VariablesGrid Class Reference

Provides a time grid consisting of vector-valued optimization variables at each grid point. More...

#include <variables_grid.hpp>

Inheritance diagram for VariablesGrid:

Public Member Functions
returnValue	addVector (const DVector &newVector, double newTime=-INFTY)
returnValue	appendTimes (const VariablesGrid &arg, MergeMethod _mergeMethod=MM_DUPLICATE)
returnValue	appendTimes (const DMatrix &arg, MergeMethod _mergeMethod=MM_DUPLICATE)
returnValue	appendValues (const VariablesGrid &arg)
DVector	getFirstVector () const
returnValue	getIntegral (InterpolationMode mode, DVector &value) const
DVector	getLastVector () const
returnValue	getSum (DVector &sum) const
VariablesGrid	getTimeSubGrid (uint startIdx, uint endIdx) const
VariablesGrid	getTimeSubGrid (double startTime, double endTime) const
VariablesGrid	getValuesSubGrid (uint startIdx, uint endIdx) const
DVector	getVector (uint pointIdx) const
returnValue	init ()
returnValue	init (uint _dim, const Grid &_grid, VariableType _type=VT_UNKNOWN, const char **const _names=0, const char **const _units=0, const DVector *const _scaling=0, const DVector *const _lb=0, const DVector *const _ub=0, const BooleanType *const _autoInit=0)
returnValue	init (uint _dim, uint _nPoints, VariableType _type=VT_UNKNOWN, const char **const _names=0, const char **const _units=0, const DVector *const _scaling=0, const DVector *const _lb=0, const DVector *const _ub=0, const BooleanType *const _autoInit=0)
returnValue	init (uint _dim, double _firstTime, double _lastTime, uint _nPoints, VariableType _type=VT_UNKNOWN, const char **const _names=0, const char **const _units=0, const DVector *const _scaling=0, const DVector *const _lb=0, const DVector *const _ub=0, const BooleanType *const _autoInit=0)
returnValue	init (const DVector &arg, const Grid &_grid=trivialGrid, VariableType _type=VT_UNKNOWN)
returnValue	merge (const VariablesGrid &arg, MergeMethod _mergeMethod=MM_DUPLICATE, BooleanType keepOverlap=BT_TRUE)
	operator DMatrix () const
double &	operator() (uint pointIdx, uint rowIdx)
double	operator() (uint pointIdx, uint rowIdx) const
VariablesGrid	operator() (const uint rowIdx) const
VariablesGrid	operator+ (const VariablesGrid &arg) const
VariablesGrid &	operator+= (const VariablesGrid &arg)
VariablesGrid	operator- (const VariablesGrid &arg) const
VariablesGrid &	operator-= (const VariablesGrid &arg)
VariablesGrid &	operator= (const VariablesGrid &rhs)
VariablesGrid &	operator= (const MatrixVariablesGrid &rhs)
VariablesGrid &	operator= (const DMatrix &rhs)
BooleanType	operator== (const VariablesGrid &arg) const
VariablesGrid	operator[] (const uint pointIdx) const
returnValue	setAllVectors (const DVector &_values)
returnValue	setVector (uint pointIdx, const DVector &_values)
VariablesGrid &	shiftBackwards (DVector lastValue=emptyVector)
VariablesGrid &	shiftTimes (double timeShift)
	VariablesGrid ()
	VariablesGrid (uint _dim, const Grid &_grid, VariableType _type=VT_UNKNOWN, const char **const _names=0, const char **const _units=0, const DVector *const _scaling=0, const DVector *const _lb=0, const DVector *const _ub=0, const BooleanType *const _autoInit=0)
	VariablesGrid (uint _dim, uint _nPoints, VariableType _type=VT_UNKNOWN, const char **const _names=0, const char **const _units=0, const DVector *const _scaling=0, const DVector *const _lb=0, const DVector *const _ub=0, const BooleanType *const _autoInit=0)
	VariablesGrid (uint _dim, double _firstTime, double _lastTime, uint _nPoints, VariableType _type=VT_UNKNOWN, const char **const _names=0, const char **const _units=0, const DVector *const _scaling=0, const DVector *const _lb=0, const DVector *const _ub=0, const BooleanType *const _autoInit=0)
	VariablesGrid (const DVector &arg, const Grid &_grid=trivialGrid, VariableType _type=VT_UNKNOWN)
	VariablesGrid (const DMatrix &arg, VariableType _type=VT_UNKNOWN)
	VariablesGrid (const VariablesGrid &rhs)
	VariablesGrid (const MatrixVariablesGrid &rhs)
	~VariablesGrid ()
Public Member Functions inherited from MatrixVariablesGrid
returnValue	addMatrix (const DMatrix &newMatrix, double newTime=-INFTY)
returnValue	appendTimes (const MatrixVariablesGrid &arg, MergeMethod _mergeMethod=MM_DUPLICATE)
returnValue	appendValues (const MatrixVariablesGrid &arg)
returnValue	coarsenGrid (const Grid &arg)
returnValue	disableAutoInit ()
returnValue	enableAutoInit ()
BooleanType	getAutoInit (uint pointIdx) const
MatrixVariablesGrid	getCoarsenedGrid (const Grid &arg) const
uint	getDim () const
DMatrix	getFirstMatrix () const
returnValue	getGrid (Grid &_grid) const
DMatrix	getLastMatrix () const
double	getLowerBound (uint pointIdx, uint valueIdx) const
DVector	getLowerBounds (uint pointIdx) const
DMatrix	getMatrix (uint pointIdx) const
double	getMax () const
double	getMean () const
double	getMin () const
returnValue	getName (uint pointIdx, uint idx, char *const _name) const
uint	getNumCols () const
uint	getNumCols (uint pointIdx) const
uint	getNumRows () const
uint	getNumRows (uint pointIdx) const
uint	getNumValues () const
uint	getNumValues (uint pointIdx) const
MatrixVariablesGrid	getRefinedGrid (const Grid &arg, InterpolationMode mode=IM_CONSTANT) const
DVector	getScaling (uint pointIdx) const
double	getScaling (uint pointIdx, uint valueIdx) const
Grid	getTimePoints () const
MatrixVariablesGrid	getTimeSubGrid (uint startIdx, uint endIdx) const
VariableType	getType () const
VariableType	getType (uint pointIdx) const
returnValue	getUnit (uint pointIdx, uint idx, char *const _unit) const
double	getUpperBound (uint pointIdx, uint valueIdx) const
DVector	getUpperBounds (uint pointIdx) const
MatrixVariablesGrid	getValuesSubGrid (uint startIdx, uint endIdx) const
BooleanType	hasLowerBounds () const
BooleanType	hasNames () const
BooleanType	hasScaling () const
BooleanType	hasUnits () const
BooleanType	hasUpperBounds () const
returnValue	init ()
returnValue	init (uint _nRows, uint _nCols, const Grid &_grid, VariableType _type=VT_UNKNOWN, const char **const _names=0, const char **const _units=0, const DVector *const _scaling=0, const DVector *const _lb=0, const DVector *const _ub=0, const BooleanType *const _autoInit=0)
returnValue	init (uint _nRows, uint _nCols, uint _nPoints, VariableType _type=VT_UNKNOWN, const char **const _names=0, const char **const _units=0, const DVector *const _scaling=0, const DVector *const _lb=0, const DVector *const _ub=0, const BooleanType *const _autoInit=0)
returnValue	init (uint _nRows, uint _nCols, double _firstTime, double _lastTime, uint _nPoints, VariableType _type=VT_UNKNOWN, const char **const _names=0, const char **const _units=0, const DVector *const _scaling=0, const DVector *const _lb=0, const DVector *const _ub=0, const BooleanType *const _autoInit=0)
returnValue	init (const DMatrix &arg, const Grid &_grid=trivialGrid, VariableType _type=VT_UNKNOWN)
DVector	linearInterpolation (double time) const
	MatrixVariablesGrid ()
	MatrixVariablesGrid (uint _nRows, uint _nCols, const Grid &_grid, VariableType _type=VT_UNKNOWN, const char **const _names=0, const char **const _units=0, const DVector *const _scaling=0, const DVector *const _lb=0, const DVector *const _ub=0, const BooleanType *const _autoInit=0)
	MatrixVariablesGrid (uint _nRows, uint _nCols, uint _nPoints, VariableType _type=VT_UNKNOWN, const char **const _names=0, const char **const _units=0, const DVector *const _scaling=0, const DVector *const _lb=0, const DVector *const _ub=0, const BooleanType *const _autoInit=0)
	MatrixVariablesGrid (uint _nRows, uint _nCols, double _firstTime, double _lastTime, uint _nPoints, VariableType _type=VT_UNKNOWN, const char **const _names=0, const char **const _units=0, const DVector *const _scaling=0, const DVector *const _lb=0, const DVector *const _ub=0, const BooleanType *const _autoInit=0)
	MatrixVariablesGrid (const DMatrix &arg, const Grid &_grid=trivialGrid, VariableType _type=VT_UNKNOWN)
	MatrixVariablesGrid (const MatrixVariablesGrid &rhs)
returnValue	merge (const MatrixVariablesGrid &arg, MergeMethod _mergeMethod=MM_DUPLICATE, BooleanType keepOverlap=BT_TRUE)
double &	operator() (uint pointIdx, uint rowIdx, uint colIdx)
double	operator() (uint pointIdx, uint rowIdx, uint colIdx) const
MatrixVariablesGrid	operator() (const uint rowIdx) const
MatrixVariablesGrid	operator+ (const MatrixVariablesGrid &arg) const
MatrixVariablesGrid &	operator+= (const MatrixVariablesGrid &arg)
MatrixVariablesGrid	operator- (const MatrixVariablesGrid &arg) const
MatrixVariablesGrid &	operator-= (const MatrixVariablesGrid &arg)
MatrixVariablesGrid &	operator= (const MatrixVariablesGrid &rhs)
MatrixVariablesGrid &	operator= (const DMatrix &rhs)
MatrixVariablesGrid	operator[] (const uint pointIdx) const
returnValue	print (std::ostream &stream=std::cout, const char *const name=DEFAULT_LABEL, const char *const startString=DEFAULT_START_STRING, const char *const endString=DEFAULT_END_STRING, uint width=DEFAULT_WIDTH, uint precision=DEFAULT_PRECISION, const char *const colSeparator=DEFAULT_COL_SEPARATOR, const char *const rowSeparator=DEFAULT_ROW_SEPARATOR) const
returnValue	print (const char *const filename, const char *const name=DEFAULT_LABEL, const char *const startString=DEFAULT_START_STRING, const char *const endString=DEFAULT_END_STRING, uint width=DEFAULT_WIDTH, uint precision=DEFAULT_PRECISION, const char *const colSeparator=DEFAULT_COL_SEPARATOR, const char *const rowSeparator=DEFAULT_ROW_SEPARATOR) const
returnValue	print (const char *const filename, const char *const name, PrintScheme printScheme) const
returnValue	print (std::ostream &stream, const char *const name, PrintScheme printScheme) const
returnValue	read (std::istream &stream)
returnValue	read (const char *const filename)
returnValue	refineGrid (const Grid &arg, InterpolationMode mode=IM_CONSTANT)
returnValue	setAll (double _value)
returnValue	setAllMatrices (const DMatrix &_values)
returnValue	setAutoInit (uint pointIdx, BooleanType _autoInit)
returnValue	setLowerBound (uint pointIdx, uint valueIdx, double _lb)
returnValue	setLowerBounds (uint pointIdx, const DVector &_lb)
returnValue	setMatrix (uint pointIdx, const DMatrix &_value) const
returnValue	setName (uint pointIdx, uint idx, const char *const _name)
returnValue	setScaling (uint pointIdx, const DVector &_scaling)
returnValue	setScaling (uint pointIdx, uint valueIdx, double _scaling)
returnValue	setType (VariableType _type)
returnValue	setType (uint pointIdx, VariableType _type)
returnValue	setUnit (uint pointIdx, uint idx, const char *const _unit)
returnValue	setUpperBound (uint pointIdx, uint valueIdx, double _ub)
returnValue	setUpperBounds (uint pointIdx, const DVector &_ub)
returnValue	setZero ()
MatrixVariablesGrid &	shiftBackwards (DMatrix lastValue=emptyMatrix)
MatrixVariablesGrid &	shiftTimes (double timeShift)
returnValue	sprint (std::ostream &stream)
virtual	~MatrixVariablesGrid ()
Public Member Functions inherited from Grid
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
returnValue	initializeFromBounds ()
Protected Member Functions inherited from MatrixVariablesGrid
returnValue	addMatrix (const MatrixVariable &newMatrix, double newTime=-INFTY)
returnValue	clearValues ()
returnValue	initMatrixVariables (uint _nRows, uint _nCols, VariableType _type=VT_UNKNOWN, const char **const _names=0, const char **const _units=0, const DVector *const _scaling=0, const DVector *const _lb=0, const DVector *const _ub=0, const BooleanType *const _autoInit=0)
Protected Member Functions inherited from Grid
int	findNextIndex () const
returnValue	setupEquidistant (double _firstTime, double _lastTime)

Friends
class	OptimizationAlgorithm
class	OptimizationAlgorithmBase
class	RealTimeAlgorithm

Additional Inherited Members
Protected Attributes inherited from MatrixVariablesGrid
MatrixVariable **	values
Protected Attributes inherited from Grid
uint	nPoints
double *	times

Detailed Description

Provides a time grid consisting of vector-valued optimization variables at each grid point.

The class VariablesGrid provides a time grid consisting of vector-valued optimization variables at each grid point, as they usually occur when discretizing optimal control problems.

The class specalizes the MatrixVariablesGrid class to vectors represented internally as matrices with exactly one column.

Author

Hans Joachim Ferreau, Boris Houska

Definition at line 56 of file variables_grid.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO VariablesGrid::VariablesGrid

(

)

Default constructor.

Definition at line 46 of file variables_grid.cpp.

VariablesGrid::VariablesGrid	(	uint	_dim,
		const Grid &	_grid,
		VariableType	_type = VT_UNKNOWN,
		const char **const	_names = 0,
		const char **const	_units = 0,
		const DVector *const	_scaling = 0,
		const DVector *const	_lb = 0,
		const DVector *const	_ub = 0,
		const BooleanType *const	_autoInit = 0
	)

Constructor that takes the dimension of each vector-valued MatrixVariable as well as the grid on which they are defined. Further information can optionally be specified.

Parameters

[in]	_dim	Dimension of each vector.
[in]	_grid	Grid on which the vector-valued MatrixVariable(s) are defined.
[in]	_type	Type of the variable(s).
[in]	_names	Array containing names (labels) for each component of the variable(s).
[in]	_units	Array containing units for each component of the variable(s).
[in]	_scaling	Array containing the scaling for each component of the variable(s).
[in]	_lb	Array containing lower bounds for each component of the variable(s).
[in]	_ub	Array containing upper bounds for each component of the variable(s).
[in]	_autoInit	Array defining if each component of the variable(s) is to be automatically initialized.

Definition at line 51 of file variables_grid.cpp.

VariablesGrid::VariablesGrid	(	uint	_dim,
		uint	_nPoints,
		VariableType	_type = VT_UNKNOWN,
		const char **const	_names = 0,
		const char **const	_units = 0,
		const DVector *const	_scaling = 0,
		const DVector *const	_lb = 0,
		const DVector *const	_ub = 0,
		const BooleanType *const	_autoInit = 0
	)

Constructor that takes the dimension of each vector-valued MatrixVariable as well as the number of grid points on which they are defined. Further information can optionally be specified.

Parameters

[in]	_dim	Dimension of each vector.
[in]	_nPoints	Number of grid points on which the vector-valued MatrixVariable(s) are defined.
[in]	_type	Type of the variable(s).
[in]	_names	Array containing names (labels) for each component of the variable(s).
[in]	_units	Array containing units for each component of the variable(s).
[in]	_scaling	Array containing the scaling for each component of the variable(s).
[in]	_lb	Array containing lower bounds for each component of the variable(s).
[in]	_ub	Array containing upper bounds for each component of the variable(s).
[in]	_autoInit	Array defining if each component of the variable(s) is to be automatically initialized.

Definition at line 65 of file variables_grid.cpp.

VariablesGrid::VariablesGrid	(	uint	_dim,
		double	_firstTime,
		double	_lastTime,
		uint	_nPoints,
		VariableType	_type = VT_UNKNOWN,
		const char **const	_names = 0,
		const char **const	_units = 0,
		const DVector *const	_scaling = 0,
		const DVector *const	_lb = 0,
		const DVector *const	_ub = 0,
		const BooleanType *const	_autoInit = 0
	)

Constructor that takes the dimensions of each vector-valued MatrixVariable as well as the number of grid points on which they are defined. Moreover, it takes the time of the first and the last grid point; all intermediate grid points are setup to form a equidistant grid of time points. Further information can optionally be specified.

Parameters

[in]	_dim	Dimension of each vector.
[in]	_firstTime	Time of first grid point.
[in]	_lastTime	Time of last grid point.
[in]	_nPoints	Number of grid points on which the vector-valued MatrixVariable(s) are defined.
[in]	_type	Type of the variable(s).
[in]	_names	Array containing names (labels) for each component of the variable(s).
[in]	_units	Array containing units for each component of the variable(s).
[in]	_scaling	Array containing the scaling for each component of the variable(s).
[in]	_lb	Array containing lower bounds for each component of the variable(s).
[in]	_ub	Array containing upper bounds for each component of the variable(s).
[in]	_autoInit	Array defining if each component of the variable(s) is to be automatically initialized.

Definition at line 79 of file variables_grid.cpp.

VariablesGrid::VariablesGrid	(	const DVector &	arg,
		const Grid &	_grid = trivialGrid,
		VariableType	_type = VT_UNKNOWN
	)

Constructor that creates a VariablesGrid on a given grid with given type. At each grid point, the vector-valued MatrixVariable is constructed from the vector passed.

Parameters

[in]	arg	DVector to be assign at each point of the grid.
[in]	_grid	Grid on which the vector-valued MatrixVariable(s) are defined.
[in]	_type	Type of the variable(s).

Definition at line 95 of file variables_grid.cpp.

VariablesGrid::VariablesGrid	(	const DMatrix &	arg,
		VariableType	_type = VT_UNKNOWN
	)

Constructor which reads data from a matrix. The data is expected to be in matrix format and is interpreted as follows: the first entry of each row is taken as time of the grid point to be added, all remaining entries of each row are taken as numerical values of a vector-valued MatrixVariable with exactly one column. In effect, a MatrixVariablesGrid consisting of <number of columns - 1>-by-1 MatrixVariables defined on <number of="" rows>=""> grid points is setup. Note that all rows are expected to have equal number of columns.

Parameters

[in]

file

File to be read.

Note

The file is closed at the end of routine.

Definition at line 103 of file variables_grid.cpp.

VariablesGrid::VariablesGrid

(

const VariablesGrid &

rhs

)

Copy constructor (deep copy).

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

Definition at line 119 of file variables_grid.cpp.

VariablesGrid::VariablesGrid

(

const MatrixVariablesGrid &

rhs

)

Copy constructor (deep copy).

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

Definition at line 125 of file variables_grid.cpp.

VariablesGrid::~VariablesGrid

(

)

Destructor.

Definition at line 133 of file variables_grid.cpp.

Member Function Documentation

returnValue VariablesGrid::addVector	(	const DVector &	newVector,
		double	newTime = -INFTY
	)

Adds a new grid point with given vector and time to grid.

@param[in] newVector        DVector of grid point to be added.
@param[in] newTime          Time of grid point to be added.

Returns

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Definition at line 271 of file variables_grid.cpp.

returnValue VariablesGrid::appendTimes	(	const VariablesGrid &	arg,
		MergeMethod	_mergeMethod = MM_DUPLICATE
	)

Appends grid point of given grid to object. A merge method defines the way duplicate entries are handled.

Parameters

[in]	arg	Grid to append.
[in]	_mergeMethod	Merge method, see documentation of MergeMethod for details.

Returns

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Definition at line 362 of file variables_grid.cpp.

returnValue VariablesGrid::appendTimes	(	const DMatrix &	arg,
		MergeMethod	_mergeMethod = MM_DUPLICATE
	)

Appends grid point of given grid to object. A merge method defines the way duplicate entries are handled.

Parameters

[in]	arg	Grid to append in matrix form.
[in]	_mergeMethod	Merge method, see documentation of MergeMethod for details.

Returns

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Definition at line 412 of file variables_grid.cpp.

returnValue VariablesGrid::appendValues

(

const VariablesGrid &

arg

)

Appends values at all grid points of given grid to object. Both grids need to be defined over identical grid points.

Parameters

[in]

arg

Grid whose values are to appended.

Returns

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Definition at line 421 of file variables_grid.cpp.

DVector VariablesGrid::getFirstVector

(

)

const

Returns vector at first grid point.

Returns

DVector at first grid point

Definition at line 316 of file variables_grid.cpp.

returnValue VariablesGrid::getIntegral	(	InterpolationMode	mode,
		DVector &	value
	)		const

Returns a component-wise approximation of the integral over all vectors at all grid points.

@param[in]  mode    Specifies how the vector-values are interpolated for approximating the integral, see documentation of InterpolationMode for details.
@param[out] value   Component-wise approximation of the integral over all vectors at all grid points.

Returns

SUCCESSFUL_RETURN

Definition at line 625 of file variables_grid.cpp.

DVector VariablesGrid::getLastVector

(

)

const

Returns vector at first grid point.

Returns

DVector at first grid point

Definition at line 325 of file variables_grid.cpp.

returnValue VariablesGrid::getSum

(

DVector &

sum

)

const

Returns the component-wise sum over all vectors at all grid points.

@param[out] sum             Component-wise sum over all vectors at all grid points.

Returns

SUCCESSFUL_RETURN

Definition at line 613 of file variables_grid.cpp.

VariablesGrid VariablesGrid::getTimeSubGrid	(	uint	startIdx,
		uint	endIdx
	)		const

Returns the sub grid in time starting and ending at given indices.

Parameters

[in]	startIdx	Index of first grid point to be included in sub grid.
[in]	endIdx	Index of last grid point to be included in sub grid.

Returns

Sub grid in time

Definition at line 542 of file variables_grid.cpp.

VariablesGrid VariablesGrid::getTimeSubGrid	(	double	startTime,
		double	endTime
	)		const

Returns the sub grid in time starting and ending at given times.

Parameters

[in]	startTime	Time of first grid point to be included in sub grid.
[in]	endTime	Time of last grid point to be included in sub grid.

Returns

Sub grid in time

Definition at line 561 of file variables_grid.cpp.

VariablesGrid VariablesGrid::getValuesSubGrid	(	uint	startIdx,
		uint	endIdx
	)		const

Returns the sub grid of values. It comprises all grid points of the object, but comprises at each grid point only the compenents starting and ending at given indices.

Parameters

[in]	startIdx	Index of first compenent to be included in sub grid.
[in]	endIdx	Index of last compenent to be included in sub grid.

Note

This function implicitly assumes that vectors at all grid points have same number of components (or at least more than 'endIdx').

Returns

Sub grid of values

Definition at line 593 of file variables_grid.cpp.

DVector VariablesGrid::getVector

(

uint

pointIdx

)

const

Returns vector at grid point with given index.

@param[in] pointIdx         Index of grid point.

Returns

DVector at grid point with given index (empty if index is out of bounds)

Definition at line 306 of file variables_grid.cpp.

returnValue VariablesGrid::init

(

)

Initializes an empty VariablesGrid.

\return SUCCESSFUL_RETURN

Definition at line 208 of file variables_grid.cpp.

returnValue VariablesGrid::init	(	uint	_dim,
		const Grid &	_grid,
		VariableType	_type = VT_UNKNOWN,
		const char **const	_names = 0,
		const char **const	_units = 0,
		const DVector *const	_scaling = 0,
		const DVector *const	_lb = 0,
		const DVector *const	_ub = 0,
		const BooleanType *const	_autoInit = 0
	)

Initializes the VariablesGrid on a given grid with given dimension of each vector-valued MatrixVariable. Further information can optionally be specified.

Parameters

[in]	_dim	Dimension of each vector.
[in]	_grid	Grid on which the vector-valued MatrixVariable(s) are defined.
[in]	_type	Type of the variable(s).
[in]	_names	Array containing names (labels) for each component of the variable(s).
[in]	_units	Array containing units for each component of the variable(s).
[in]	_scaling	Array containing the scaling for each component of the variable(s).
[in]	_lb	Array containing lower bounds for each component of the variable(s).
[in]	_ub	Array containing upper bounds for each component of the variable(s).
[in]	_autoInit	Array defining if each component of the variable(s) is to be automatically initialized.

Returns

SUCCESSFUL_RETURN

Definition at line 214 of file variables_grid.cpp.

returnValue VariablesGrid::init	(	uint	_dim,
		uint	_nPoints,
		VariableType	_type = VT_UNKNOWN,
		const char **const	_names = 0,
		const char **const	_units = 0,
		const DVector *const	_scaling = 0,
		const DVector *const	_lb = 0,
		const DVector *const	_ub = 0,
		const BooleanType *const	_autoInit = 0
	)

Initializes the VariablesGrid taking the dimension of each vector-valued MatrixVariable as well as the number of grid points on which they are defined. Further information can optionally be specified.

Parameters

[in]	_dim	Dimension of each vector.
[in]	_nPoints	Number of grid points on which the vector-valued MatrixVariable(s) are defined.
[in]	_type	Type of the variable(s).
[in]	_names	Array containing names (labels) for each component of the variable(s).
[in]	_units	Array containing units for each component of the variable(s).
[in]	_scaling	Array containing the scaling for each component of the variable(s).
[in]	_lb	Array containing lower bounds for each component of the variable(s).
[in]	_ub	Array containing upper bounds for each component of the variable(s).
[in]	_autoInit	Array defining if each component of the variable(s) is to be automatically initialized.

Returns

SUCCESSFUL_RETURN

Definition at line 229 of file variables_grid.cpp.

returnValue VariablesGrid::init	(	uint	_dim,
		double	_firstTime,
		double	_lastTime,
		uint	_nPoints,
		VariableType	_type = VT_UNKNOWN,
		const char **const	_names = 0,
		const char **const	_units = 0,
		const DVector *const	_scaling = 0,
		const DVector *const	_lb = 0,
		const DVector *const	_ub = 0,
		const BooleanType *const	_autoInit = 0
	)

Initializes the MatrixVariablesGrid taking the dimension of each vector-valued MatrixVariable as well as the number of grid points on which they are defined. Moreover, it takes the time of the first and the last grid point; all intermediate grid points are setup to form a equidistant grid of time points. Further information can optionally be specified.

Parameters

[in]	_dim	Dimension of each vector.
[in]	_firstTime	Time of first grid point.
[in]	_lastTime	Time of last grid point.
[in]	_nPoints	Number of grid points on which the vector-valued MatrixVariable(s) are defined.
[in]	_type	Type of the variable(s).
[in]	_names	Array containing names (labels) for each component of the variable(s).
[in]	_units	Array containing units for each component of the variable(s).
[in]	_scaling	Array containing the scaling for each component of the variable(s).
[in]	_lb	Array containing lower bounds for each component of the variable(s).
[in]	_ub	Array containing upper bounds for each component of the variable(s).
[in]	_autoInit	Array defining if each component of the variable(s) is to be automatically initialized.

Returns

SUCCESSFUL_RETURN

Definition at line 244 of file variables_grid.cpp.

returnValue VariablesGrid::init	(	const DVector &	arg,
		const Grid &	_grid = trivialGrid,
		VariableType	_type = VT_UNKNOWN
	)

Initializes the VariablesGrid on a given grid with given type. At each grid point, the vector-valued MatrixVariable is constructed from the matrix passed.

Parameters

[in]	arg	DVector to be assign at each point of the grid.
[in]	_grid	Grid on which the vector-valued MatrixVariable(s) are defined.
[in]	_type	Type of the variable(s).

Returns

SUCCESSFUL_RETURN

Definition at line 261 of file variables_grid.cpp.

returnValue VariablesGrid::initializeFromBounds ( )

protected

Initializes the grid vector by taking average between upper and lower bound. If one of these bounds is infinity it is initialized with the bound. If both bounds are infinity it is initialized with 0. This routine is only for internal use by the OptimizationAlgorithm, that is a friend of this class.

Returns

SUCCESSFUL_RETURN

Definition at line 666 of file variables_grid.cpp.

returnValue VariablesGrid::merge	(	const VariablesGrid &	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 446 of file variables_grid.cpp.

VariablesGrid::operator DMatrix

(

)

const

Definition at line 703 of file variables_grid.cpp.

double& VariablesGrid::operator() ( uint  pointIdx, uint  rowIdx  )

inline

Returns the value of a certain component at a certain grid point.

    @param[in] pointIdx             Index of grid point.
    @param[in] rowIdx               Row index of the component to be returned.

Returns

Value of component 'rowIdx' at grid point 'pointIdx'

double VariablesGrid::operator() ( uint  pointIdx, uint  rowIdx  ) const

inline

Returns the value of a certain component at a certain grid point.

    @param[in] pointIdx             Index of grid point.
    @param[in] rowIdx               Row index of the component to be returned.

Returns

Value of component 'rowIdx' at grid point 'pointIdx'

VariablesGrid VariablesGrid::operator()

(

const uint

rowIdx

)

const

Returns a VariablesGrid consisting only of the given row.

    @param[in] rowIdx               Row index of the component to be returned.

Returns

VariablesGrid consisting only of the given row

Definition at line 169 of file variables_grid.cpp.

VariablesGrid VariablesGrid::operator+ ( const VariablesGrid &  arg ) const

inline

Adds (element-wise) two VariablesGrid into a temporary object.

@param[in] arg              Second summand.

Returns

Temporary object containing sum of VariablesGrids.

VariablesGrid& VariablesGrid::operator+= ( const VariablesGrid &  arg )

inline

Adds (element-wise) a VariablesGrid to object.

@param[in] arg              Second summand.

Returns

Reference to object after addition

VariablesGrid VariablesGrid::operator- ( const VariablesGrid &  arg ) const

inline

Subtracts (element-wise) a VariablesGrid from the object and stores result into a temporary object.

@param[in] arg              Subtrahend.

Returns

Temporary object containing the difference of the VariablesGrids

VariablesGrid& VariablesGrid::operator-= ( const VariablesGrid &  arg )

inline

Subtracts (element-wise) a VariablesGrid from the object.

@param[in] arg              Subtrahend.

Returns

Reference to object after subtraction

VariablesGrid & VariablesGrid::operator=

(

const VariablesGrid &

rhs

)

Assignment operator (deep copy).

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

Definition at line 138 of file variables_grid.cpp.

VariablesGrid & VariablesGrid::operator=

(

const MatrixVariablesGrid &

rhs

)

Assignment operator (deep copy).

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

Definition at line 149 of file variables_grid.cpp.

VariablesGrid & VariablesGrid::operator=

(

const DMatrix &

rhs

)

Assignment operator which reads data from a matrix. The data is interpreted as follows: the first entry of each row is taken as time of the grid point to be added, all remaining entries of each row are taken as numerical values of a vector-valued MatrixVariable with exactly one column. In effect, a MatrixVariablesGrid consisting of <number of columns - 1>-by-1 MatrixVariables defined on <number of="" rows>=""> grid points is setup.

Parameters

[in]

rhs

DMatrix to be read.

Note

The file is closed at the end of routine.

Definition at line 162 of file variables_grid.cpp.

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

inline

Tests for equality,

@param[in] rhs      Object of comparison.

Returns

BT_TRUE iff both objects are equal,
BT_FALSE otherwise

VariablesGrid VariablesGrid::operator[]

(

const uint

pointIdx

)

const

Returns a VariablesGrid consisting only of the values at given grid point.

Parameters

[in]

pointIdx

Index of grid point.

Returns

VariablesGrid consisting only of the values at given grid point

Definition at line 191 of file variables_grid.cpp.

returnValue VariablesGrid::setAllVectors

(

const DVector &

_values

)

Assigns new vector to all grid points.

@param[in] _value           New vector.

Returns

SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS,
RET_VECTOR_DIMENSION_MISMATCH

Definition at line 296 of file variables_grid.cpp.

returnValue VariablesGrid::setVector	(	uint	pointIdx,
		const DVector &	_values
	)

Assigns new vector to grid point with given index.

@param[in] pointIdx         Index of grid point.
@param[in] _value           New vector.

Returns

SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS,
RET_VECTOR_DIMENSION_MISMATCH

Parameters

pointIdx	Index of the grid point.
_values	New values of the sub-vector.

Definition at line 279 of file variables_grid.cpp.

VariablesGrid & VariablesGrid::shiftBackwards

(

DVector

lastValue = emptyVector

)

Shifts all grid points backwards by one grid point, deleting the first one and doubling the value at last grid point.

Returns

Reference to object with shifted points

Definition at line 343 of file variables_grid.cpp.

VariablesGrid & VariablesGrid::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 335 of file variables_grid.cpp.

Friends And Related Function Documentation

friend class OptimizationAlgorithm

friend

Definition at line 59 of file variables_grid.hpp.

friend class OptimizationAlgorithmBase

friend

Definition at line 58 of file variables_grid.hpp.

friend class RealTimeAlgorithm

friend

Definition at line 60 of file variables_grid.hpp.

---

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

• variables_grid.hpp
• variables_grid.cpp