Discretizes a DifferentialEquation by means of a collocation scheme. More...

#include <collocation_method.hpp>

Inheritance diagram for CollocationMethod:

Public Member Functions
virtual returnValue	addStage (const DynamicSystem &dynamicSystem_, const Grid &stageIntervals, const IntegratorType &integratorType_=INT_UNKNOWN)

virtual returnValue	addTransition (const Transition &transition_)

virtual returnValue	clear ()

virtual DynamicDiscretization *	clone () const

	CollocationMethod ()

	CollocationMethod (UserInteraction *_userInteraction)

	CollocationMethod (const CollocationMethod &rhs)

virtual returnValue	deleteAllSeeds ()

virtual returnValue	evaluate (OCPiterate &iter)

virtual returnValue	evaluateSensitivities ()

virtual returnValue	evaluateSensitivities (const BlockMatrix &seed, BlockMatrix &hessian)

virtual returnValue	evaluateSensitivitiesLifted ()

virtual BooleanType	isAffine () const

CollocationMethod &	operator= (const CollocationMethod &rhs)

virtual returnValue	unfreeze ()

virtual	~CollocationMethod ()

Public Member Functions inherited from DynamicDiscretization
	DynamicDiscretization ()

	DynamicDiscretization (UserInteraction *_userInteraction)

	DynamicDiscretization (const DynamicDiscretization &rhs)

virtual returnValue	getBackwardSensitivities (BlockMatrix &D) const

virtual returnValue	getForwardSensitivities (BlockMatrix &D) const

int	getNumberOfIntervals () const

virtual returnValue	getResiduum (BlockMatrix &residuum_) const

DynamicDiscretization &	operator= (const DynamicDiscretization &rhs)

virtual returnValue	setBackwardSeed (const BlockMatrix &seed)

virtual returnValue	setForwardSeed (const BlockMatrix &xSeed_, const BlockMatrix &pSeed_, const BlockMatrix &uSeed_, const BlockMatrix &wSeed_)

virtual returnValue	setUnitBackwardSeed ()

virtual returnValue	setUnitForwardSeed ()

virtual	~DynamicDiscretization ()

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 ()

Additional Inherited Members
Protected Member Functions inherited from DynamicDiscretization
void	copy (const DynamicDiscretization &rhs)

uint	getNumEvaluationPoints () const

void	initializeVariables ()

virtual returnValue	setupLogging ()

virtual returnValue	setupOptions ()

Protected Attributes inherited from DynamicDiscretization
BlockMatrix	bSeed

BlockMatrix	dBackward

BlockMatrix	dForward

BooleanType	freezeTraj

int	N

int	na

int	np

int	nu

int	nw

int	nx

PrintLevel	printLevel

BlockMatrix	pSeed

VariablesGrid	residuum

Grid	unionGrid

BlockMatrix	uSeed

BlockMatrix	wSeed

BlockMatrix	xSeed

Protected Attributes inherited from AlgorithmicBase
int	outputLoggingIdx

BooleanType	useModuleStandalone

UserInteraction *	userInteraction

Detailed Description

Discretizes a DifferentialEquation by means of a collocation scheme.

The class CollocationMethod allows to discretize a DifferentialEquation for use in optimal control algorithms by means of a collocation scheme.

Author: Boris Houska, Hans Joachim Ferreau

Definition at line 53 of file collocation_method.hpp.

Constructor & Destructor Documentation

◆ CollocationMethod() [1/3]

BEGIN_NAMESPACE_ACADO CollocationMethod::CollocationMethod ( )

Default constructor.

Definition at line 46 of file collocation_method.cpp.

◆ CollocationMethod() [2/3]

CollocationMethod::CollocationMethod ( UserInteraction * _userInteraction )

Definition at line 51 of file collocation_method.cpp.

◆ CollocationMethod() [3/3]

CollocationMethod::CollocationMethod ( const CollocationMethod & rhs )

Copy constructor (deep copy).

Definition at line 56 of file collocation_method.cpp.

◆ ~CollocationMethod()

CollocationMethod::~CollocationMethod ( )

virtual

Destructor.

Definition at line 63 of file collocation_method.cpp.

Member Function Documentation

◆ addStage()

returnValue CollocationMethod::addStage	(	const DynamicSystem &	dynamicSystem_,
		const Grid &	stageIntervals,
		const IntegratorType &	integratorType_ = `INT_UNKNOWN`
	)

virtual

Set the Differential Equations stage by stage.

Implements DynamicDiscretization.

Definition at line 82 of file collocation_method.cpp.

◆ addTransition()

returnValue CollocationMethod::addTransition ( const Transition & transition_ )

virtual

Set the Transition stages.

Implements DynamicDiscretization.

Definition at line 90 of file collocation_method.cpp.

◆ clear()

returnValue CollocationMethod::clear ( )

virtual

Deletes all stages and transitions and resets the DynamicDiscretization.

Implements DynamicDiscretization.

Definition at line 97 of file collocation_method.cpp.

◆ clone()

DynamicDiscretization * CollocationMethod::clone ( ) const

virtual

Clone constructor (deep copy).

Implements DynamicDiscretization.

Definition at line 75 of file collocation_method.cpp.

◆ deleteAllSeeds()

returnValue CollocationMethod::deleteAllSeeds ( )

virtual

Deletes all seeds that have been set with the methods above.
This function will also give the corresponding memory free.

Returns: SUCCESSFUL_RETURN
RET_NO_SEED_ALLOCATED

Reimplemented from DynamicDiscretization.

Definition at line 129 of file collocation_method.cpp.

◆ evaluate()

returnValue CollocationMethod::evaluate ( OCPiterate & iter )

virtual

Evaluates the descretized DifferentialEquation at a specified
VariablesGrid. The results are written into the residuum of the
type VariablesGrid. This routine is for a simple evaluation only.
If sensitivities are needed use one of the routines below
instead.

Returns: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS
or a specific error message form an underlying
discretization instance.

Implements DynamicDiscretization.

Definition at line 104 of file collocation_method.cpp.

◆ evaluateSensitivities() [1/2]

returnValue CollocationMethod::evaluateSensitivities ( )

virtual

Evaluates the sensitivities.

Returns: SUCCESSFUL_RETURN
RET_NOT_FROZEN

Implements DynamicDiscretization.

Definition at line 111 of file collocation_method.cpp.

◆ evaluateSensitivities() [2/2]

returnValue CollocationMethod::evaluateSensitivities	(	const BlockMatrix &	seed,
		BlockMatrix &	hessian
	)

virtual

Evaluates the sensitivities and the hessian.

Returns: SUCCESSFUL_RETURN
RET_NOT_FROZEN

Implements DynamicDiscretization.

Definition at line 123 of file collocation_method.cpp.

◆ evaluateSensitivitiesLifted()

returnValue CollocationMethod::evaluateSensitivitiesLifted ( )

virtual

Evaluates the sensitivities.

Returns: SUCCESSFUL_RETURN
RET_NOT_FROZEN

Implements DynamicDiscretization.

Definition at line 117 of file collocation_method.cpp.

◆ isAffine()

BooleanType CollocationMethod::isAffine ( ) const

virtual

Implements DynamicDiscretization.

Definition at line 150 of file collocation_method.cpp.

◆ operator=()

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

Assignment operator (deep copy).

Definition at line 69 of file collocation_method.cpp.

◆ unfreeze()

returnValue CollocationMethod::unfreeze ( )

virtual

Implements DynamicDiscretization.

Definition at line 143 of file collocation_method.cpp.

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CollocationMethod() [1/3]

◆ CollocationMethod() [2/3]

◆ CollocationMethod() [3/3]

◆ ~CollocationMethod()

Member Function Documentation

◆ addStage()

◆ addTransition()

◆ clear()

◆ clone()

◆ deleteAllSeeds()

◆ evaluate()

◆ evaluateSensitivities() [1/2]

◆ evaluateSensitivities() [2/2]

◆ evaluateSensitivitiesLifted()

◆ isAffine()

◆ operator=()

◆ unfreeze()