Public Member Functions | Protected Member Functions | Protected Attributes

TBD. More...

#include <export_gauss_newton_cn2_factorization.hpp>

Inheritance diagram for ExportGaussNewtonCn2Factorization:
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List of all members.

Public Member Functions

 ExportGaussNewtonCn2Factorization (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")
virtual returnValue getCode (ExportStatementBlock &code)
virtual returnValue getDataDeclarations (ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const
virtual returnValue getFunctionDeclarations (ExportStatementBlock &declarations) const
unsigned getNumQPvars () const
virtual unsigned getNumStateBounds () const
virtual returnValue setup ()
virtual ~ExportGaussNewtonCn2Factorization ()

Protected Member Functions

bool performFullCondensing () const
virtual returnValue setupCondensing ()
virtual returnValue setupConstraintsEvaluation (void)
virtual returnValue setupEvaluation ()
virtual returnValue setupMultiplicationRoutines ()
virtual returnValue setupObjectiveEvaluation (void)
virtual returnValue setupQPInterface ()
virtual returnValue setupVariables ()

Protected Attributes

ExportVariable A
ExportVariable A10
ExportVariable A20
ExportCholeskySolver cholSolver
ExportFunction condenseFdb
ExportFunction condensePrep
ExportFunction copyHTH
ExportVariable D
ExportVariable Dx0
ExportVariable E
ExportFunction evaluateObjective
ExportFunction expand
ExportFunction expansionStep
ExportVariable F
ExportFunction feedback
ExportVariable g
ExportVariable g0
ExportVariable g1
ExportFunction getKKT
ExportVariable H
ExportVariable H00
ExportVariable H10
ExportVariable H11
ExportVariable L
ExportVariable lb
ExportVariable lbA
ExportVariable lbAValues
ExportVariable lbValues
ExportFunction mac_H_W2T_W3_R
ExportFunction mac_R_BT_F_D
ExportFunction mac_R_T2_B_D
ExportFunction mac_W1_T1_E_F
ExportFunction mac_W3_G_W1T_G
ExportFunction macASbar
ExportFunction macASbarD2
ExportFunction macATw1QDy
ExportFunction macBTw1
ExportFunction macBTW1_R1
ExportFunction macCTSlx
ExportFunction macETSlu
ExportFunction macHxd
ExportFunction macQEW2
ExportFunction macQSbarW2
ExportFunction move_D_U
ExportFunction move_GxT_T3
ExportFunction moveGuE
ExportFunction moveGxT
ExportFunction mul_T2_A_L
ExportFunction mult_BT_T1_T2
ExportFunction mult_FT_A_L
ExportFunction mult_H_W2T_W3
ExportFunction mult_L_E_U
ExportFunction multBTW1
ExportFunction multCTQC
ExportFunction multEDu
ExportFunction multEQDy
ExportFunction multGxd
ExportFunction multGxGu
ExportFunction multGxGx
ExportFunction multGxTGu
ExportFunction multHxC
ExportFunction multHxE
ExportFunction multQ1d
ExportFunction multQ1Gu
ExportFunction multQ1Gx
ExportFunction multQDy
ExportFunction multQETGx
ExportFunction multQN1d
ExportFunction multQN1Gu
ExportFunction multQN1Gx
ExportFunction multRDy
ExportVariable pacA01Dx0
ExportVariable pocA02Dx0
ExportFunction preparation
ExportVariable Qd
ExportVariable QDy
ExportVariable QE
ExportVariable QGx
ExportVariable sbar
ExportFunction setBlockH11
ExportFunction setObjQ1Q2
ExportFunction setObjQN1QN2
ExportFunction setObjR1R2
ExportVariable T1
ExportVariable T2
ExportVariable T3
ExportVariable U
ExportVariable ub
ExportVariable ubA
ExportVariable ubAValues
ExportVariable ubValues
ExportFunction updateQ
ExportFunction updateQ2
ExportVariable W1
ExportVariable w1
ExportVariable W2
ExportVariable w2
ExportVariable x0
std::vector< unsigned > xBoundsIdx
std::vector< unsigned > xBoundsIdxRev
ExportVariable xVars
ExportVariable yVars
ExportFunction zeroBlockH00
ExportFunction zeroBlockH10
ExportFunction zeroBlockH11

Detailed Description

TBD.

Authors:
Milan Vukov
Note:
Early experimental implementation

Definition at line 49 of file export_gauss_newton_cn2_factorization.hpp.


Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO ExportGaussNewtonCn2Factorization::ExportGaussNewtonCn2Factorization ( UserInteraction _userInteraction = 0,
const std::string &  _commonHeaderName = "" 
)

Default constructor.

Parameters:
[in]_userInteractionPointer to corresponding user interface.
[in]_commonHeaderNameName of common header file to be included.

Definition at line 39 of file export_gauss_newton_cn2_factorization.cpp.

Destructor.

Definition at line 63 of file export_gauss_newton_cn2_factorization.hpp.


Member Function Documentation

Exports source code of the auto-generated condensing algorithm into the given directory.

Parameters:
[in]codeCode block containing the auto-generated condensing algorithm.
Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 162 of file export_gauss_newton_cn2_factorization.cpp.

Adds all data declarations of the auto-generated condensing algorithm to given list of declarations.

Parameters:
[in]declarationsList of declarations.
Returns:
SUCCESSFUL_RETURN

Reimplemented from ExportNLPSolver.

Definition at line 90 of file export_gauss_newton_cn2_factorization.cpp.

Adds all function (forward) declarations of the auto-generated condensing algorithm to given list of declarations.

Parameters:
[in]declarationsList of declarations.
Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 143 of file export_gauss_newton_cn2_factorization.cpp.

Returns number of variables in underlying QP.

Returns:
Number of variables in underlying QP

Implements ExportNLPSolver.

Definition at line 287 of file export_gauss_newton_cn2_factorization.cpp.

Returns number of bounds on differential states.

Returns:
Number of bounds on differential states

Definition at line 295 of file export_gauss_newton_cn2_factorization.cpp.

Definition at line 1923 of file export_gauss_newton_cn2_factorization.cpp.

Initializes export of an algorithm.

Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 44 of file export_gauss_newton_cn2_factorization.cpp.

Setup E matrix as in the N^3 implementation

Definition at line 741 of file export_gauss_newton_cn2_factorization.cpp.

Set-up evaluation of constraints

  • box constraints on states and controls
Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 511 of file export_gauss_newton_cn2_factorization.cpp.

Exports source code containing the evaluation routines of the algorithm.

Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 1772 of file export_gauss_newton_cn2_factorization.cpp.

Exports source code containing the multiplication routines of the algorithm.

Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 1496 of file export_gauss_newton_cn2_factorization.cpp.

Setting up of an objective evaluation:

  • functions and derivatives evaulation
  • creating Hessians and gradients
Returns:
SUCCESSFUL_RETURN

Definition at line 304 of file export_gauss_newton_cn2_factorization.cpp.

Definition at line 1863 of file export_gauss_newton_cn2_factorization.cpp.

Initialization of all member variables.

Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 1404 of file export_gauss_newton_cn2_factorization.cpp.


Member Data Documentation

Variable containing the QP constraint matrix.

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Variable containing the QP gradient.

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Variable containing the QP Hessian matrix.

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Variable containing the lower limits on QP variables.

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Variable containing lower limits on QP constraints.

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Variable containing factorization of the QP Hessian matrix; R' * R = H.

Definition at line 171 of file export_gauss_newton_cn2_factorization.hpp.

Variable containing the upper limits on QP variables.

Definition at line 182 of file export_gauss_newton_cn2_factorization.hpp.

Variable containing upper limits on QP constraints.

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std::vector< unsigned > ExportGaussNewtonCn2Factorization::xBoundsIdx [protected]

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std::vector< unsigned > ExportGaussNewtonCn2Factorization::xBoundsIdxRev [protected]

Definition at line 196 of file export_gauss_newton_cn2_factorization.hpp.

Variable containing the primal QP variables.

Definition at line 191 of file export_gauss_newton_cn2_factorization.hpp.

Variable containing the dual QP variables.

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


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Thu Aug 27 2015 12:01:38