MultiObjectiveAlgorithm Class Reference

User-interface to formulate and solve optimal control problems with multiple objectives. More...

#include <multi_objective_algorithm.hpp>

Inheritance diagram for MultiObjectiveAlgorithm:

List of all members.

Public Member Functions
returnValue	getAllAlgebraicStates (const char *fileName) const
returnValue	getAllControls (const char *fileName) const
returnValue	getAllDifferentialStates (const char *fileName) const
returnValue	getAllDisturbances (const char *fileName) const
returnValue	getAllParameters (const char *fileName) const
DVector	getNadirVector () const
DVector	getNormalizationVector () const
DMatrix	getNormalizedPayOffMatrix () const
returnValue	getParetoFront (VariablesGrid &paretoFront) const
returnValue	getParetoFrontWithFilter (VariablesGrid &paretoFront) const
DMatrix	getPayOffMatrix () const
DMatrix	getUtopiaPlaneVectors () const
DVector	getUtopiaVector () const
DMatrix	getWeights () const
returnValue	getWeights (const char *fileName) const
returnValue	getWeightsWithFilter (const char *fileName) const
	MultiObjectiveAlgorithm ()
	MultiObjectiveAlgorithm (const OCP &ocp_)
	MultiObjectiveAlgorithm (const MultiObjectiveAlgorithm &arg)
MultiObjectiveAlgorithm &	operator= (const MultiObjectiveAlgorithm &arg)
returnValue	printInfo ()
returnValue	setParetoFrontDiscretization (const int &N_)
virtual returnValue	solve ()
virtual returnValue	solveSingleObjective (const int &number)
virtual	~MultiObjectiveAlgorithm ()
Protected Member Functions
returnValue	evaluateObjectives (VariablesGrid &xd_, VariablesGrid &xa_, VariablesGrid &p_, VariablesGrid &u_, VariablesGrid &w_, Expression **arg1)
returnValue	formulateOCP (double *idx, OCP *ocp_, Expression **arg)
virtual returnValue	initializeNlpSolver (const OCPiterate &_userInit)
virtual returnValue	initializeObjective (Objective *F)
returnValue	printAuxiliaryRoutine (const char *fileName, VariablesGrid *x_) const
virtual returnValue	setupOptions ()
Protected Attributes
int	count
int	m
int	N
VariablesGrid *	pResults
DMatrix	result
VariablesGrid *	uResults
DMatrix	vertices
VariablesGrid *	wResults
VariablesGrid *	xaResults
VariablesGrid *	xResults
Private Attributes
double	totalCPUtime
int	totalNumberOfSQPiterations

---

Detailed Description

User-interface to formulate and solve optimal control problems with multiple objectives.

The class MultiObjectiveAlgorithm serves as a user-interface to formulate and solve optimal control problems with multiple objectives.

Author:

Boris Houska, Hans Joachim Ferreau

Definition at line 54 of file multi_objective_algorithm.hpp.

---

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO MultiObjectiveAlgorithm::MultiObjectiveAlgorithm

(

)

Default constructor.

Definition at line 45 of file multi_objective_algorithm.cpp.

MultiObjectiveAlgorithm::MultiObjectiveAlgorithm

(

const OCP &

ocp_

)

Default constructor.

Definition at line 64 of file multi_objective_algorithm.cpp.

MultiObjectiveAlgorithm::MultiObjectiveAlgorithm

(

const MultiObjectiveAlgorithm &

arg

)

Copy constructor (deep copy).

Definition at line 83 of file multi_objective_algorithm.cpp.

MultiObjectiveAlgorithm::~MultiObjectiveAlgorithm

(

)

[virtual]

Destructor.

Definition at line 106 of file multi_objective_algorithm.cpp.

---

Member Function Documentation

returnValue MultiObjectiveAlgorithm::evaluateObjectives	(	VariablesGrid &	xd_,
		VariablesGrid &	xa_,
		VariablesGrid &	p_,
		VariablesGrid &	u_,
		VariablesGrid &	w_,
		Expression **	arg1
	)		[protected]

Evaluates the objectives.

Returns:

SUCCESSFUL_RETURN

Definition at line 623 of file multi_objective_algorithm.cpp.

returnValue MultiObjectiveAlgorithm::formulateOCP	(	double *	idx,
		OCP *	ocp_,
		Expression **	arg
	)		[protected]

Reformulates the OCP problem for the multi-objective case.

Returns:

SUCCESSFUL_RETURN

Definition at line 446 of file multi_objective_algorithm.cpp.

returnValue MultiObjectiveAlgorithm::getAllAlgebraicStates

(

const char *

fileName

)

const [inline]

returnValue MultiObjectiveAlgorithm::getAllControls

(

const char *

fileName

)

const [inline]

returnValue MultiObjectiveAlgorithm::getAllDifferentialStates

(

const char *

fileName

)

const [inline]

returnValue MultiObjectiveAlgorithm::getAllDisturbances

(

const char *

fileName

)

const [inline]

returnValue MultiObjectiveAlgorithm::getAllParameters

(

const char *

fileName

)

const [inline]

DVector MultiObjectiveAlgorithm::getNadirVector

(

)

const [inline]

Returns the nadir vector.

Returns:

the nadir vector.

DVector MultiObjectiveAlgorithm::getNormalizationVector

(

)

const [inline]

Returns the normalisation vector
= difference between nadir vector and utopia vector.

Returns:

the normalization vector.

DMatrix MultiObjectiveAlgorithm::getNormalizedPayOffMatrix

(

)

const [inline]

Returns the normalized pay-off matrix.

Returns:

the pay-off matrix.

returnValue MultiObjectiveAlgorithm::getParetoFront

(

VariablesGrid &

paretoFront

)

const [inline]

Returns the Pareto front

Parameters:

paretoFront

The pareto front in form of a VariablesGrid.

Returns:

SUCCESSFUL_RETURN

returnValue MultiObjectiveAlgorithm::getParetoFrontWithFilter

(

VariablesGrid &

paretoFront

)

const [inline]

Returns the filtered Pareto front

Parameters:

paretoFront

The pareto front in form of a VariablesGrid.

Returns:

SUCCESSFUL_RETURN

DMatrix MultiObjectiveAlgorithm::getPayOffMatrix

(

)

const [inline]

Returns the pay-off matrix.

Returns:

the pay-off matrix.

DMatrix MultiObjectiveAlgorithm::getUtopiaPlaneVectors

(

)

const [inline]

Returns the utopia plane vectors

Returns:

the utopia plane vector (stored column-wise).

DVector MultiObjectiveAlgorithm::getUtopiaVector

(

)

const [inline]

Returns the utopia vector.

Returns:

the utopia vector.

DMatrix MultiObjectiveAlgorithm::getWeights

(

)

const [inline]

Returns the weights

Returns:

SUCCESSFUL_RETURN

returnValue MultiObjectiveAlgorithm::getWeights

(

const char *

fileName

)

const [inline]

Prints the weights into a file (with pre-ordering)

Returns:

SUCCESSFUL_RETURN

returnValue MultiObjectiveAlgorithm::getWeightsWithFilter

(

const char *

fileName

)

const [inline]

Prints the weights into a file (with pre-ordering)
and after applying the Pareto filter.

Returns:

SUCCESSFUL_RETURN

returnValue MultiObjectiveAlgorithm::initializeNlpSolver

(

const OCPiterate &

_userInit

)

[protected, virtual]

Reimplemented from OptimizationAlgorithm.

Definition at line 431 of file multi_objective_algorithm.cpp.

returnValue MultiObjectiveAlgorithm::initializeObjective

(

Objective *

F

)

[protected, virtual]

Reimplemented from OptimizationAlgorithm.

Definition at line 437 of file multi_objective_algorithm.cpp.

MultiObjectiveAlgorithm & MultiObjectiveAlgorithm::operator=

(

const MultiObjectiveAlgorithm &

arg

)

Assignment operator (deep copy).

Definition at line 116 of file multi_objective_algorithm.cpp.

returnValue MultiObjectiveAlgorithm::printAuxiliaryRoutine	(	const char *	fileName,
		VariablesGrid *	x_
	)		const [inline, protected]

returnValue MultiObjectiveAlgorithm::printInfo

(

)

[inline]

Prints general Info (statistics)

Returns:

SUCCESSFUL_RETURN

returnValue MultiObjectiveAlgorithm::setParetoFrontDiscretization

(

const int &

N_

)

[inline]

Defines the descretization of the Pareto front
(for the 2-dimensional case)

Parameters:

N	the number of descretization intervals

Returns:

SUCCESSFUL_RETURN

returnValue MultiObjectiveAlgorithm::setupOptions

(

)

[protected, virtual]

Sets-up default options.

Returns:

SUCCESSFUL_RETURN

Reimplemented from OptimizationAlgorithm.

Definition at line 418 of file multi_objective_algorithm.cpp.

returnValue MultiObjectiveAlgorithm::solve

(

)

[virtual]

Starts execution.

Reimplemented from OptimizationAlgorithm.

Definition at line 278 of file multi_objective_algorithm.cpp.

returnValue MultiObjectiveAlgorithm::solveSingleObjective

(

const int &

number

)

[virtual]

Starts the optimization of one objective specified by the
the number.

Parameters:

number

The number of the objective to be optimized

Returns:

SUCCESSFUL_RETURN
or an error message from the optimization
algorithms

Definition at line 142 of file multi_objective_algorithm.cpp.

---

Member Data Documentation

int MultiObjectiveAlgorithm::count [protected]

Definition at line 264 of file multi_objective_algorithm.hpp.

int MultiObjectiveAlgorithm::m [protected]

Definition at line 259 of file multi_objective_algorithm.hpp.

int MultiObjectiveAlgorithm::N [protected]

Definition at line 258 of file multi_objective_algorithm.hpp.

VariablesGrid* MultiObjectiveAlgorithm::pResults [protected]

Definition at line 269 of file multi_objective_algorithm.hpp.

DMatrix MultiObjectiveAlgorithm::result [protected]

Definition at line 263 of file multi_objective_algorithm.hpp.

double MultiObjectiveAlgorithm::totalCPUtime [private]

Definition at line 277 of file multi_objective_algorithm.hpp.

int MultiObjectiveAlgorithm::totalNumberOfSQPiterations [private]

Definition at line 276 of file multi_objective_algorithm.hpp.

VariablesGrid* MultiObjectiveAlgorithm::uResults [protected]

Definition at line 270 of file multi_objective_algorithm.hpp.

DMatrix MultiObjectiveAlgorithm::vertices [protected]

Definition at line 260 of file multi_objective_algorithm.hpp.

VariablesGrid* MultiObjectiveAlgorithm::wResults [protected]

Definition at line 271 of file multi_objective_algorithm.hpp.

VariablesGrid* MultiObjectiveAlgorithm::xaResults [protected]

Definition at line 268 of file multi_objective_algorithm.hpp.

VariablesGrid* MultiObjectiveAlgorithm::xResults [protected]

Definition at line 267 of file multi_objective_algorithm.hpp.

---

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

• multi_objective_algorithm.hpp
• multi_objective_algorithm.cpp