Public Member Functions

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

#include <boundary_constraint.hpp>

Inheritance diagram for BoundaryConstraint:
Inheritance graph
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List of all members.

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
BoundaryConstraintoperator= (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.

Author:
Boris Houska, Hans Joachim Ferreau

Definition at line 55 of file boundary_constraint.hpp.


Constructor & Destructor Documentation

Default constructor.

Definition at line 48 of file boundary_constraint.cpp.

Default constructor.

Definition at line 54 of file boundary_constraint.cpp.

Copy constructor (deep copy).

Definition at line 60 of file boundary_constraint.cpp.

Destructor.

Definition at line 67 of file boundary_constraint.cpp.


Member Function Documentation

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)

Evaluates all components in this constraint and stores the
residuum.

Returns:
SUCESSFUL_RETURN

Definition at line 86 of file boundary_constraint.cpp.

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 138 of file boundary_constraint.cpp.

Evaluates the sensitivities and Hessian.

Returns:
SUCESSFUL_RETURN

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:


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:40:23