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

Inheritance diagram for BoundaryConstraint:

Public Member Functions
returnValue	add (const double lb_, const Expression &arg1, const Expression &arg2, const double ub_)
	BoundaryConstraint ()
	BoundaryConstraint (const Grid &grid_)
	BoundaryConstraint (const BoundaryConstraint &rhs)
returnValue	evaluate (const OCPiterate &iter)
returnValue	evaluateSensitivities ()
returnValue	evaluateSensitivities (const DMatrix &seed, BlockMatrix &hessian)
int	getNC () const
BoundaryConstraint &	operator= (const BoundaryConstraint &rhs)
virtual	~BoundaryConstraint ()

Detailed Description

Stores and evaluates boundary constraints within optimal control problems.

The class BoundaryConstraint allows to manage and evaluate constraints at the boundary of the horizon within optimal control problems.

Definition at line 55 of file boundary_constraint.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO BoundaryConstraint::BoundaryConstraint ( )

Default constructor.

Definition at line 48 of file boundary_constraint.cpp.

BoundaryConstraint::BoundaryConstraint ( const Grid & grid_ )

Default constructor.

Definition at line 54 of file boundary_constraint.cpp.

BoundaryConstraint::BoundaryConstraint ( const BoundaryConstraint & rhs )

Copy constructor (deep copy).

Definition at line 60 of file boundary_constraint.cpp.

BoundaryConstraint::~BoundaryConstraint ( ) [virtual]

Destructor.

Definition at line 67 of file boundary_constraint.cpp.

returnValue BoundaryConstraint::add	(	const double	lb_,
		const Expression &	arg1,
		const Expression &	arg2,
		const double	ub_
	)		`[inline]`

Adds a boundary-constraint component.

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

returnValue BoundaryConstraint::evaluate ( const OCPiterate & iter )

Evaluates all components in this constraint and stores the
residuum.

Definition at line 86 of file boundary_constraint.cpp.

returnValue BoundaryConstraint::evaluateSensitivities ( )

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

Definition at line 138 of file boundary_constraint.cpp.

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

Evaluates the sensitivities and Hessian.

Definition at line 234 of file boundary_constraint.cpp.

int BoundaryConstraint::getNC ( ) const [inline]

returns the number of constraints

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

Assignment operator (deep copy).

Definition at line 72 of file boundary_constraint.cpp.

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