User-interface to formulate and solve optimal control problems and static NLPs. More...

#include <optimization_algorithm.hpp>

Inheritance diagram for OptimizationAlgorithm:

[legend]

Public Member Functions
virtual returnValue	init ()

OptimizationAlgorithm &	operator= (const OptimizationAlgorithm &arg)

	OptimizationAlgorithm ()

	OptimizationAlgorithm (const OCP &ocp_)

	OptimizationAlgorithm (const OptimizationAlgorithm &arg)

virtual returnValue	solve ()

virtual	~OptimizationAlgorithm ()

Public Member Functions inherited from OptimizationAlgorithmBase
returnValue	getAlgebraicStates (VariablesGrid &xa_) const

returnValue	getAlgebraicStates (const char *fileName) const

returnValue	getControls (VariablesGrid &p_) const

returnValue	getControls (const char *fileName) const

returnValue	getDifferentialStates (VariablesGrid &xd_) const

returnValue	getDifferentialStates (const char *fileName) const

returnValue	getDisturbances (VariablesGrid &w_) const

returnValue	getDisturbances (const char *fileName) const

double	getEndTime () const

virtual uint	getNP () const

virtual uint	getNU () const

virtual uint	getNW () const

virtual uint	getNX () const

virtual uint	getNXA () const

double	getObjectiveValue (const char *fileName) const

double	getObjectiveValue () const

returnValue	getParameters (VariablesGrid &u_) const

returnValue	getParameters (DVector &u_) const

returnValue	getParameters (const char *fileName) const

returnValue	getSensitivitiesP (BlockMatrix &_sens) const

returnValue	getSensitivitiesU (BlockMatrix &_sens) const

returnValue	getSensitivitiesW (BlockMatrix &_sens) const

returnValue	getSensitivitiesX (BlockMatrix &_sens) const

returnValue	getSensitivitiesXA (BlockMatrix &_sens) const

double	getStartTime () const

returnValue	initializeAlgebraicStates (const char *fileName, BooleanType autoinit=BT_FALSE)

returnValue	initializeAlgebraicStates (const VariablesGrid &xa_init_, BooleanType autoinit=BT_FALSE)

returnValue	initializeControls (const char *fileName)

returnValue	initializeControls (const VariablesGrid &p_init_)

returnValue	initializeDifferentialStates (const char *fileName, BooleanType autoinit=BT_FALSE)

returnValue	initializeDifferentialStates (const VariablesGrid &xd_init_, BooleanType autoinit=BT_FALSE)

returnValue	initializeDisturbances (const char *fileName)

returnValue	initializeDisturbances (const VariablesGrid &w_init_)

returnValue	initializeParameters (const char *fileName)

returnValue	initializeParameters (const VariablesGrid &u_init_)

OptimizationAlgorithmBase &	operator= (const OptimizationAlgorithmBase &arg)

	OptimizationAlgorithmBase ()

	OptimizationAlgorithmBase (const OCP &ocp_)

	OptimizationAlgorithmBase (const OptimizationAlgorithmBase &arg)

returnValue	simulateStatesForInitialization ()

virtual	~OptimizationAlgorithmBase ()

Public Member Functions inherited from UserInteraction
virtual int	addPlotWindow (PlotWindow &_window)

virtual int	operator<< (PlotWindow &_window)

virtual int	operator<< (LogRecord &_record)

UserInteraction &	operator= (const UserInteraction &rhs)

	UserInteraction ()

	UserInteraction (const UserInteraction &rhs)

virtual	~UserInteraction ()

Public Member Functions inherited from Options
returnValue	addOptionsList ()

returnValue	ensureConsistency ()

returnValue	ensureConsistency ()

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	get (uint idx, OptionsName name, std::string &value) const

uint	getNumOptionsLists () const

Options	getOptions (uint idx) const

Options &	operator= (const Options &rhs)

Options &	operator= (const Options &rhs)

	Options ()

	Options ()

	Options (const Options &rhs)

	Options (const Options &rhs)

	Options ()

	Options (const OptionsList &_optionsList)

returnValue	print () const

returnValue	print () const

returnValue	printOptionsList () const

returnValue	printOptionsList (uint idx) const

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	set (uint idx, OptionsName name, const std::string &value)

returnValue	setOptions (const Options &arg)

returnValue	setOptions (uint idx, const Options &arg)

returnValue	setToDefault ()

returnValue	setToDefault ()

returnValue	setToFast ()

returnValue	setToFast ()

returnValue	setToMPC ()

returnValue	setToReliable ()

returnValue	setToReliable ()

	~Options ()

	~Options ()

virtual	~Options ()

Public Member Functions inherited from Logging
int	addLogRecord (LogRecord &record)

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

returnValue	getLogRecord (LogRecord &_record) const

uint	getNumLogRecords () const

	Logging ()

int	operator<< (LogRecord &record)

returnValue	printLoggingInfo () const

returnValue	printNumDoubles () const

returnValue	setAll (LogName _name, const MatrixVariablesGrid &values)

returnValue	setLast (LogName _name, const DMatrix &value, double time=-INFTY)

returnValue	setLast (LogName _name, VariablesGrid &value, double time=-INFTY)

returnValue	updateLogRecord (LogRecord &_record) const

virtual	~Logging ()

Public Member Functions inherited from Plotting
int	addPlotWindow (PlotWindow &_window)

uint	getNumPlotWindows () const

returnValue	getPlotWindow (uint idx, PlotWindow &_window) const

returnValue	getPlotWindow (PlotWindow &_window) const

int	operator<< (PlotWindow &_window)

Plotting &	operator= (const Plotting &rhs)

virtual returnValue	plot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)

	Plotting ()

	Plotting (const Plotting &rhs)

virtual returnValue	replot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)

virtual	~Plotting ()

Protected Member Functions
virtual returnValue	allocateNlpSolver (Objective F, DynamicDiscretization G, Constraint *H)

virtual returnValue	initializeNlpSolver (const OCPiterate &_userInit)

virtual returnValue	initializeObjective (Objective *F)

virtual returnValue	setupLogging ()

virtual returnValue	setupOptions ()

Protected Member Functions inherited from OptimizationAlgorithmBase
returnValue	clear ()

virtual returnValue	determineDimensions (Objective const _objective, DifferentialEquation const _differentialEquation, Constraint const _constraint, uint &_nx, uint &_nxa, uint &_np, uint &_nu, uint &_nw) const

virtual returnValue	extractOCPdata (Objective objective, DifferentialEquation differentialEquation, Constraint *constraint, Grid &unionGrid)

returnValue	init (UserInteraction *_userIteraction)

virtual returnValue	initializeOCPiterate (Constraint *const _constraint, const Grid &_unionGrid, uint nx, uint nxa, uint np, uint nu, uint nw)

BooleanType	isLinearQuadratic (Objective F, DynamicDiscretization G, Constraint *H) const

virtual returnValue	setupDifferentialEquation (Objective objective, DifferentialEquation differentialEquation, Constraint constraint, Grid unionGrid)

virtual returnValue	setupDynamicDiscretization (UserInteraction _userIteraction, Objective objective, DifferentialEquation *differentialEquation, Constraint constraint, Grid unionGrid, DynamicDiscretization **dynamicDiscretization)

virtual returnValue	setupObjective (Objective objective, DifferentialEquation differentialEquation, Constraint constraint, Grid unionGrid)

Protected Member Functions inherited from UserInteraction
virtual returnValue	getPlotDataFromMemberLoggings (PlotWindow &_window) const

BlockStatus	getStatus () const

returnValue	setStatus (BlockStatus _status)

Protected Member Functions inherited from Options
returnValue	addOption (OptionsName name, int value)

returnValue	addOption (OptionsName name, double value)

returnValue	addOption (OptionsName name, const std::string &value)

returnValue	addOption (uint idx, OptionsName name, int value)

returnValue	addOption (uint idx, OptionsName name, double value)

returnValue	addOption (uint idx, OptionsName name, const std::string &value)

returnValue	clearOptionsList ()

returnValue	copy (const Options &rhs)

returnValue	copy (const Options &rhs)

returnValue	declareOptionsUnchanged ()

returnValue	declareOptionsUnchanged (uint idx)

BooleanType	haveOptionsChanged () const

BooleanType	haveOptionsChanged (uint idx) const

Additional Inherited Members
Public Attributes inherited from Options
real_t	boundRelaxation

real_t	boundTolerance

int	dropBoundPriority

int_t	dropBoundPriority

int	dropEqConPriority

int_t	dropEqConPriority

int	dropIneqConPriority

int_t	dropIneqConPriority

int	enableCholeskyRefactorisation

int_t	enableCholeskyRefactorisation

int	enableDriftCorrection

int_t	enableDriftCorrection

BooleanType	enableDropInfeasibles

BooleanType	enableEqualities

BooleanType	enableFarBounds

BooleanType	enableFlippingBounds

BooleanType	enableFullLITests

BooleanType	enableInertiaCorrection

BooleanType	enableNZCTests

BooleanType	enableRamping

BooleanType	enableRegularisation

real_t	epsDen

real_t	epsFlipping

real_t	epsIterRef

real_t	epsLITests

real_t	epsNum

real_t	epsNZCTests

real_t	epsRegularisation

real_t	finalRamping

real_t	growFarBounds

real_t	initialFarBounds

real_t	initialRamping

SubjectToStatus	initialStatusBounds

real_t	maxDualJump

real_t	maxPrimalJump

int	numRefinementSteps

int_t	numRefinementSteps

int	numRegularisationSteps

int_t	numRegularisationSteps

PrintLevel	printLevel

real_t	rcondSMin

real_t	terminationTolerance

Protected Attributes inherited from OptimizationAlgorithmBase
OCPiterate	iter

NLPsolver *	nlpSolver

OCP *	ocp

OCPiterate	userInit

Protected Attributes inherited from UserInteraction
BlockStatus	status

Protected Attributes inherited from Options
std::vector< OptionsList >	lists

Protected Attributes inherited from Logging
std::vector< LogRecord >	logCollection

int	logIdx

Protected Attributes inherited from Plotting
PlotCollection	plotCollection

Detailed Description

User-interface to formulate and solve optimal control problems and static NLPs.

The class OptimizationAlgorithm serves as a user-interface to formulate and solve optimal control problems and static nonlinear programming (NLP) problems.

Note: Time is normalised to [0,1] when doing time optimal control.

Author: Boris Houska, Hans Joachim Ferreau

Definition at line 54 of file optimization_algorithm.hpp.

Constructor & Destructor Documentation

◆ OptimizationAlgorithm() [1/3]

BEGIN_NAMESPACE_ACADO OptimizationAlgorithm::OptimizationAlgorithm ( )

Default constructor.

Definition at line 46 of file optimization_algorithm.cpp.

◆ OptimizationAlgorithm() [2/3]

OptimizationAlgorithm::OptimizationAlgorithm ( const OCP & ocp_ )

Default constructor.

Definition at line 55 of file optimization_algorithm.cpp.

◆ OptimizationAlgorithm() [3/3]

OptimizationAlgorithm::OptimizationAlgorithm ( const OptimizationAlgorithm & arg )

Copy constructor (deep copy).

Definition at line 62 of file optimization_algorithm.cpp.

◆ ~OptimizationAlgorithm()

OptimizationAlgorithm::~OptimizationAlgorithm ( )

virtual

Destructor.

Definition at line 68 of file optimization_algorithm.cpp.

Member Function Documentation

◆ allocateNlpSolver()

returnValue OptimizationAlgorithm::allocateNlpSolver	(	Objective *	F,
		DynamicDiscretization *	G,
		Constraint *	H
	)

protectedvirtual

Implements OptimizationAlgorithmBase.

Definition at line 203 of file optimization_algorithm.cpp.

◆ init()

returnValue OptimizationAlgorithm::init ( )

virtual

Initializes the (internal) optimization algorithm part of the RealTimeAlgorithm.

Returns: SUCCESSFUL_RETURN,
RET_OPTALG_INIT_FAILED

Definition at line 86 of file optimization_algorithm.cpp.

◆ initializeNlpSolver()

returnValue OptimizationAlgorithm::initializeNlpSolver ( const OCPiterate & _userInit )

protectedvirtual

Implements OptimizationAlgorithmBase.

Reimplemented in MultiObjectiveAlgorithm, ParameterEstimationAlgorithm, and MHEalgorithm.

Definition at line 214 of file optimization_algorithm.cpp.

◆ initializeObjective()

returnValue OptimizationAlgorithm::initializeObjective ( Objective * F )

protectedvirtual

Implements OptimizationAlgorithmBase.

Reimplemented in MultiObjectiveAlgorithm, ParameterEstimationAlgorithm, and MHEalgorithm.

Definition at line 221 of file optimization_algorithm.cpp.

◆ operator=()

OptimizationAlgorithm & OptimizationAlgorithm::operator= ( const OptimizationAlgorithm & arg )

Assignment operator (deep copy).

Definition at line 74 of file optimization_algorithm.cpp.

◆ setupLogging()

returnValue OptimizationAlgorithm::setupLogging ( )

protectedvirtual

Sets-up default logging information.

Returns: SUCCESSFUL_RETURN

Reimplemented from Logging.

Definition at line 191 of file optimization_algorithm.cpp.

◆ setupOptions()

returnValue OptimizationAlgorithm::setupOptions ( )

protectedvirtual

Sets-up default options.

Returns: SUCCESSFUL_RETURN

Reimplemented from Options.

Reimplemented in MultiObjectiveAlgorithm.

Definition at line 138 of file optimization_algorithm.cpp.

◆ solve()

returnValue OptimizationAlgorithm::solve ( )

virtual

Starts execution.

Reimplemented in MultiObjectiveAlgorithm.

Definition at line 100 of file optimization_algorithm.cpp.

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

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ OptimizationAlgorithm() [1/3]

◆ OptimizationAlgorithm() [2/3]

◆ OptimizationAlgorithm() [3/3]

◆ ~OptimizationAlgorithm()

Member Function Documentation

◆ allocateNlpSolver()

◆ init()

◆ initializeNlpSolver()

◆ initializeObjective()

◆ operator=()

◆ setupLogging()

◆ setupOptions()

◆ solve()