MatrixVariable Class Reference

Provides matrix-valued optimization variables. More...

#include <matrix_variable.hpp>

Inheritance diagram for MatrixVariable:

Public Member Functions
MatrixVariable	getCols (uint startIdx, uint endIdx) const
DMatrix	getMatrix () const
MatrixVariable	getRows (uint startIdx, uint endIdx) const
returnValue	init (uint _nRows, uint _nCols, VariableType _type=VT_UNKNOWN, const char **const _names=0, const char **const _units=0, DVector _scaling=emptyVector, DVector _lb=emptyVector, DVector _ub=emptyVector, BooleanType _autoInit=defaultAutoInit)
	MatrixVariable ()
	MatrixVariable (uint _nRows, uint _nCols, VariableType _type=VT_UNKNOWN, const char **const _names=0, const char **const _units=0, DVector _scaling=emptyVector, DVector _lb=emptyVector, DVector _ub=emptyVector, BooleanType _autoInit=defaultAutoInit)
	MatrixVariable (const MatrixVariable &rhs)
	MatrixVariable (const DMatrix &_matrix, VariableType _type=VT_UNKNOWN)
MatrixVariable &	operator= (const MatrixVariable &rhs)
MatrixVariable &	operator= (const DMatrix &rhs)
	~MatrixVariable ()
Public Member Functions inherited from GenericMatrix< double >
GenericMatrix	absolute () const
GenericMatrix &	appendCols (const GenericMatrix &_arg)
GenericMatrix &	appendRows (const GenericMatrix &_arg)
	GenericMatrix (const Eigen::MatrixBase< OtherDerived > &other)
	GenericMatrix (const Eigen::ReturnByValue< OtherDerived > &other)
	GenericMatrix (const Eigen::EigenBase< OtherDerived > &other)
GenericMatrix< double >	getAbsolute () const
GenericVector< double >	getCol (unsigned _idx) const
GenericMatrix	getCols (unsigned _start, unsigned _end) const
double	getConditionNumber () const
GenericVector< double >	getDiag () const
unsigned	getDim () const
double	getMax () const
double	getMean () const
double	getMin () const
double	getNorm () const
unsigned	getNumCols () const
unsigned	getNumRows () const
GenericVector< double >	getRow (unsigned _idx) const
GenericMatrix	getRows (unsigned _start, unsigned _end) const
double	getTrace () const
void	init (unsigned _nRows=0, unsigned _nCols=0)
bool	isEmpty () const
bool	isPositiveDefinite () const
bool	isPositiveSemiDefinite () const
bool	isSquare () const
bool	isSymmetric () const
GenericMatrix &	makeVector ()
GenericMatrix	negative () const
bool	operator!= (const GenericMatrix &arg) const
bool	operator== (const GenericMatrix &arg) const
GenericMatrix	positive () const
virtual returnValue	print (std::ostream &_stream=std::cout, const std::string &_name=DEFAULT_LABEL, const std::string &_startString=DEFAULT_START_STRING, const std::string &_endString=DEFAULT_END_STRING, uint _width=DEFAULT_WIDTH, uint _precision=DEFAULT_PRECISION, const std::string &_colSeparator=DEFAULT_COL_SEPARATOR, const std::string &_rowSeparator=DEFAULT_ROW_SEPARATOR) const
virtual returnValue	print (std::ostream &stream, const std::string &name, PrintScheme printScheme) const
virtual returnValue	print (const std::string &_filename, const std::string &_name=DEFAULT_LABEL, const std::string &_startString=DEFAULT_START_STRING, const std::string &_endString=DEFAULT_END_STRING, uint _width=DEFAULT_WIDTH, uint _precision=DEFAULT_PRECISION, const std::string &_colSeparator=DEFAULT_COL_SEPARATOR, const std::string &_rowSeparator=DEFAULT_ROW_SEPARATOR) const
virtual returnValue	print (const std::string &_filename, const std::string &_name, PrintScheme _printScheme) const
virtual returnValue	read (std::istream &_stream)
virtual returnValue	read (const std::string &_filename)
void	setAll (const double &_value)
GenericMatrix &	setCol (unsigned _idx, const GenericVector< double > &_arg)
GenericMatrix &	setRow (unsigned _idx, const GenericVector< double > &_values)
GenericVector< double >	sumCol () const
GenericVector< double >	sumRow () const
returnValue	symmetrize ()
virtual	~GenericMatrix ()
	GenericMatrix ()
	GenericMatrix (const double &_value)
	GenericMatrix (unsigned _nRows, unsigned _nCols)
	GenericMatrix (unsigned _nRows, unsigned _nCols, const double *const _values)
	GenericMatrix (unsigned _nRows, unsigned _nCols, std::vector< double > &_values)
	GenericMatrix (unsigned _nRows, unsigned _nCols, std::vector< std::vector< double > > &_values)
Public Member Functions inherited from Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor|Eigen::AutoAlign >
Index	innerStride () const
EIGEN_STRONG_INLINE	Matrix ()
	Default constructor. More...
	Matrix (internal::constructor_without_unaligned_array_assert)
EIGEN_STRONG_INLINE	Matrix (Index dim)
	Constructs a vector or row-vector with given dimension. . More...
EIGEN_STRONG_INLINE	Matrix (const T0 &x, const T1 &y)
EIGEN_STRONG_INLINE	Matrix (const Scalar &x, const Scalar &y, const Scalar &z)
	Constructs an initialized 3D vector with given coefficients. More...
EIGEN_STRONG_INLINE	Matrix (const Scalar &x, const Scalar &y, const Scalar &z, const Scalar &w)
	Constructs an initialized 4D vector with given coefficients. More...
	Matrix (const Scalar *data)
EIGEN_STRONG_INLINE	Matrix (const MatrixBase< OtherDerived > &other)
	Constructor copying the value of the expression other. More...
EIGEN_STRONG_INLINE	Matrix (const Matrix &other)
	Copy constructor. More...
EIGEN_STRONG_INLINE	Matrix (const ReturnByValue< OtherDerived > &other)
	Copy constructor with in-place evaluation. More...
EIGEN_STRONG_INLINE	Matrix (const EigenBase< OtherDerived > &other)
	Copy constructor for generic expressions. More...
	Matrix (const RotationBase< OtherDerived, ColsAtCompileTime > &r)
	Constructs a Dim x Dim rotation matrix from the rotation r. More...
Matrix< double, _Rows, _Cols, _Storage, _MaxRows, _MaxCols > &	operator= (const RotationBase< OtherDerived, ColsAtCompileTime > &r)
	Set a Dim x Dim rotation matrix from the rotation r. More...
EIGEN_STRONG_INLINE Matrix &	operator= (const Matrix &other)
	Assigns matrices to each other. More...
EIGEN_STRONG_INLINE Matrix &	operator= (const MatrixBase< OtherDerived > &other)
EIGEN_STRONG_INLINE Matrix &	operator= (const EigenBase< OtherDerived > &other)
	Copies the generic expression other into *this. More...
EIGEN_STRONG_INLINE Matrix &	operator= (const ReturnByValue< OtherDerived > &func)
Matrix &	operator= (const RotationBase< OtherDerived, ColsAtCompileTime > &r)
Index	outerStride () const
void	swap (MatrixBase< OtherDerived > const &other)
Public Member Functions inherited from Eigen::PlainObjectBase< Derived >
Base &	base ()
const Base &	base () const
EIGEN_STRONG_INLINE const Scalar &	coeff (Index rowId, Index colId) const
EIGEN_STRONG_INLINE const Scalar &	coeff (Index index) const
EIGEN_STRONG_INLINE Scalar &	coeffRef (Index rowId, Index colId)
EIGEN_STRONG_INLINE Scalar &	coeffRef (Index index)
EIGEN_STRONG_INLINE const Scalar &	coeffRef (Index rowId, Index colId) const
EIGEN_STRONG_INLINE const Scalar &	coeffRef (Index index) const
EIGEN_STRONG_INLINE Index	cols () const
EIGEN_STRONG_INLINE void	conservativeResize (Index nbRows, Index nbCols)
EIGEN_STRONG_INLINE void	conservativeResize (Index nbRows, NoChange_t)
EIGEN_STRONG_INLINE void	conservativeResize (NoChange_t, Index nbCols)
EIGEN_STRONG_INLINE void	conservativeResize (Index size)
template<typename OtherDerived >
EIGEN_STRONG_INLINE void	conservativeResizeLike (const DenseBase< OtherDerived > &other)
EIGEN_STRONG_INLINE const Scalar *	data () const
EIGEN_STRONG_INLINE Scalar *	data ()
template<typename OtherDerived >
EIGEN_STRONG_INLINE Derived &	lazyAssign (const DenseBase< OtherDerived > &other)
EIGEN_STRONG_INLINE Derived &	operator= (const PlainObjectBase &other)
template<typename OtherDerived >
EIGEN_STRONG_INLINE Derived &	operator= (const ReturnByValue< OtherDerived > &func)
template<typename OtherDerived >
EIGEN_STRONG_INLINE Derived &	operator= (const EigenBase< OtherDerived > &other)
template<int LoadMode>
EIGEN_STRONG_INLINE PacketScalar	packet (Index rowId, Index colId) const
template<int LoadMode>
EIGEN_STRONG_INLINE PacketScalar	packet (Index index) const
EIGEN_STRONG_INLINE	PlainObjectBase ()
	PlainObjectBase (internal::constructor_without_unaligned_array_assert)
EIGEN_STRONG_INLINE	PlainObjectBase (Index a_size, Index nbRows, Index nbCols)
template<typename OtherDerived >
EIGEN_STRONG_INLINE	PlainObjectBase (const EigenBase< OtherDerived > &other)
EIGEN_STRONG_INLINE void	resize (Index nbRows, Index nbCols)
void	resize (Index size)
void	resize (NoChange_t, Index nbCols)
void	resize (Index nbRows, NoChange_t)
template<typename OtherDerived >
EIGEN_STRONG_INLINE void	resizeLike (const EigenBase< OtherDerived > &_other)
EIGEN_STRONG_INLINE Index	rows () const
Derived &	setConstant (Index size, const Scalar &value)
Derived &	setConstant (Index rows, Index cols, const Scalar &value)
Derived &	setOnes (Index size)
Derived &	setOnes (Index rows, Index cols)
Derived &	setRandom (Index size)
Derived &	setRandom (Index rows, Index cols)
Derived &	setZero (Index size)
Derived &	setZero (Index rows, Index cols)
template<int StoreMode>
EIGEN_STRONG_INLINE void	writePacket (Index rowId, Index colId, const PacketScalar &val)
template<int StoreMode>
EIGEN_STRONG_INLINE void	writePacket (Index index, const PacketScalar &val)
Public Member Functions inherited from VariableSettings
returnValue	appendSettings (const VariableSettings &rhs)
returnValue	appendSettings (uint _dim, const char **const _names, const char **const _units, const DVector &_scaling=emptyConstVector, const DVector &_lb=emptyConstVector, const DVector &_ub=emptyConstVector)
BooleanType	getAutoInit () const
double	getLowerBound (uint idx) const
DVector	getLowerBounds () const
returnValue	getName (uint idx, char *_name) const
DVector	getScaling () const
double	getScaling (uint idx) const
VariableType	getType () const
returnValue	getUnit (uint idx, char *_unit) const
double	getUpperBound (uint idx) const
DVector	getUpperBounds () const
BooleanType	hasLowerBounds () const
BooleanType	hasNames () const
BooleanType	hasScaling () const
BooleanType	hasUnits () const
BooleanType	hasUpperBounds () const
returnValue	init ()
returnValue	init (uint _dim, VariableType _type, const char **const _names, const char **const _units, const DVector &_scaling=emptyConstVector, const DVector &_lb=emptyConstVector, const DVector &_ub=emptyConstVector, BooleanType _autoInit=defaultAutoInit)
VariableSettings &	operator= (const VariableSettings &rhs)
returnValue	setAutoInit (BooleanType _autoInit)
returnValue	setLowerBound (uint idx, double _lb)
returnValue	setLowerBounds (const DVector &_lb)
returnValue	setName (uint idx, const char *const _name)
returnValue	setScaling (const DVector &_scaling)
returnValue	setScaling (uint idx, double _scaling)
returnValue	setType (VariableType _type)
returnValue	setUnit (uint idx, const char *const _unit)
returnValue	setUpperBound (uint idx, double _ub)
returnValue	setUpperBounds (const DVector &_ub)
	VariableSettings ()
	VariableSettings (uint _dim, VariableType _type=VT_UNKNOWN, const char **const _names=0, const char **const _units=0, const DVector &_scaling=emptyConstVector, const DVector &_lb=emptyConstVector, const DVector &_ub=emptyConstVector, BooleanType _autoInit=defaultAutoInit)
	VariableSettings (const VariableSettings &rhs)
	~VariableSettings ()

Additional Inherited Members
Public Types inherited from GenericMatrix< double >
typedef Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor|Eigen::AutoAlign >	Base
Public Types inherited from Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor|Eigen::AutoAlign >
enum
typedef PlainObjectBase< Matrix >	Base
	Base class typedef. More...
typedef Base::PlainObject	PlainObject
Public Types inherited from Eigen::PlainObjectBase< Derived >
enum	{ Options = internal::traits<Derived>::Options }
enum	{ NeedsToAlign = SizeAtCompileTime != Dynamic && (internal::traits<Derived>::Flags & AlignedBit) != 0 }
typedef Eigen::Map< Derived, Aligned >	AlignedMapType
typedef internal::dense_xpr_base< Derived >::type	Base
typedef const Eigen::Map< const Derived, Aligned >	ConstAlignedMapType
typedef const Eigen::Map< const Derived, Unaligned >	ConstMapType
typedef Derived	DenseType
typedef internal::traits< Derived >::Index	Index
typedef Eigen::Map< Derived, Unaligned >	MapType
typedef internal::packet_traits< Scalar >::type	PacketScalar
typedef NumTraits< Scalar >::Real	RealScalar
typedef internal::traits< Derived >::Scalar	Scalar
typedef internal::traits< Derived >::StorageKind	StorageKind
Static Public Member Functions inherited from Eigen::PlainObjectBase< Derived >
static EIGEN_STRONG_INLINE void	_check_template_params ()
static ConstMapType	Map (const Scalar *data)
static MapType	Map (Scalar *data)
static ConstMapType	Map (const Scalar *data, Index size)
static MapType	Map (Scalar *data, Index size)
static ConstMapType	Map (const Scalar *data, Index rows, Index cols)
static MapType	Map (Scalar *data, Index rows, Index cols)
static ConstAlignedMapType	MapAligned (const Scalar *data)
static AlignedMapType	MapAligned (Scalar *data)
static ConstAlignedMapType	MapAligned (const Scalar *data, Index size)
static AlignedMapType	MapAligned (Scalar *data, Index size)
static ConstAlignedMapType	MapAligned (const Scalar *data, Index rows, Index cols)
static AlignedMapType	MapAligned (Scalar *data, Index rows, Index cols)
template<int Outer, int Inner>
static StridedConstMapType< Stride< Outer, Inner > >::type	Map (const Scalar *data, const Stride< Outer, Inner > &stride)
template<int Outer, int Inner>
static StridedMapType< Stride< Outer, Inner > >::type	Map (Scalar *data, const Stride< Outer, Inner > &stride)
template<int Outer, int Inner>
static StridedConstMapType< Stride< Outer, Inner > >::type	Map (const Scalar *data, Index size, const Stride< Outer, Inner > &stride)
template<int Outer, int Inner>
static StridedMapType< Stride< Outer, Inner > >::type	Map (Scalar *data, Index size, const Stride< Outer, Inner > &stride)
template<int Outer, int Inner>
static StridedConstMapType< Stride< Outer, Inner > >::type	Map (const Scalar *data, Index rows, Index cols, const Stride< Outer, Inner > &stride)
template<int Outer, int Inner>
static StridedMapType< Stride< Outer, Inner > >::type	Map (Scalar *data, Index rows, Index cols, const Stride< Outer, Inner > &stride)
template<int Outer, int Inner>
static StridedConstAlignedMapType< Stride< Outer, Inner > >::type	MapAligned (const Scalar *data, const Stride< Outer, Inner > &stride)
template<int Outer, int Inner>
static StridedAlignedMapType< Stride< Outer, Inner > >::type	MapAligned (Scalar *data, const Stride< Outer, Inner > &stride)
template<int Outer, int Inner>
static StridedConstAlignedMapType< Stride< Outer, Inner > >::type	MapAligned (const Scalar *data, Index size, const Stride< Outer, Inner > &stride)
template<int Outer, int Inner>
static StridedAlignedMapType< Stride< Outer, Inner > >::type	MapAligned (Scalar *data, Index size, const Stride< Outer, Inner > &stride)
template<int Outer, int Inner>
static StridedConstAlignedMapType< Stride< Outer, Inner > >::type	MapAligned (const Scalar *data, Index rows, Index cols, const Stride< Outer, Inner > &stride)
template<int Outer, int Inner>
static StridedAlignedMapType< Stride< Outer, Inner > >::type	MapAligned (Scalar *data, Index rows, Index cols, const Stride< Outer, Inner > &stride)
Protected Member Functions inherited from Eigen::PlainObjectBase< Derived >
template<typename T0 , typename T1 >
EIGEN_STRONG_INLINE void	_init2 (Index nbRows, Index nbCols, typename internal::enable_if< Base::SizeAtCompileTime!=2, T0 >::type *=0)
template<typename T0 , typename T1 >
EIGEN_STRONG_INLINE void	_init2 (const Scalar &val0, const Scalar &val1, typename internal::enable_if< Base::SizeAtCompileTime==2, T0 >::type *=0)
template<typename OtherDerived >
EIGEN_STRONG_INLINE void	_resize_to_match (const EigenBase< OtherDerived > &other)
template<typename OtherDerived >
EIGEN_STRONG_INLINE Derived &	_set (const DenseBase< OtherDerived > &other)
	Copies the value of the expression other into *this with automatic resizing. More...
template<typename OtherDerived >
EIGEN_STRONG_INLINE Derived &	_set_noalias (const DenseBase< OtherDerived > &other)
template<typename OtherDerived >
EIGEN_STRONG_INLINE void	_set_selector (const OtherDerived &other, const internal::true_type &)
template<typename OtherDerived >
EIGEN_STRONG_INLINE void	_set_selector (const OtherDerived &other, const internal::false_type &)
template<typename OtherDerived >
void	_swap (DenseBase< OtherDerived > const &other)
Protected Member Functions inherited from VariableSettings
returnValue	clear ()
Protected Attributes inherited from Eigen::PlainObjectBase< Derived >
DenseStorage< Scalar, Base::MaxSizeAtCompileTime, Base::RowsAtCompileTime, Base::ColsAtCompileTime, Options >	m_storage
Protected Attributes inherited from VariableSettings
BooleanType	autoInit
uint	dim
DVector	lb
char **	names
DVector	scaling
VariableType	type
DVector	ub
char **	units

Detailed Description

Provides matrix-valued optimization variables.

The class MatrixVariable provides matrix-valued optimization variables by enhancing the DMatrix class with variable-specific settings.

Author

Hans Joachim Ferreau, Boris Houska

Definition at line 55 of file matrix_variable.hpp.

Constructor & Destructor Documentation

MatrixVariable() [1/4]

BEGIN_NAMESPACE_ACADO MatrixVariable::MatrixVariable

(

)

Default constructor.

Definition at line 46 of file matrix_variable.cpp.

MatrixVariable() [2/4]

MatrixVariable::MatrixVariable	(	uint	_nRows,
		uint	_nCols,
		VariableType	_type = VT_UNKNOWN,
		const char **const	_names = 0,
		const char **const	_units = 0,
		DVector	_scaling = emptyVector,
		DVector	_lb = emptyVector,
		DVector	_ub = emptyVector,
		BooleanType	_autoInit = defaultAutoInit
	)

Constructor which takes dimensions of the matrix as well as all variable settings.

Parameters

[in]	_nRows	Number of rows of each matrix.
[in]	_nCols	Number of columns of each matrix.
[in]	_type	Type of the variable.
[in]	_names	Array containing name labels for each component of the variable.
[in]	_units	Array containing unit labels for each component of the variable.
[in]	_scaling	Scaling for each component of the variable.
[in]	_lb	Lower bounds for each component of the variable.
[in]	_ub	Upper bounds for each component of the variable.
[in]	_autoInit	Flag indicating whether variable is to be automatically initialized.

Definition at line 51 of file matrix_variable.cpp.

MatrixVariable() [3/4]

MatrixVariable::MatrixVariable

(

const MatrixVariable &

rhs

)

Copy constructor (deep copy).

@param[in] rhs      Right-hand side object.

Definition at line 65 of file matrix_variable.cpp.

MatrixVariable() [4/4]

MatrixVariable::MatrixVariable	(	const DMatrix &	_matrix,
		VariableType	_type = VT_UNKNOWN
	)

Copy constructor converting a matrix to a MatrixVariable (of given type).

@param[in] _matrix  DMatrix to be converted.
@param[in] _type    Type of the variable.

Definition at line 70 of file matrix_variable.cpp.

~MatrixVariable()

MatrixVariable::~MatrixVariable

(

)

Destructor.

Definition at line 77 of file matrix_variable.cpp.

Member Function Documentation

getCols()

MatrixVariable MatrixVariable::getCols	(	uint	startIdx,
		uint	endIdx
	)		const

Returns a MatrixVariable containing only the columns between given indices while keeping all rows.

Parameters

[in]	startIdx	Index of first column to be included.
[in]	endIdx	Index of last column to be included.

Note

Is not fully implemented yet!

Returns

DMatrix containing desired columns

Definition at line 148 of file matrix_variable.cpp.

getMatrix()

DMatrix MatrixVariable::getMatrix ( ) const

inline

Returns matrix containing the numerical values of the MatrixVariable.

\return DMatrix containing the numerical values

getRows()

MatrixVariable MatrixVariable::getRows	(	uint	startIdx,
		uint	endIdx
	)		const

Returns a MatrixVariable containing only the rows between given indices while keeping all columns.

Parameters

[in]	startIdx	Index of first row to be included.
[in]	endIdx	Index of last row to be included.

Note

Is not fully implemented yet!

Returns

DMatrix containing desired rows

Definition at line 128 of file matrix_variable.cpp.

init()

returnValue MatrixVariable::init	(	uint	_nRows,
		uint	_nCols,
		VariableType	_type = VT_UNKNOWN,
		const char **const	_names = 0,
		const char **const	_units = 0,
		DVector	_scaling = emptyVector,
		DVector	_lb = emptyVector,
		DVector	_ub = emptyVector,
		BooleanType	_autoInit = defaultAutoInit
	)

Initializes object with given dimensions of the matrix and given variable settings.

Parameters

[in]	_nRows	Number of rows of each matrix.
[in]	_nCols	Number of columns of each matrix.
[in]	_type	Type of the variable.
[in]	_names	Array containing name labels for each component of the variable.
[in]	_units	Array containing unit labels for each component of the variable.
[in]	_scaling	Scaling for each component of the variable.
[in]	_lb	Lower bounds for each component of the variable.
[in]	_ub	Upper bounds for each component of the variable.
[in]	_autoInit	Flag indicating whether variable is to be automatically initialized.

Returns

SUCCESSFUL_RETURN,
RET_UNKNOWN_BUG

Definition at line 107 of file matrix_variable.cpp.

operator=() [1/2]

MatrixVariable & MatrixVariable::operator=

(

const MatrixVariable &

rhs

)

Assignment operator (deep copy).

    @param[in] rhs  Right-hand side object.

Definition at line 82 of file matrix_variable.cpp.

operator=() [2/2]

MatrixVariable & MatrixVariable::operator=

(

const DMatrix &

rhs

)

Assignment operator converting a matrix to a MatrixVariable.

    @param[in] rhs  Right-hand side object.

Definition at line 94 of file matrix_variable.cpp.

---

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

• matrix_variable.hpp
• matrix_variable.cpp