Base class for discretizing a DifferentialEquation for use in optimal control algorithms. More...

#include <dynamic_discretization.hpp>

Inheritance diagram for DynamicDiscretization:

Public Member Functions
virtual returnValue	addStage (const DynamicSystem &dynamicSystem_, const Grid &stageIntervals, const IntegratorType &integratorType_=INT_UNKNOWN)=0

virtual returnValue	addTransition (const Transition &transition_)=0

virtual returnValue	clear ()=0

virtual DynamicDiscretization *	clone () const =0

virtual returnValue	deleteAllSeeds ()

	DynamicDiscretization ()

	DynamicDiscretization (UserInteraction *_userInteraction)

	DynamicDiscretization (const DynamicDiscretization &rhs)

virtual returnValue	evaluate (OCPiterate &iter)=0

virtual returnValue	evaluateSensitivities ()=0

virtual returnValue	evaluateSensitivities (const BlockMatrix &seed, BlockMatrix &hessian)=0

virtual returnValue	evaluateSensitivitiesLifted ()=0

virtual returnValue	getBackwardSensitivities (BlockMatrix &D) const

virtual returnValue	getForwardSensitivities (BlockMatrix &D) const

int	getNumberOfIntervals () const

virtual returnValue	getResiduum (BlockMatrix &residuum_) const

virtual BooleanType	isAffine () const =0

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 returnValue	unfreeze ()=0

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 ()

Protected Member Functions
void	copy (const DynamicDiscretization &rhs)

uint	getNumEvaluationPoints () const

void	initializeVariables ()

virtual returnValue	setupLogging ()

virtual returnValue	setupOptions ()

Protected Attributes
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

Base class for discretizing a DifferentialEquation for use in optimal control algorithms.

The class DynamicDiscretization serves as a base class for discretizing a DifferentialEquation for use in optimal control algorithms.

Author: Boris Houska, Hans Joachim Ferreau

Definition at line 62 of file dynamic_discretization.hpp.

Constructor & Destructor Documentation

◆ DynamicDiscretization() [1/3]

BEGIN_NAMESPACE_ACADO DynamicDiscretization::DynamicDiscretization ( )

Default constructor.

Definition at line 48 of file dynamic_discretization.cpp.

◆ DynamicDiscretization() [2/3]

DynamicDiscretization::DynamicDiscretization ( UserInteraction * _userInteraction )

Definition at line 59 of file dynamic_discretization.cpp.

◆ DynamicDiscretization() [3/3]

DynamicDiscretization::DynamicDiscretization ( const DynamicDiscretization & rhs )

Copy constructor (deep copy).

Definition at line 72 of file dynamic_discretization.cpp.

◆ ~DynamicDiscretization()

DynamicDiscretization::~DynamicDiscretization ( )

virtual

Destructor.

Definition at line 79 of file dynamic_discretization.cpp.

Member Function Documentation

◆ addStage()

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

pure virtual

Set the Differential Equations stage by stage.

Implemented in CollocationMethod, and ShootingMethod.

◆ addTransition()

virtual returnValue DynamicDiscretization::addTransition ( const Transition & transition_ )

pure virtual

Set the Transition stages.

Implemented in CollocationMethod, and ShootingMethod.

◆ clear()

virtual returnValue DynamicDiscretization::clear ( )

pure virtual

Deletes all stages and transitions and resets the DynamicDiscretization.

Implemented in CollocationMethod, and ShootingMethod.

◆ clone()

virtual DynamicDiscretization* DynamicDiscretization::clone ( ) const

pure virtual

Clone constructor (deep copy).

Implemented in CollocationMethod, and ShootingMethod.

◆ copy()

void DynamicDiscretization::copy ( const DynamicDiscretization & rhs )

protected

Definition at line 246 of file dynamic_discretization.cpp.

◆ deleteAllSeeds()

returnValue DynamicDiscretization::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 in CollocationMethod, and ShootingMethod.

Definition at line 176 of file dynamic_discretization.cpp.

◆ evaluate()

virtual returnValue DynamicDiscretization::evaluate ( OCPiterate & iter )

pure 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.

Implemented in CollocationMethod, and ShootingMethod.

◆ evaluateSensitivities() [1/2]

virtual returnValue DynamicDiscretization::evaluateSensitivities ( )

pure virtual

Evaluates the sensitivities.

Returns: SUCCESSFUL_RETURN
RET_NOT_FROZEN

Implemented in ShootingMethod, and CollocationMethod.

◆ evaluateSensitivities() [2/2]

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

pure virtual

Evaluates the sensitivities and the hessian.

Returns: SUCCESSFUL_RETURN
RET_NOT_FROZEN

Implemented in ShootingMethod, and CollocationMethod.

◆ evaluateSensitivitiesLifted()

virtual returnValue DynamicDiscretization::evaluateSensitivitiesLifted ( )

pure virtual

Evaluates the sensitivities.

Returns: SUCCESSFUL_RETURN
RET_NOT_FROZEN

Implemented in ShootingMethod, and CollocationMethod.

◆ getBackwardSensitivities()

returnValue DynamicDiscretization::getBackwardSensitivities ( BlockMatrix & D ) const

virtual

Returns the result for the backward sensitivities in BlockMatrix form.

Returns: SUCCESSFUL_RETURN
RET_INPUT_OUT_OF_RANGE the total number of intervals.

Parameters

D	the result for the forward sensitivi- ties

Definition at line 169 of file dynamic_discretization.cpp.

◆ getForwardSensitivities()

returnValue DynamicDiscretization::getForwardSensitivities ( BlockMatrix & D ) const

virtual

Returns the result for the forward sensitivities in BlockMatrix form.

Returns: SUCCESSFUL_RETURN
RET_INPUT_OUT_OF_RANGE

Parameters

D	the result for the forward sensitivi- ties

Definition at line 162 of file dynamic_discretization.cpp.

◆ getNumberOfIntervals()

int DynamicDiscretization::getNumberOfIntervals ( ) const

inline

◆ getNumEvaluationPoints()

uint DynamicDiscretization::getNumEvaluationPoints ( ) const

protected

Definition at line 271 of file dynamic_discretization.cpp.

◆ getResiduum()

returnValue DynamicDiscretization::getResiduum ( BlockMatrix & residuum_ ) const

virtual

Returns the result for the residuum.

Returns: SUCCESSFUL_RETURN

Parameters

residuum_ the residuum

Definition at line 144 of file dynamic_discretization.cpp.

◆ initializeVariables()

void DynamicDiscretization::initializeVariables ( )

protected

Definition at line 234 of file dynamic_discretization.cpp.

◆ isAffine()

virtual BooleanType DynamicDiscretization::isAffine ( ) const

pure virtual

Implemented in ShootingMethod, and CollocationMethod.

◆ operator=()

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

Assignment operator (deep copy).

Definition at line 82 of file dynamic_discretization.cpp.

◆ setBackwardSeed()

returnValue DynamicDiscretization::setBackwardSeed ( const BlockMatrix & seed )

virtual

Define a backward seed in form of a block matrix.
Here, the block matrix should have N block columns,
where N is the number of points of the union grid.
The i-th column is associated with the i-th grid
point in the union grid. Note that the directions
can itself be organized in sub-blocks as long as
all dimensions fit together.

Returns: SUCCESFUL_RETURN
RET_INPUT_OUT_OF_RANGE

Parameters

seed	the seed matrix

Definition at line 125 of file dynamic_discretization.cpp.

◆ setForwardSeed()

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

virtual

Define a forward seed in form of a block matrix.
Here, the block matrix should have N block rows,
where N is the number of points of the union grid.
The i-th row is associated with the i-th grid
point in the union grid. Note that the direction
can itself be organized in sub-blocks as long as
all dimensions fit together.