Allows to export linear solver based on Cholesky factorization. More...

#include <export_cholesky_solver.hpp>

Inheritance diagram for ExportCholeskySolver:

Public Member Functions
virtual returnValue	appendVariableNames (std::stringstream &string)

	ExportCholeskySolver (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")

const ExportFunction &	getCholeskyFunction () const

virtual returnValue	getCode (ExportStatementBlock &code)

virtual returnValue	getDataDeclarations (ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const

virtual returnValue	getFunctionDeclarations (ExportStatementBlock &declarations) const

const ExportFunction &	getSolveFunction () const

returnValue	init (unsigned _dimA, unsigned _numColsB, const std::string &_id)

virtual returnValue	setup ()

virtual	~ExportCholeskySolver ()

Public Member Functions inherited from ExportLinearSolver
	ExportLinearSolver (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")

uint	getDim () const

virtual ExportVariable	getGlobalExportVariable (const uint factor) const

const std::string	getNameSolveFunction ()

const std::string	getNameSolveReuseFunction ()

const std::string	getNameSolveTransposeReuseFunction ()

bool	getReuse () const

bool	getTranspose () const

bool	getUnrolling () const

returnValue	init (const uint newDim, const bool &reuse=true, const bool &unrolling=false)

returnValue	init (const uint newDim, const uint _nRightHandSides, const bool &reuse=true, const bool &unrolling=false)

returnValue	init (const uint newDim, const bool &reuse, const bool &unrolling, const std::string &newId)

returnValue	init (unsigned _nRows, unsigned _nCols, unsigned _nBacksolves, bool _reuse, bool _unroll, const std::string &_id)

returnValue	init (unsigned _nRows, unsigned _nCols, unsigned _nBacksolves, unsigned _nRightHandSides, bool _reuse, bool _unroll, const std::string &_id)

returnValue	setReuse (const bool &reuse)

returnValue	setTranspose (const bool &transpose)

returnValue	setUnrolling (const bool &unrolling)

virtual	~ExportLinearSolver ()

Public Member Functions inherited from ExportAlgorithm
	ExportAlgorithm (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName=std::string())

uint	getN () const

uint	getNDX () const

uint	getNOD () const

uint	getNP () const

uint	getNU () const

uint	getNX () const

uint	getNXA () const

uint	getNY () const

uint	getNYN () const

returnValue	setDimensions (uint _NX=0, uint _NU=0, uint _NP=0, uint _NI=0, uint _NOD=0)

returnValue	setDimensions (uint _NX, uint _NDX, uint _NXA, uint _NU, uint _NP, uint _NI, uint _NOD)

void	setNY (uint NY_)

void	setNYN (uint NYN_)

virtual	~ExportAlgorithm ()

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 ()

Private Attributes
ExportVariable	B

ExportFunction	chol

unsigned	nColsB

Additional Inherited Members
Protected Attributes inherited from ExportLinearSolver
ExportVariable	A

ExportVariable	b

ExportVariable	determinant

uint	dim

std::string	identifier

unsigned	nBacksolves

unsigned	nCols

unsigned	nRightHandSides

unsigned	nRows

bool	REUSE

ExportFunction	solve

ExportFunction	solveReuse

ExportFunction	solveReuseTranspose

ExportFunction	solveTriangular

bool	TRANSPOSE

bool	UNROLLING

Protected Attributes inherited from ExportAlgorithm
std::string	commonHeaderName

uint	N

uint	NDX

uint	NOD

uint	NP

uint	NU

uint	NX

uint	NXA

uint	NY

uint	NYN

Protected Attributes inherited from AlgorithmicBase
int	outputLoggingIdx

BooleanType	useModuleStandalone

UserInteraction *	userInteraction

Detailed Description

Allows to export linear solver based on Cholesky factorization.

Allows export of linear system solver, where the A matrix is a symmetric positive definite of dimensions n x n, and matrix B is of dimensions n x m, m >= 1.

This class configures and exports two functions:

chol( A ), which computes Cholesky decomposition of matrix A = R' * R R is upper triangular. A gets overwritten by R.
solve(R, B), which at the moment solves the system R' * X = B. B gets overwritten by the solution X.

Note: Early experimental version.; Exported solver code is based on qpOASES code.

Todo:: Extend the generator to be able to solve RX = B, too.

Author: Milan Vukov

Definition at line 62 of file export_cholesky_solver.hpp.

Constructor & Destructor Documentation

◆ ExportCholeskySolver()

BEGIN_NAMESPACE_ACADO ExportCholeskySolver::ExportCholeskySolver	(	UserInteraction *	_userInteraction = `0`,
		const std::string &	_commonHeaderName = `""`
	)

Default constructor.

@param[in] _userInteraction         Pointer to corresponding user interface.
@param[in] _commonHeaderName        Name of common header file to be included.

Definition at line 40 of file export_cholesky_solver.cpp.

◆ ~ExportCholeskySolver()

ExportCholeskySolver::~ExportCholeskySolver ( )

virtual

Destructor.

Definition at line 47 of file export_cholesky_solver.cpp.

Member Function Documentation

◆ appendVariableNames()

returnValue ExportCholeskySolver::appendVariableNames ( std::stringstream & string )

virtual

Appends the names of the used variables to a given stringstream.

@param[in] string                           The string to which the names of the used variables are appended.

\return SUCCESSFUL_RETURN

Implements ExportLinearSolver.

Definition at line 258 of file export_cholesky_solver.cpp.

◆ getCholeskyFunction()

const ExportFunction & ExportCholeskySolver::getCholeskyFunction ( ) const

Get the reference to the Cholesky decomposition routine.

Definition at line 248 of file export_cholesky_solver.cpp.

◆ getCode()

returnValue ExportCholeskySolver::getCode ( ExportStatementBlock & code )

virtual

Exports source code of the auto-generated algorithm into the given directory.

@param[in] code                             Code block containing the auto-generated algorithm.

\return SUCCESSFUL_RETURN

Implements ExportLinearSolver.

Definition at line 224 of file export_cholesky_solver.cpp.

◆ getDataDeclarations()

returnValue ExportCholeskySolver::getDataDeclarations	(	ExportStatementBlock &	declarations,
		ExportStruct	dataStruct = `ACADO_ANY`
	)		const

virtual

Adds all data declarations of the auto-generated algorithm to given list of declarations.

@param[in] declarations             List of declarations.

\return SUCCESSFUL_RETURN

Implements ExportLinearSolver.

Definition at line 232 of file export_cholesky_solver.cpp.

◆ getFunctionDeclarations()

returnValue ExportCholeskySolver::getFunctionDeclarations ( ExportStatementBlock & declarations ) const

virtual

Adds all function (forward) declarations of the auto-generated algorithm to given list of declarations.

@param[in] declarations             List of declarations.

\return SUCCESSFUL_RETURN

Implements ExportLinearSolver.

Definition at line 239 of file export_cholesky_solver.cpp.

◆ getSolveFunction()

const ExportFunction & ExportCholeskySolver::getSolveFunction ( ) const

Get the reference to the solve function.

Definition at line 253 of file export_cholesky_solver.cpp.

◆ init()

returnValue ExportCholeskySolver::init	(	unsigned	_dimA,
		unsigned	_numColsB,
		const std::string &	_id
	)

Solver initialization routine.

\return SUCCESSFUL_RETURN

Definition at line 50 of file export_cholesky_solver.cpp.

◆ setup()

returnValue ExportCholeskySolver::setup ( )

virtual

The setup routine.

\return SUCCESSFUL_RETURN

Implements ExportLinearSolver.

Definition at line 71 of file export_cholesky_solver.cpp.

Member Data Documentation

◆ B

ExportVariable ExportCholeskySolver::B

private

Definition at line 140 of file export_cholesky_solver.hpp.

◆ chol

ExportFunction ExportCholeskySolver::chol

private

Definition at line 138 of file export_cholesky_solver.hpp.

◆ nColsB

unsigned ExportCholeskySolver::nColsB

private

Definition at line 142 of file export_cholesky_solver.hpp.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ExportCholeskySolver()

◆ ~ExportCholeskySolver()

Member Function Documentation

◆ appendVariableNames()

◆ getCholeskyFunction()

◆ getCode()

◆ getDataDeclarations()

◆ getFunctionDeclarations()

◆ getSolveFunction()

◆ init()

◆ setup()

Member Data Documentation

◆ B

◆ chol

◆ nColsB