Base class for different ways to evaluate functions and derivatives within an SCPmethod for solving NLPs. More...

#include <scp_evaluation.hpp>

Inheritance diagram for SCPevaluation:

Public Member Functions
returnValue	clearDynamicDiscretization ()

virtual SCPevaluation *	clone () const

virtual returnValue	evaluate (OCPiterate &iter, BandedCP &cp)

virtual returnValue	evaluateLagrangeGradient (uint N, const OCPiterate &iter, const BandedCP &cp, BlockMatrix &nablaL)

virtual returnValue	evaluateSensitivities (const OCPiterate &iter, BandedCP &cp)

virtual returnValue	freezeSensitivities ()

DVector	getConstraintBlockDims () const

virtual double	getKKTtolerance (const OCPiterate &iter, const BandedCP &cp, double KKTmultiplierRegularisation=0.0)

uint	getNumConstraintBlocks () const

uint	getNumConstraints () const

virtual double	getObjectiveValue () const

BooleanType	hasLSQobjective () const

virtual returnValue	init (const OCPiterate &iter)

BooleanType	isDynamicNLP () const

BooleanType	isStaticNLP () const

SCPevaluation &	operator= (const SCPevaluation &rhs)

	SCPevaluation ()

	SCPevaluation (UserInteraction _userInteraction, const Objective const objective_, const DynamicDiscretization const dynamic_discretization_, const Constraint const constraint_, BooleanType _isCP=BT_FALSE)

	SCPevaluation (const SCPevaluation &rhs)

returnValue	setReference (const VariablesGrid &ref)

virtual returnValue	unfreezeSensitivities ()

virtual	~SCPevaluation ()

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
virtual returnValue	setupLogging ()

virtual returnValue	setupOptions ()

Protected Attributes
BooleanType	areSensitivitiesFrozen

Constraint *	constraint

DynamicDiscretization *	dynamicDiscretization

BooleanType	isCP

Objective *	objective

double	objectiveValue

Protected Attributes inherited from AlgorithmicBase
int	outputLoggingIdx

BooleanType	useModuleStandalone

UserInteraction *	userInteraction

Detailed Description

Base class for different ways to evaluate functions and derivatives within an SCPmethod for solving NLPs.

The class SCPevaluation serves as a base class for different ways to evaluate functions and derivatives within an SCPmethod for solving nonlinear programming problems.

 \author Boris Houska, Hans Joachim Ferreau

Definition at line 63 of file scp_evaluation.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO SCPevaluation::SCPevaluation ( )

Default constructor.

Definition at line 45 of file scp_evaluation.cpp.

SCPevaluation::SCPevaluation	(	UserInteraction *	_userInteraction,
		const Objective *const	objective_,
		const DynamicDiscretization *const	dynamic_discretization_,
		const Constraint *const	constraint_,
		BooleanType	_isCP = `BT_FALSE`
	)

Definition at line 61 of file scp_evaluation.cpp.

SCPevaluation::SCPevaluation ( const SCPevaluation & rhs )

Copy constructor (deep copy).

Definition at line 91 of file scp_evaluation.cpp.

SCPevaluation::~SCPevaluation ( )

virtual

Destructor.

Definition at line 109 of file scp_evaluation.cpp.

Member Function Documentation

returnValue SCPevaluation::clearDynamicDiscretization ( )

Definition at line 533 of file scp_evaluation.cpp.

SCPevaluation * SCPevaluation::clone ( ) const

virtual

Definition at line 146 of file scp_evaluation.cpp.

returnValue SCPevaluation::evaluate	(	OCPiterate &	iter,
		BandedCP &	cp
	)

virtual

Evaluates the objective as well as the ODE/DAE discretization and the constraints for the case that they exist.

Definition at line 161 of file scp_evaluation.cpp.

returnValue SCPevaluation::evaluateLagrangeGradient	(	uint	N,
		const OCPiterate &	iter,
		const BandedCP &	cp,
		BlockMatrix &	nablaL
	)

virtual

Evaluates the gradient "nablaL" of the Lagrangian function.

Returns: SUCCESSFUL_RETURN

Definition at line 310 of file scp_evaluation.cpp.

returnValue SCPevaluation::evaluateSensitivities	(	const OCPiterate &	iter,
		BandedCP &	cp
	)

virtual

Evaluates the sensitivities of the objective as well as the ODE/DAE discretization and the constraints for the case that they exist.

Definition at line 201 of file scp_evaluation.cpp.

returnValue SCPevaluation::freezeSensitivities ( )

virtual

Definition at line 503 of file scp_evaluation.cpp.

DVector SCPevaluation::getConstraintBlockDims ( ) const

inline

double SCPevaluation::getKKTtolerance	(	const OCPiterate &	iter,
		const BandedCP &	cp,
		double	KKTmultiplierRegularisation = `0.0`
	)

virtual

computes the KKT-tolerance (only for internal termination check).

Returns: The requested KKT tolerance.

Definition at line 396 of file scp_evaluation.cpp.

uint SCPevaluation::getNumConstraintBlocks ( ) const

inline

uint SCPevaluation::getNumConstraints ( ) const

inline

double SCPevaluation::getObjectiveValue ( ) const

virtual

Definition at line 496 of file scp_evaluation.cpp.

BooleanType SCPevaluation::hasLSQobjective ( ) const

inline

returnValue SCPevaluation::init ( const OCPiterate & iter )

virtual

Definition at line 153 of file scp_evaluation.cpp.

BooleanType SCPevaluation::isDynamicNLP ( ) const

inline

BooleanType SCPevaluation::isStaticNLP ( ) const

inline

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

Assignment operator (deep copy).

Definition at line 117 of file scp_evaluation.cpp.

returnValue SCPevaluation::setReference ( const VariablesGrid & ref )

Definition at line 518 of file scp_evaluation.cpp.

returnValue SCPevaluation::setupLogging ( )

protectedvirtual

Definition at line 557 of file scp_evaluation.cpp.

returnValue SCPevaluation::setupOptions ( )

protectedvirtual

Definition at line 551 of file scp_evaluation.cpp.

returnValue SCPevaluation::unfreezeSensitivities ( )

virtual

Definition at line 510 of file scp_evaluation.cpp.

Member Data Documentation

BooleanType SCPevaluation::areSensitivitiesFrozen

protected

Definition at line 185 of file scp_evaluation.hpp.

Constraint* SCPevaluation::constraint

protected

Constraint functions

Definition at line 180 of file scp_evaluation.hpp.

DynamicDiscretization* SCPevaluation::dynamicDiscretization

protected

Descretized ODE or DAE

Definition at line 179 of file scp_evaluation.hpp.

BooleanType SCPevaluation::isCP

protected

Definition at line 184 of file scp_evaluation.hpp.

Objective* SCPevaluation::objective

protected

Objective function

Definition at line 178 of file scp_evaluation.hpp.

double SCPevaluation::objectiveValue

protected

The objective value.

Definition at line 182 of file scp_evaluation.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