LSQEndTerm Class Reference

Stores and evaluates LSQ mayer terms within optimal control problems. More...

#include <lsq_end_term.hpp>

Inheritance diagram for LSQEndTerm:

Public Member Functions
returnValue	evaluate (const OCPiterate &x)
returnValue	evaluateSensitivities (BlockMatrix *hessian)
returnValue	evaluateSensitivitiesGN (BlockMatrix *GNhessian)
returnValue	init (const Grid &grid_, const DMatrix &S_, const Function &m_, const DVector &r_)
BooleanType	isAffine ()
BooleanType	isConvex ()
BooleanType	isQuadratic ()
	LSQEndTerm ()
	LSQEndTerm (const Grid &grid_, const DMatrix &S_, const Function &m_, const DVector &r_)
	LSQEndTerm (const LSQEndTerm &rhs)
LSQEndTerm &	operator= (const LSQEndTerm &rhs)
returnValue	setReference (const DVector &ref)
virtual	~LSQEndTerm ()
Public Member Functions inherited from ObjectiveElement
virtual returnValue	getBackwardSensitivities (BlockMatrix *D, int order)
virtual returnValue	getForwardSensitivities (BlockMatrix *D, int order)
returnValue	getFunction (Function &_function)
int	getNP () const
int	getNU () const
int	getNW () const
int	getNX () const
int	getNXA () const
virtual returnValue	getObjectiveValue (double &objectiveValue)
returnValue	init (const OCPiterate &x)
	ObjectiveElement ()
	ObjectiveElement (const Grid &grid_)
	ObjectiveElement (const ObjectiveElement &rhs)
ObjectiveElement &	operator= (const ObjectiveElement &rhs)
virtual returnValue	setBackwardSeed (BlockMatrix *seed, int order)
virtual returnValue	setForwardSeed (BlockMatrix *xSeed_, BlockMatrix *xaSeed_, BlockMatrix *pSeed_, BlockMatrix *uSeed_, BlockMatrix *wSeed_, int order)
returnValue	setGrid (const Grid &grid_)
virtual	~ObjectiveElement ()

Protected Attributes
DVector	r
DMatrix	S
double *	S_h_res
Protected Attributes inherited from ObjectiveElement
BlockMatrix *	bSeed
BlockMatrix *	bSeed2
BlockMatrix	dBackward
BlockMatrix	dForward
Function	fcn
Grid	grid
EvaluationPoint	JJ
int	na
int	np
int	nu
int	nw
int	nx
int	ny
double	obj
BlockMatrix *	pSeed
BlockMatrix *	pSeed2
int	t_index
BlockMatrix *	uSeed
BlockMatrix *	uSeed2
BlockMatrix *	wSeed
BlockMatrix *	wSeed2
BlockMatrix *	xaSeed
BlockMatrix *	xaSeed2
BlockMatrix *	xSeed
BlockMatrix *	xSeed2
int *	y_index
EvaluationPoint	z

Additional Inherited Members
Protected Member Functions inherited from ObjectiveElement
Grid	getGrid () const

Detailed Description

Stores and evaluates LSQ mayer terms within optimal control problems.

The class LSQEndTerm allows to manage and evaluate least square objective mayer terms
of the general form:

0.5* || S * ( m(T,x(T),p(T),...) - r ) ||^2_2

Here the T is the time at the last grid point of the objective grid.

Author

Boris Houska, Hans Joachim Ferreau

Definition at line 61 of file lsq_end_term.hpp.

Constructor & Destructor Documentation

LSQEndTerm() [1/3]

BEGIN_NAMESPACE_ACADO LSQEndTerm::LSQEndTerm

(

)

Default constructor.

Definition at line 51 of file lsq_end_term.cpp.

LSQEndTerm() [2/3]

LSQEndTerm::LSQEndTerm	(	const Grid &	grid_,
		const DMatrix &	S_,
		const Function &	m_,
		const DVector &	r_
	)

Default constructor.

Parameters

grid_	the objective grid
S_	the weighting matrix
m_	the LSQ function
r_	the reference vector

Definition at line 58 of file lsq_end_term.cpp.

LSQEndTerm() [3/3]

LSQEndTerm::LSQEndTerm

(

const LSQEndTerm &

rhs

)

Copy constructor (deep copy).

Definition at line 70 of file lsq_end_term.cpp.

~LSQEndTerm()

LSQEndTerm::~LSQEndTerm ( )

virtual

Destructor.

Definition at line 80 of file lsq_end_term.cpp.

Member Function Documentation

evaluate()

returnValue LSQEndTerm::evaluate

(

const OCPiterate &

x

)

Definition at line 103 of file lsq_end_term.cpp.

evaluateSensitivities()

returnValue LSQEndTerm::evaluateSensitivities

(

BlockMatrix *

hessian

)

Evaluates the objective gradient contribution from this term
and computes the corresponding exact hessian.

Returns

SUCCESSFUL_RETURN

Definition at line 136 of file lsq_end_term.cpp.

evaluateSensitivitiesGN()

returnValue LSQEndTerm::evaluateSensitivitiesGN

(

BlockMatrix *

GNhessian

)

Evaluates the objective gradient contribution from this term
and computes the corresponding GN hessian approximation for
the case that GNhessian != 0.

Returns

SUCCESSFUL_RETURN

Definition at line 143 of file lsq_end_term.cpp.

init()

returnValue LSQEndTerm::init ( const Grid &  grid_, const DMatrix &  S_, const Function &  m_, const DVector &  r_  )

inline

Parameters

grid_	the objective grid
S_	the weighting matrix
m_	the LSQ function
r_	the reference vectors

isAffine()

BooleanType LSQEndTerm::isAffine ( )

inline

returns whether the constraint element is affine.

isConvex()

BooleanType LSQEndTerm::isConvex ( )

inline

returns whether the constraint element is convex.

isQuadratic()

BooleanType LSQEndTerm::isQuadratic ( )

inline

returns whether the constraint element is convex.

operator=()

LSQEndTerm & LSQEndTerm::operator=

(

const LSQEndTerm &

rhs

)

Assignment operator (deep copy).

Definition at line 86 of file lsq_end_term.cpp.

setReference()

returnValue LSQEndTerm::setReference ( const DVector &  ref )

inline

overwrites the reference vector r

Returns

SUCCESSFUL_RETURN

Member Data Documentation

r

DVector LSQEndTerm::r

protected

a tracking reference

Definition at line 159 of file lsq_end_term.hpp.

S

DMatrix LSQEndTerm::S

protected

a symmetric weighting matrix

Definition at line 158 of file lsq_end_term.hpp.

S_h_res

double* LSQEndTerm::S_h_res

protected

specific intermediate results
to be stored for backward
differentiation

Definition at line 161 of file lsq_end_term.hpp.

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

• lsq_end_term.hpp
• lsq_end_term.cpp