Stores and evaluates pointwise constraints within optimal control problems. More...

#include <point_constraint.hpp>

Inheritance diagram for PointConstraint:

Public Member Functions
returnValue	add (const double lb_, const Expression &arg, const double ub_)

returnValue	evaluate (const OCPiterate &iter)

returnValue	evaluateSensitivities ()

returnValue	evaluateSensitivities (const DMatrix &seed, BlockMatrix &hessian)

returnValue	getBounds (const OCPiterate &iter)

int	getNC () const

BooleanType	isBoxConstraint () const

PointConstraint &	operator= (const PointConstraint &rhs)

	PointConstraint ()

	PointConstraint (const Grid &grid_, int point_index_)

	PointConstraint (const PointConstraint &rhs)

virtual	~PointConstraint ()

Public Member Functions inherited from ConstraintElement
	ConstraintElement ()

	ConstraintElement (const Grid &grid_, int nFcn_, int nB_)

	ConstraintElement (const ConstraintElement &rhs)

returnValue	get (Function &function_, DMatrix &lb_, DMatrix &ub_)

virtual returnValue	getBackwardSensitivities (BlockMatrix *D, int order)

virtual returnValue	getForwardSensitivities (BlockMatrix *D, int order)

Grid &	getGrid ()

int	getNP () const

int	getNU () const

int	getNW () const

int	getNX () const

int	getNXA () const

virtual returnValue	getResiduum (BlockMatrix &lower_residuum, BlockMatrix &upper_residuum)

returnValue	init (const OCPiterate &iter)

BooleanType	isAffine () const

ConstraintElement &	operator= (const ConstraintElement &rhs)

virtual returnValue	setBackwardSeed (BlockMatrix *seed, int order)

virtual returnValue	setForwardSeed (BlockMatrix xSeed_, BlockMatrix xaSeed_, BlockMatrix pSeed_, BlockMatrix uSeed_, BlockMatrix *wSeed_, int order)

virtual returnValue	setUnitForwardSeed ()

virtual	~ConstraintElement ()

Protected Member Functions
returnValue	computeForwardSensitivityBlock (int offset, int offset2, DMatrix *seed)

Protected Member Functions inherited from ConstraintElement
virtual returnValue	initializeEvaluationPoints (const OCPiterate &iter)

Protected Attributes
double *	blb

double *	bub

int *	index

int	nb

int	point_index

VariableType *	var

Protected Attributes inherited from ConstraintElement
BlockMatrix *	bSeed

BlockMatrix *	bSeed2

CondensingType	condType

BlockMatrix	dBackward

BlockMatrix	dForward

Function *	fcn

Grid	grid

EvaluationPoint *	JJ

double **	lb

int	na

int	nB

int	nFcn

int	np

int	nu

int	nw

int	nx

int	ny

BlockMatrix *	pSeed

BlockMatrix *	pSeed2

BlockMatrix	residuumL

BlockMatrix	residuumU

int *	t_index

double **	ub

BlockMatrix *	uSeed

BlockMatrix *	uSeed2

BlockMatrix *	wSeed

BlockMatrix *	wSeed2

BlockMatrix *	xaSeed

BlockMatrix *	xaSeed2

BlockMatrix *	xSeed

BlockMatrix *	xSeed2

int **	y_index

EvaluationPoint *	z

Detailed Description

Stores and evaluates pointwise constraints within optimal control problems.

The class PointConstraint allows to manage and evaluate pointwise constraints within optimal control problems.

Author: Boris Houska, Hans Joachim Ferreau

Definition at line 55 of file point_constraint.hpp.

Constructor & Destructor Documentation

◆ PointConstraint() [1/3]

BEGIN_NAMESPACE_ACADO PointConstraint::PointConstraint ( )

Default constructor.

Definition at line 47 of file point_constraint.cpp.

◆ PointConstraint() [2/3]

PointConstraint::PointConstraint	(	const Grid &	grid_,
		int	point_index_
	)

Default constructor.

Definition at line 59 of file point_constraint.cpp.

◆ PointConstraint() [3/3]

PointConstraint::PointConstraint ( const PointConstraint & rhs )

Copy constructor (deep copy).

Definition at line 71 of file point_constraint.cpp.

◆ ~PointConstraint()

PointConstraint::~PointConstraint ( )

virtual

Destructor.

Definition at line 99 of file point_constraint.cpp.

Member Function Documentation

◆ add()

returnValue PointConstraint::add	(	const double	lb_,
		const Expression &	arg,
		const double	ub_
	)

Adds a point-constraint component.

Returns: SUCCESSFUL_RETURN RET_MEMBER_NOT_INITIALISED (if the ConstraintElement::fcn is not initialized)

Definition at line 148 of file point_constraint.cpp.

◆ computeForwardSensitivityBlock()

returnValue PointConstraint::computeForwardSensitivityBlock	(	int	offset,
		int	offset2,
		DMatrix *	seed
	)

inlineprotected

only for internal use (routine which computes a part of the block matrix needed for forward differentiation.)

Definition at line 677 of file point_constraint.cpp.

◆ evaluate()

returnValue PointConstraint::evaluate ( const OCPiterate & iter )

Evaluates all components in this constraint and stores the
residuum.

Returns: SUCESSFUL_RETURN

Definition at line 190 of file point_constraint.cpp.

◆ evaluateSensitivities() [1/2]

returnValue PointConstraint::evaluateSensitivities ( )

Evaluates the sensitivities of all components in this
constraint. Note that the seed can be defined via the base
class ConstraintElement.

Returns: SUCESSFUL_RETURN

Definition at line 225 of file point_constraint.cpp.

◆ evaluateSensitivities() [2/2]

returnValue PointConstraint::evaluateSensitivities	(	const DMatrix &	seed,
		BlockMatrix &	hessian
	)

Evaluates the sensitivities and Hessian.

Returns: SUCESSFUL_RETURN

Definition at line 341 of file point_constraint.cpp.

◆ getBounds()

returnValue PointConstraint::getBounds ( const OCPiterate & iter )

Writes a special copy of the bounds that is needed within the OptimizationAlgorithm into the optimization variables.

Definition at line 605 of file point_constraint.cpp.

◆ getNC()

int PointConstraint::getNC ( ) const

inline

returns the number of constraints

◆ isBoxConstraint()

BooleanType PointConstraint::isBoxConstraint ( ) const

inline

returns whether object only comprises box constraints.

◆ operator=()

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

Assignment operator (deep copy).

Definition at line 107 of file point_constraint.cpp.

Member Data Documentation

◆ blb

double* PointConstraint::blb

protected

lower bounds

Definition at line 157 of file point_constraint.hpp.

◆ bub

double* PointConstraint::bub

protected

upper bounds

Definition at line 158 of file point_constraint.hpp.

◆ index

int* PointConstraint::index

protected

component of the variable

Definition at line 156 of file point_constraint.hpp.

◆ nb

int PointConstraint::nb

protected

counts the number of simple point bounds

Definition at line 154 of file point_constraint.hpp.

◆ point_index

int PointConstraint::point_index

protected

index of the constraint relative to the constraint grid

Definition at line 152 of file point_constraint.hpp.

◆ var

VariableType* PointConstraint::var

protected

variable types

Definition at line 155 of file point_constraint.hpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PointConstraint() [1/3]

◆ PointConstraint() [2/3]

◆ PointConstraint() [3/3]

◆ ~PointConstraint()

Member Function Documentation

◆ add()

◆ computeForwardSensitivityBlock()

◆ evaluate()

◆ evaluateSensitivities() [1/2]

◆ evaluateSensitivities() [2/2]

◆ getBounds()

◆ getNC()

◆ isBoxConstraint()

◆ operator=()

Member Data Documentation

◆ blb

◆ bub

◆ index

◆ nb

◆ point_index

◆ var