValue (const char *fileName) const

double	getObjectiveValue () const

returnValue	getParameters (VariablesGrid &u_) const

returnValue	getParameters (DVector &u_) const

returnValue	getParameters (const char *fileName) const

returnValue	getSensitivitiesP (BlockMatrix &_sens) const

returnValue	getSensitivitiesU (BlockMatrix &_sens) const

returnValue	getSensitivitiesW (BlockMatrix &_sens) const

returnValue	getSensitivitiesX (BlockMatrix &_sens) const

returnValue	getSensitivitiesXA (BlockMatrix &_sens) const

double	getStartTime () const

returnValue	initializeAlgebraicStates (const char *fileName, BooleanType autoinit=BT_FALSE)

returnValue	initializeAlgebraicStates (const VariablesGrid &xa_init_, BooleanType autoinit=BT_FALSE)

returnValue	initializeControls (const char *fileName)

returnValue	initializeControls (const VariablesGrid &p_init_)

returnValue	initializeDifferentialStates (const char *fileName, BooleanType autoinit=BT_FALSE)

returnValue	initializeDifferentialStates (const VariablesGrid &xd_init_, BooleanType autoinit=BT_FALSE)

returnValue	initializeDisturbances (const char *fileName)

returnValue	initializeDisturbances (const VariablesGrid &w_init_)

returnValue	initializeParameters (const char *fileName)

returnValue	initializeParameters (const VariablesGrid &u_init_)

OptimizationAlgorithmBase &	operator= (const OptimizationAlgorithmBase &arg)

	OptimizationAlgorithmBase ()

	OptimizationAlgorithmBase (const OCP &ocp_)

	OptimizationAlgorithmBase (const OptimizationAlgorithmBase &arg)

returnValue	simulateStatesForInitialization ()

virtual	~OptimizationAlgorithmBase ()

Protected Member Functions
virtual returnValue	allocateNlpSolver (Objective F, DynamicDiscretization G, Constraint *H)=0

returnValue	clear ()

virtual returnValue	determineDimensions (Objective const _objective, DifferentialEquation const _differentialEquation, Constraint const _constraint, uint &_nx, uint &_nxa, uint &_np, uint &_nu, uint &_nw) const

virtual returnValue	extractOCPdata (Objective objective, DifferentialEquation differentialEquation, Constraint *constraint, Grid &unionGrid)

returnValue	init (UserInteraction *_userIteraction)

virtual returnValue	initializeNlpSolver (const OCPiterate &_userInit)=0

virtual returnValue	initializeObjective (Objective *F)=0

virtual returnValue	initializeOCPiterate (Constraint *const _constraint, const Grid &_unionGrid, uint nx, uint nxa, uint np, uint nu, uint nw)

BooleanType	isLinearQuadratic (Objective F, DynamicDiscretization G, Constraint *H) const

virtual returnValue	setupDifferentialEquation (Objective objective, DifferentialEquation differentialEquation, Constraint constraint, Grid unionGrid)

virtual returnValue	setupDynamicDiscretization (UserInteraction _userIteraction, Objective objective, DifferentialEquation *differentialEquation, Constraint constraint, Grid unionGrid, DynamicDiscretization **dynamicDiscretization)

virtual returnValue	setupObjective (Objective objective, DifferentialEquation differentialEquation, Constraint constraint, Grid unionGrid)

Protected Attributes
OCPiterate	iter

NLPsolver *	nlpSolver

OCP *	ocp

OCPiterate	userInit

Detailed Description

Base class for user-interfaces to formulate and solve optimal control problems and static NLPs.

Notes:

time is normalised to [0,1] when doing time optimal control.

The class OptimizationAlgorithmBase serves as a base class for user-interfaces

to formulate and solve optimal control problems and static nonlinear programming (NLP) problems.

Author: Boris Houska, Hans Joachim Ferreau

Definition at line 65 of file optimization_algorithm_base.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO OptimizationAlgorithmBase::OptimizationAlgorithmBase ( )

Default constructor.

Definition at line 48 of file optimization_algorithm_base.cpp.

OptimizationAlgorithmBase::OptimizationAlgorithmBase ( const OCP & ocp_ )

Default constructor.

Definition at line 57 of file optimization_algorithm_base.cpp.

OptimizationAlgorithmBase::OptimizationAlgorithmBase ( const OptimizationAlgorithmBase & arg )

Copy constructor (deep copy).

Definition at line 66 of file optimization_algorithm_base.cpp.

OptimizationAlgorithmBase::~OptimizationAlgorithmBase ( )

virtual

Destructor.

Definition at line 79 of file optimization_algorithm_base.cpp.

Member Function Documentation

virtual returnValue OptimizationAlgorithmBase::allocateNlpSolver	(	Objective *	F,
		DynamicDiscretization *	G,
		Constraint *	H
	)

protectedpure virtual

Implemented in RealTimeAlgorithm, and OptimizationAlgorithm.

returnValue OptimizationAlgorithmBase::clear ( )

protected

Definition at line 457 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::determineDimensions	(	Objective *const	_objective,
		DifferentialEquation **const	_differentialEquation,
		Constraint *const	_constraint,
		uint &	_nx,
		uint &	_nxa,
		uint &	_np,
		uint &	_nu,
		uint &	_nw
	)		const

protectedvirtual

Definition at line 744 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::extractOCPdata	(	Objective **	objective,
		DifferentialEquation ***	differentialEquation,
		Constraint **	constraint,
		Grid &	unionGrid
	)

protectedvirtual

Definition at line 626 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getAlgebraicStates ( VariablesGrid & xa_ ) const

Definition at line 232 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getAlgebraicStates ( const char * fileName ) const

Definition at line 291 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getControls ( VariablesGrid & p_ ) const

Definition at line 262 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getControls ( const char * fileName ) const

Definition at line 321 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getDifferentialStates ( VariablesGrid & xd_ ) const

Definition at line 225 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getDifferentialStates ( const char * fileName ) const

Definition at line 276 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getDisturbances ( VariablesGrid & w_ ) const

Definition at line 269 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getDisturbances ( const char * fileName ) const

Definition at line 336 of file optimization_algorithm_base.cpp.

double OptimizationAlgorithmBase::getEndTime ( ) const

Definition at line 443 of file optimization_algorithm_base.cpp.

uint OptimizationAlgorithmBase::getNP ( ) const

virtual

Returns number of parameters.

Returns: Number of parameters

Reimplemented in RealTimeAlgorithm.

Definition at line 416 of file optimization_algorithm_base.cpp.

uint OptimizationAlgorithmBase::getNU ( ) const

virtual

Returns number of controls.

Returns: Number of controls

Reimplemented in RealTimeAlgorithm.

Definition at line 422 of file optimization_algorithm_base.cpp.

uint OptimizationAlgorithmBase::getNW ( ) const

virtual

Returns number of disturbances.

Returns: Number of disturbances

Reimplemented in RealTimeAlgorithm.

Definition at line 428 of file optimization_algorithm_base.cpp.

uint OptimizationAlgorithmBase::getNX ( ) const

virtual

Returns number of differential states.

Returns: Number of differential states

Reimplemented in RealTimeAlgorithm.

Definition at line 404 of file optimization_algorithm_base.cpp.

uint OptimizationAlgorithmBase::getNXA ( ) const

virtual

Returns number of algebraic states.

Returns: Number of algebraic states

Reimplemented in RealTimeAlgorithm.

Definition at line 410 of file optimization_algorithm_base.cpp.

double OptimizationAlgorithmBase::getObjectiveValue ( const char * fileName ) const

Definition at line 351 of file optimization_algorithm_base.cpp.

double OptimizationAlgorithmBase::getObjectiveValue ( ) const

Definition at line 361 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getParameters ( VariablesGrid & u_ ) const

Definition at line 239 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getParameters ( DVector & u_ ) const

Definition at line 246 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getParameters ( const char * fileName ) const

Definition at line 306 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getSensitivitiesP ( BlockMatrix & _sens ) const

Definition at line 382 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getSensitivitiesU ( BlockMatrix & _sens ) const

Definition at line 389 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getSensitivitiesW ( BlockMatrix & _sens ) const

Definition at line 396 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getSensitivitiesX ( BlockMatrix & _sens ) const

Definition at line 369 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::getSensitivitiesXA ( BlockMatrix & _sens ) const

Definition at line 376 of file optimization_algorithm_base.cpp.

double OptimizationAlgorithmBase::getStartTime ( ) const

Definition at line 434 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::init ( UserInteraction * _userIteraction )

protected

Initializes everything.

Definition at line 480 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::initializeAlgebraicStates	(	const char *	fileName,
		BooleanType	autoinit = `BT_FALSE`
	)

Definition at line 118 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::initializeAlgebraicStates	(	const VariablesGrid &	xa_init_,
		BooleanType	autoinit = `BT_FALSE`
	)

Definition at line 187 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::initializeControls ( const char * fileName )

Definition at line 142 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::initializeControls ( const VariablesGrid & p_init_ )

Definition at line 209 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::initializeDifferentialStates	(	const char *	fileName,
		BooleanType	autoinit = `BT_FALSE`
	)

Initialization of the optimization variables.

Definition at line 106 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::initializeDifferentialStates	(	const VariablesGrid &	xd_init_,
		BooleanType	autoinit = `BT_FALSE`
	)

Definition at line 167 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::initializeDisturbances ( const char * fileName )

Definition at line 154 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::initializeDisturbances ( const VariablesGrid & w_init_ )

Definition at line 217 of file optimization_algorithm_base.cpp.

virtual returnValue OptimizationAlgorithmBase::initializeNlpSolver ( const OCPiterate & _userInit )

protectedpure virtual

Implemented in RealTimeAlgorithm, MultiObjectiveAlgorithm, ParameterEstimationAlgorithm, MHEalgorithm, and OptimizationAlgorithm.

virtual returnValue OptimizationAlgorithmBase::initializeObjective ( Objective * F )

protectedpure virtual

Implemented in RealTimeAlgorithm, MultiObjectiveAlgorithm, ParameterEstimationAlgorithm, MHEalgorithm, and OptimizationAlgorithm.

returnValue OptimizationAlgorithmBase::initializeOCPiterate	(	Constraint *const	_constraint,
		const Grid &	_unionGrid,
		uint	nx,
		uint	nxa,
		uint	np,
		uint	nu,
		uint	nw
	)

protectedvirtual

Definition at line 808 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::initializeParameters ( const char * fileName )

Definition at line 130 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::initializeParameters ( const VariablesGrid & u_init_ )

Definition at line 201 of file optimization_algorithm_base.cpp.

BooleanType OptimizationAlgorithmBase::isLinearQuadratic	(	Objective *	F,
		DynamicDiscretization *	G,
		Constraint *	H
	)		const

protected

Definition at line 605 of file optimization_algorithm_base.cpp.

OptimizationAlgorithmBase & OptimizationAlgorithmBase::operator= ( const OptimizationAlgorithmBase & arg )

Assignment operator (deep copy).

Definition at line 86 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::setupDifferentialEquation	(	Objective *	objective,
		DifferentialEquation **	differentialEquation,
		Constraint *	constraint,
		Grid	unionGrid
	)

protectedvirtual

Definition at line 692 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::setupDynamicDiscretization	(	UserInteraction *	_userIteraction,
		Objective *	objective,
		DifferentialEquation **	differentialEquation,
		Constraint *	constraint,
		Grid	unionGrid,
		DynamicDiscretization **	dynamicDiscretization
	)

protectedvirtual

Definition at line 708 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::setupObjective	(	Objective *	objective,
		DifferentialEquation **	differentialEquation,
		Constraint *	constraint,
		Grid	unionGrid
	)

protectedvirtual

Definition at line 678 of file optimization_algorithm_base.cpp.

returnValue OptimizationAlgorithmBase::simulateStatesForInitialization ( )

Use this call to overwrite all states by a single shooting initialization. This function takes the initial state and controls and overwrite all states apart from the first one by simulation.

Definition at line 180 of file optimization_algorithm_base.cpp.