CoupledPathConstraint Class Reference

Stores and evaluates coupled path constraints within optimal control problems. More...

#include <coupled_path_constraint.hpp>

Inheritance diagram for CoupledPathConstraint:

List of all members.

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

---

Detailed Description

Stores and evaluates coupled path constraints within optimal control problems.

The class CoupledPathConstraint allows to manage and evaluate constraints along the whole horizon within optimal control problems that are coupled across control intervals. If the contraints are decoupled, the class PathConstraint should be used.

Author:

Boris Houska, Hans Joachim Ferreau

Definition at line 57 of file coupled_path_constraint.hpp.

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Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO CoupledPathConstraint::CoupledPathConstraint

(

)

Default constructor.

Definition at line 48 of file coupled_path_constraint.cpp.

CoupledPathConstraint::CoupledPathConstraint

(

const Grid &

grid_

)

Default constructor.

Definition at line 53 of file coupled_path_constraint.cpp.

CoupledPathConstraint::CoupledPathConstraint

(

const CoupledPathConstraint &

rhs

)

Copy constructor (deep copy).

Definition at line 58 of file coupled_path_constraint.cpp.

CoupledPathConstraint::~CoupledPathConstraint

(

)

[virtual]

Destructor.

Definition at line 63 of file coupled_path_constraint.cpp.

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Member Function Documentation

returnValue CoupledPathConstraint::add	(	const double	lb_,
		const Expression *	arg,
		const double	ub_
	)		[inline]

Adds a coupled-path-constraint component.

Returns:

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

returnValue CoupledPathConstraint::evaluate

(

const OCPiterate &

iter

)

Evaluates all components in this constraint and stores the
residuum.

Returns:

SUCESSFUL_RETURN

Definition at line 78 of file coupled_path_constraint.cpp.

returnValue CoupledPathConstraint::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 122 of file coupled_path_constraint.cpp.

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

Evaluates the sensitivities and Hessian.

Returns:

SUCESSFUL_RETURN

Definition at line 231 of file coupled_path_constraint.cpp.

int CoupledPathConstraint::getNC

(

)

const [inline]

returns the number of constraints

CoupledPathConstraint & CoupledPathConstraint::operator=

(

const CoupledPathConstraint &

rhs

)

Assignment operator (deep copy).

Definition at line 67 of file coupled_path_constraint.cpp.

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

• coupled_path_constraint.hpp
• coupled_path_constraint.cpp