Discretizes a DifferentialEquation by means of single or multiple shooting. More...

#include <shooting_method.hpp>

Inheritance diagram for ShootingMethod:

Public Member Functions
virtual returnValue	addStage (const DynamicSystem &dynamicSystem_, const Grid &stageIntervals, const IntegratorType &integratorType_=INT_UNKNOWN)

virtual returnValue	addTransition (const Transition &transition_)

virtual returnValue	clear ()

virtual DynamicDiscretization *	clone () const

virtual returnValue	deleteAllSeeds ()

virtual returnValue	evaluate (OCPiterate &iter)

virtual returnValue	evaluateSensitivities ()

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

virtual returnValue	evaluateSensitivitiesLifted ()

virtual BooleanType	isAffine () const

ShootingMethod &	operator= (const ShootingMethod &rhs)

	ShootingMethod ()

	ShootingMethod (UserInteraction *_userInteraction)

	ShootingMethod (const ShootingMethod &rhs)

virtual returnValue	unfreeze ()

virtual	~ShootingMethod ()

Public Member Functions inherited from DynamicDiscretization
	DynamicDiscretization ()

	DynamicDiscretization (UserInteraction *_userInteraction)

	DynamicDiscretization (const DynamicDiscretization &rhs)

virtual returnValue	getBackwardSensitivities (BlockMatrix &D) const

virtual returnValue	getForwardSensitivities (BlockMatrix &D) const

int	getNumberOfIntervals () const

virtual returnValue	getResiduum (BlockMatrix &residuum_) const

DynamicDiscretization &	operator= (const DynamicDiscretization &rhs)

virtual returnValue	setBackwardSeed (const BlockMatrix &seed)

virtual returnValue	setForwardSeed (const BlockMatrix &xSeed_, const BlockMatrix &pSeed_, const BlockMatrix &uSeed_, const BlockMatrix &wSeed_)

virtual returnValue	setUnitBackwardSeed ()

virtual returnValue	setUnitForwardSeed ()

virtual	~DynamicDiscretization ()

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 ()

Protected Member Functions
returnValue	allocateIntegrator (uint idx, IntegratorType type_)

void	copy (const ShootingMethod &arg)

returnValue	deleteAll ()

returnValue	differentiateBackward (const int &idx, const DMatrix &seed, DMatrix &Gx, DMatrix &Gp, DMatrix &Gu, DMatrix &Gw)

returnValue	differentiateForward (const int &idx, const DMatrix &dX, const DMatrix &dP, const DMatrix &dU, const DMatrix &dW, DMatrix &D)

returnValue	differentiateForwardBackward (const int &idx, const DMatrix &dX, const DMatrix &dP, const DMatrix &dU, const DMatrix &dW, const DMatrix &seed, DMatrix &D, DMatrix &ddX, DMatrix &ddP, DMatrix &ddU, DMatrix &ddW)

returnValue	logTrajectory (const OCPiterate &iter)

returnValue	rescale (VariablesGrid *trajectory, double tEndNew, double newIntervalLength) const

returnValue	update (DMatrix &G, const DMatrix &A, const DMatrix &B)

Protected Member Functions inherited from DynamicDiscretization
void	copy (const DynamicDiscretization &rhs)

uint	getNumEvaluationPoints () const

void	initializeVariables ()

virtual returnValue	setupLogging ()

virtual returnValue	setupOptions ()

Protected Attributes
DMatrix	breakPoints

Integrator **	integrator

Protected Attributes inherited from DynamicDiscretization
BlockMatrix	bSeed

BlockMatrix	dBackward

BlockMatrix	dForward

BooleanType	freezeTraj

int	N

int	na

int	np

int	nu

int	nw

int	nx

PrintLevel	printLevel

BlockMatrix	pSeed

VariablesGrid	residuum

Grid	unionGrid

BlockMatrix	uSeed

BlockMatrix	wSeed

BlockMatrix	xSeed

Protected Attributes inherited from AlgorithmicBase
int	outputLoggingIdx

BooleanType	useModuleStandalone

UserInteraction *	userInteraction

Detailed Description

Discretizes a DifferentialEquation by means of single or multiple shooting.

The class ShootingMethod allows to discretize a DifferentialEquation for use in optimal control algorithms by means of an (online) integrator using either single or multiple shooting.

Author: Boris Houska, Hans Joachim Ferreau

Definition at line 55 of file shooting_method.hpp.

Constructor & Destructor Documentation

◆ ShootingMethod() [1/3]

BEGIN_NAMESPACE_ACADO ShootingMethod::ShootingMethod ( )

Default constructor.

Definition at line 48 of file shooting_method.cpp.

◆ ShootingMethod() [2/3]

ShootingMethod::ShootingMethod ( UserInteraction * _userInteraction )

Definition at line 54 of file shooting_method.cpp.

◆ ShootingMethod() [3/3]

ShootingMethod::ShootingMethod ( const ShootingMethod & rhs )

Copy constructor (deep copy).

Definition at line 60 of file shooting_method.cpp.

◆ ~ShootingMethod()

ShootingMethod::~ShootingMethod ( )

virtual

Destructor.

Definition at line 66 of file shooting_method.cpp.

Member Function Documentation

◆ addStage()

returnValue ShootingMethod::addStage	(	const DynamicSystem &	dynamicSystem_,
		const Grid &	stageIntervals,
		const IntegratorType &	integratorType_ = `INT_UNKNOWN`
	)

virtual

Set the Differential Equations stage by stage.

Implements DynamicDiscretization.

Definition at line 105 of file shooting_method.cpp.

◆ addTransition()

returnValue ShootingMethod::addTransition ( const Transition & transition_ )

virtual

Set the Transition stages.

Implements DynamicDiscretization.

Definition at line 184 of file shooting_method.cpp.

◆ allocateIntegrator()

returnValue ShootingMethod::allocateIntegrator	(	uint	idx,
		IntegratorType	type_
	)

protected

Definition at line 164 of file shooting_method.cpp.

◆ clear()

returnValue ShootingMethod::clear ( )

virtual

Deletes all stages and transitions and resets the DynamicDiscretization.

Implements DynamicDiscretization.

Definition at line 193 of file shooting_method.cpp.

◆ clone()

DynamicDiscretization * ShootingMethod::clone ( ) const

virtual

Clone constructor (deep copy).

Implements DynamicDiscretization.

Definition at line 99 of file shooting_method.cpp.

◆ copy()

void ShootingMethod::copy ( const ShootingMethod & arg )

protected

Definition at line 84 of file shooting_method.cpp.

◆ deleteAll()

returnValue ShootingMethod::deleteAll ( )

protected

Definition at line 686 of file shooting_method.cpp.

◆ deleteAllSeeds()

returnValue ShootingMethod::deleteAllSeeds ( )

virtual

Deletes all seeds that have been set with the methods above.
This function will also give the corresponding memory free.

Returns: SUCCESSFUL_RETURN
RET_NO_SEED_ALLOCATED

Reimplemented from DynamicDiscretization.

Definition at line 664 of file shooting_method.cpp.

◆ differentiateBackward()

returnValue ShootingMethod::differentiateBackward	(	const int &	idx,
		const DMatrix &	seed,
		DMatrix &	Gx,
		DMatrix &	Gp,
		DMatrix &	Gu,
		DMatrix &	Gw
	)

protected

Definition at line 327 of file shooting_method.cpp.

◆ differentiateForward()

returnValue ShootingMethod::differentiateForward	(	const int &	idx,
		const DMatrix &	dX,
		const DMatrix &	dP,
		const DMatrix &	dU,
		const DMatrix &	dW,
		DMatrix &	D
	)

protected

Definition at line 364 of file shooting_method.cpp.

◆ differentiateForwardBackward()

returnValue ShootingMethod::differentiateForwardBackward	(	const int &	idx,
		const DMatrix &	dX,
		const DMatrix &	dP,
		const DMatrix &	dU,
		const DMatrix &	dW,
		const DMatrix &	seed,
		DMatrix &	D,
		DMatrix &	ddX,
		DMatrix &	ddP,
		DMatrix &	ddU,
		DMatrix &	ddW
	)

protected

Definition at line 401 of file shooting_method.cpp.

◆ evaluate()

returnValue ShootingMethod::evaluate ( OCPiterate & iter )

virtual

Evaluates the discretized DifferentialEquation at a specified
VariablesGrid. The results are written into the residuum of the
type VariablesGrid. This routine is for a simple evaluation only.
If sensitivities are needed use one of the routines below
instead.

Returns: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS
or a specific error message form an underlying
discretization instance.

Implements DynamicDiscretization.

Definition at line 205 of file shooting_method.cpp.

◆ evaluateSensitivities() [1/2]

returnValue ShootingMethod::evaluateSensitivities ( )

virtual

Evaluates the sensitivities.

Returns: SUCCESSFUL_RETURN
RET_NOT_FROZEN

Implements DynamicDiscretization.

Definition at line 467 of file shooting_method.cpp.

◆ evaluateSensitivities() [2/2]

returnValue ShootingMethod::evaluateSensitivities	(	const BlockMatrix &	seed,
		BlockMatrix &	hessian
	)

virtual

Evaluates the sensitivities and the hessian.

Returns: SUCCESSFUL_RETURN
RET_NOT_FROZEN

Implements DynamicDiscretization.

Definition at line 589 of file shooting_method.cpp.

◆ evaluateSensitivitiesLifted()

returnValue ShootingMethod::evaluateSensitivitiesLifted ( )

virtual

Evaluates the sensitivities.

Returns: SUCCESSFUL_RETURN
RET_NOT_FROZEN

Implements DynamicDiscretization.

Definition at line 533 of file shooting_method.cpp.

◆ isAffine()

BooleanType ShootingMethod::isAffine ( ) const

virtual

Implements DynamicDiscretization.

Definition at line 676 of file shooting_method.cpp.

◆ logTrajectory()

returnValue ShootingMethod::logTrajectory ( const OCPiterate & iter )

protected

Definition at line 704 of file shooting_method.cpp.

◆ operator=()

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

Assignment operator (deep copy).

Definition at line 72 of file shooting_method.cpp.

◆ rescale()

returnValue ShootingMethod::rescale	(	VariablesGrid *	trajectory,
		double	tEndNew,
		double	newIntervalLength
	)		const

protected

Definition at line 798 of file shooting_method.cpp.

◆ unfreeze()

returnValue ShootingMethod::unfreeze ( )

virtual

Implements DynamicDiscretization.

Definition at line 654 of file shooting_method.cpp.

◆ update()

returnValue ShootingMethod::update	(	DMatrix &	G,
		const DMatrix &	A,
		const DMatrix &	B
	)

protected

Writes the continous integrator output to the logging object, if this
is requested. Please note, that this routine converts the VariablesGrids
from the integration routine into a large matrix. Consequently, the break
points need to be logged, too.

Returns: SUCCESSFUL_RETURN

Definition at line 519 of file shooting_method.cpp.

Member Data Documentation

◆ breakPoints

DMatrix ShootingMethod::breakPoints

protected

Definition at line 215 of file shooting_method.hpp.

◆ integrator

Integrator** ShootingMethod::integrator

protected

Definition at line 214 of file shooting_method.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

◆ ShootingMethod() [1/3]

◆ ShootingMethod() [2/3]

◆ ShootingMethod() [3/3]

◆ ~ShootingMethod()

Member Function Documentation

◆ addStage()

◆ addTransition()

◆ allocateIntegrator()

◆ clear()

◆ clone()

◆ copy()

◆ deleteAll()

◆ deleteAllSeeds()

◆ differentiateBackward()

◆ differentiateForward()

◆ differentiateForwardBackward()

◆ evaluate()

◆ evaluateSensitivities() [1/2]

◆ evaluateSensitivities() [2/2]

◆ evaluateSensitivitiesLifted()

◆ isAffine()

◆ logTrajectory()

◆ operator=()

◆ rescale()

◆ unfreeze()

◆ update()

Member Data Documentation

◆ breakPoints

◆ integrator