Public Member Functions | List of all members

Stores and evaluates path constraints within optimal control problems. More...

#include <path_constraint.hpp>

Inheritance diagram for PathConstraint:
Inheritance graph
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Public Member Functions

returnValue add (const DVector lb_, const Expression &arg, const DVector ub_)
 
returnValue evaluate (const OCPiterate &iter)
 
returnValue evaluateSensitivities ()
 
returnValue evaluateSensitivities (int &count, const BlockMatrix &seed, BlockMatrix &hessian)
 
int getDim (const int &idx_)
 
int getNC () const
 
BooleanType isBoxConstraint () const
 
PathConstraintoperator= (const PathConstraint &rhs)
 
 PathConstraint ()
 
 PathConstraint (const Grid &grid_)
 
 PathConstraint (const PathConstraint &rhs)
 
virtual ~PathConstraint ()
 
- Public Member Functions inherited from ConstraintElement
 ConstraintElement ()
 
 ConstraintElement (const Grid &grid_, int nFcn_, int nB_)
 
 ConstraintElement (const ConstraintElement &rhs)
 
returnValue get (Function &function_, DMatrix &lb_, DMatrix &ub_)
 
virtual returnValue getBackwardSensitivities (BlockMatrix *D, int order)
 
virtual returnValue getForwardSensitivities (BlockMatrix *D, int order)
 
GridgetGrid ()
 
int getNP () const
 
int getNU () const
 
int getNW () const
 
int getNX () const
 
int getNXA () const
 
virtual returnValue getResiduum (BlockMatrix &lower_residuum, BlockMatrix &upper_residuum)
 
returnValue init (const OCPiterate &iter)
 
BooleanType isAffine () const
 
ConstraintElementoperator= (const ConstraintElement &rhs)
 
virtual returnValue setBackwardSeed (BlockMatrix *seed, int order)
 
virtual returnValue setForwardSeed (BlockMatrix *xSeed_, BlockMatrix *xaSeed_, BlockMatrix *pSeed_, BlockMatrix *uSeed_, BlockMatrix *wSeed_, int order)
 
virtual returnValue setUnitForwardSeed ()
 
virtual ~ConstraintElement ()
 

Additional Inherited Members

- Protected Member Functions inherited from ConstraintElement
virtual returnValue initializeEvaluationPoints (const OCPiterate &iter)
 
- Protected Attributes inherited from ConstraintElement
BlockMatrixbSeed
 
BlockMatrixbSeed2
 
CondensingType condType
 
BlockMatrix dBackward
 
BlockMatrix dForward
 
Functionfcn
 
Grid grid
 
EvaluationPointJJ
 
double ** lb
 
int na
 
int nB
 
int nFcn
 
int np
 
int nu
 
int nw
 
int nx
 
int ny
 
BlockMatrixpSeed
 
BlockMatrixpSeed2
 
BlockMatrix residuumL
 
BlockMatrix residuumU
 
int * t_index
 
double ** ub
 
BlockMatrixuSeed
 
BlockMatrixuSeed2
 
BlockMatrixwSeed
 
BlockMatrixwSeed2
 
BlockMatrixxaSeed
 
BlockMatrixxaSeed2
 
BlockMatrixxSeed
 
BlockMatrixxSeed2
 
int ** y_index
 
EvaluationPointz
 

Detailed Description

Stores and evaluates path constraints within optimal control problems.

The class PathConstraint allows to manage and evaluate constraints along the whole horizon within optimal control problems. Note that the path constraints need to be decoupled on each control interval, otherwise the class CouplePathConstraint has to be used.

\author Boris Houska, Hans Joachim Ferreau

Definition at line 57 of file path_constraint.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO PathConstraint::PathConstraint ( )

Default constructor.

Definition at line 46 of file path_constraint.cpp.

PathConstraint::PathConstraint ( const Grid grid_)

Default constructor.

Definition at line 51 of file path_constraint.cpp.

PathConstraint::PathConstraint ( const PathConstraint rhs)

Copy constructor (deep copy).

Definition at line 56 of file path_constraint.cpp.

PathConstraint::~PathConstraint ( )
virtual

Destructor.

Definition at line 61 of file path_constraint.cpp.

Member Function Documentation

returnValue PathConstraint::add ( const DVector  lb_,
const Expression arg,
const DVector  ub_ 
)
inline

Adds a path-constraint component.

Returns
SUCCESSFUL_RETURN RET_MEMBER_NOT_INITIALISED (if the ConstraintElement::fcn is not initialized)
returnValue PathConstraint::evaluate ( const OCPiterate iter)

Evaluates all components in this constraint and stores the
residuum.

Returns
SUCESSFUL_RETURN

Definition at line 76 of file path_constraint.cpp.

returnValue PathConstraint::evaluateSensitivities ( )

Evaluates the sensitivities of all components in this
constraint. Note that the seed can be defined via the base
class ConstraintElement.

Returns
SUCESSFUL_RETURN

Definition at line 113 of file path_constraint.cpp.

returnValue PathConstraint::evaluateSensitivities ( int &  count,
const BlockMatrix seed,
BlockMatrix hessian 
)

Evaluates the sensitivities and Hessian.

Returns
SUCESSFUL_RETURN

Definition at line 191 of file path_constraint.cpp.

int PathConstraint::getDim ( const int &  idx_)
inline

returns the dimension of a specified block of the constraints

int PathConstraint::getNC ( ) const
inline

returns the number of constraints

BooleanType PathConstraint::isBoxConstraint ( ) const
inline
PathConstraint & PathConstraint::operator= ( const PathConstraint rhs)

Assignment operator (deep copy).

Definition at line 65 of file path_constraint.cpp.


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


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Mon Jun 10 2019 12:35:25