33 #ifndef ACADO_TOOLKIT_NLP_SOLVER_HPP 34 #define ACADO_TOOLKIT_NLP_SOLVER_HPP 193 #include <acado/nlp_solver/nlp_solver.ipp> 196 #endif // ACADO_TOOLKIT_NLP_SOLVER_HPP
Implements a very rudimentary block sparse matrix class.
virtual returnValue getAlgebraicStates(VariablesGrid &xa_) const
virtual returnValue getSensitivitiesP(BlockMatrix &_sens) const
virtual returnValue feedbackStep(const DVector &x0_, const DVector &p_=emptyConstVector)
virtual returnValue performCurrentStep()
Provides a time grid consisting of vector-valued optimization variables at each grid point...
virtual returnValue getSensitivitiesX(BlockMatrix &_sens) const
Allows to pass back messages to the calling function.
virtual returnValue prepareNextStep()
virtual returnValue setReference(const VariablesGrid &ref)
virtual returnValue solve(const DVector &x0_=emptyConstVector, const DVector &p_=emptyConstVector)
virtual returnValue getSensitivitiesXA(BlockMatrix &_sens) const
NLPsolver & operator=(const NLPsolver &rhs)
Base class for all algorithmic modules within the ACADO Toolkit providing some basic functionality...
virtual double getObjectiveValue() const
virtual returnValue init(VariablesGrid *xd, VariablesGrid *xa, VariablesGrid *p, VariablesGrid *u, VariablesGrid *w)=0
#define CLOSE_NAMESPACE_ACADO
virtual returnValue getDisturbances(VariablesGrid &w_) const
virtual returnValue setupOptions()
virtual returnValue getControls(VariablesGrid &u_) const
virtual returnValue shiftVariables(double timeShift, DVector lastX=emptyVector, DVector lastXA=emptyVector, DVector lastP=emptyVector, DVector lastU=emptyVector, DVector lastW=emptyVector)
static const DVector emptyConstVector
virtual returnValue setupLogging()
virtual NLPsolver * clone() const =0
virtual returnValue getParameters(VariablesGrid &p_) const
int getNumberOfSteps() const
Encapsulates all user interaction for setting options, logging data and plotting results.
NLPsolver(UserInteraction *_userInteraction=0)
void rhs(const real_t *x, real_t *f)
Base class for different algorithms for solving nonlinear programming (NLP) problems.
virtual returnValue getSensitivitiesW(BlockMatrix &_sens) const
virtual returnValue getVarianceCovariance(DMatrix &var)=0
returnValue resetNumberOfSteps()
virtual returnValue getSensitivitiesU(BlockMatrix &_sens) const
virtual returnValue step(const DVector &x0_=emptyConstVector, const DVector &p_=emptyConstVector)
virtual returnValue getDifferentialStates(VariablesGrid &xd_) const
static DVector emptyVector
virtual returnValue getFirstControl(DVector &u0_) const
#define BEGIN_NAMESPACE_ACADO