Public Member Functions | Protected Member Functions | Protected Attributes

Base class for all kind of constraints (except for bounds) within optimal control problems. More...

#include <constraint_element.hpp>

Inheritance diagram for ConstraintElement:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 ConstraintElement ()
 ConstraintElement (const Grid &grid_, int nFcn_, int nB_)
 ConstraintElement (const ConstraintElement &rhs)
returnValue get (Function &function_, DMatrix &lb_, DMatrix &ub_)
virtual returnValue getBackwardSensitivities (BlockMatrix *D, int order)
virtual returnValue getForwardSensitivities (BlockMatrix *D, int order)
GridgetGrid ()
int getNP () const
int getNU () const
int getNW () const
int getNX () const
int getNXA () const
virtual returnValue getResiduum (BlockMatrix &lower_residuum, BlockMatrix &upper_residuum)
returnValue init (const OCPiterate &iter)
BooleanType isAffine () const
ConstraintElementoperator= (const ConstraintElement &rhs)
virtual returnValue setBackwardSeed (BlockMatrix *seed, int order)
virtual returnValue setForwardSeed (BlockMatrix *xSeed_, BlockMatrix *xaSeed_, BlockMatrix *pSeed_, BlockMatrix *uSeed_, BlockMatrix *wSeed_, int order)
virtual returnValue setUnitForwardSeed ()
virtual ~ConstraintElement ()

Protected Member Functions

virtual returnValue initializeEvaluationPoints (const OCPiterate &iter)

Protected Attributes

BlockMatrixbSeed
BlockMatrixbSeed2
CondensingType condType
BlockMatrix dBackward
BlockMatrix dForward
Functionfcn
Grid grid
EvaluationPointJJ
double ** lb
int na
int nB
int nFcn
int np
int nu
int nw
int nx
int ny
BlockMatrixpSeed
BlockMatrixpSeed2
BlockMatrix residuumL
BlockMatrix residuumU
int * t_index
double ** ub
BlockMatrixuSeed
BlockMatrixuSeed2
BlockMatrixwSeed
BlockMatrixwSeed2
BlockMatrixxaSeed
BlockMatrixxaSeed2
BlockMatrixxSeed
BlockMatrixxSeed2
int ** y_index
EvaluationPointz

Detailed Description

Base class for all kind of constraints (except for bounds) within optimal control problems.

The class ConstraintElement serves as base class for all kind of different constraints (except for box constraints) within optimal control problems.

Author:
Boris Houska, Hans Joachim Ferreau

Definition at line 57 of file constraint_element.hpp.


Constructor & Destructor Documentation

Default constructor.

Definition at line 45 of file constraint_element.cpp.

ConstraintElement::ConstraintElement ( const Grid grid_,
int  nFcn_,
int  nB_ 
)

Default constructor.

Definition at line 82 of file constraint_element.cpp.

Copy constructor (deep copy).

Definition at line 133 of file constraint_element.cpp.

Destructor.

Definition at line 248 of file constraint_element.cpp.


Member Function Documentation

returnValue ConstraintElement::get ( Function function_,
DMatrix lb_,
DMatrix ub_ 
)

Definition at line 753 of file constraint_element.cpp.

Returns the result for the backward sensitivities in BlockMatrix form.

Returns:
SUCCESSFUL_RETURN
RET_INPUT_OUT_OF_RANGE
Parameters:
Dthe result for the forward sensitivi- ties
orderthe order

Definition at line 709 of file constraint_element.cpp.

Returns the result for the forward sensitivities in BlockMatrix form.

Returns:
SUCCESSFUL_RETURN
RET_INPUT_OUT_OF_RANGE
Parameters:
Dthe result for the forward sensitivi- ties
orderthe order

Definition at line 692 of file constraint_element.cpp.

returns the constraint grid

int ConstraintElement::getNP ( ) const [inline]

Returns the number of parameters

Returns:
The requested number of parameters.
int ConstraintElement::getNU ( ) const [inline]

Returns the number of controls

Returns:
The requested number of controls.
int ConstraintElement::getNW ( ) const [inline]

Returns the number of disturbances

Returns:
The requested number of disturbances.
int ConstraintElement::getNX ( ) const [inline]

Returns the number of differential states

Returns:
The requested number of differential states.
int ConstraintElement::getNXA ( ) const [inline]

Returns the number of algebraic states

Returns:
The requested number of algebraic states.
returnValue ConstraintElement::getResiduum ( BlockMatrix lower_residuum,
BlockMatrix upper_residuum 
) [virtual]

Returns the result for the residuum.

Returns:
SUCCESSFUL_RETURN
Parameters:
lower_residuumthe lower residuum
upper_residuumthe upper residuum

Definition at line 681 of file constraint_element.cpp.

Initializes the Constraint Element: The dimensions and
index lists.

Returns:
SUCCESSFUL_RETURN

Definition at line 479 of file constraint_element.cpp.

Reimplemented in AlgebraicConsistencyConstraint.

Definition at line 731 of file constraint_element.cpp.

returns whether the constraint element is affine.

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

Assignment operator (deep copy).

Definition at line 306 of file constraint_element.cpp.

returnValue ConstraintElement::setBackwardSeed ( BlockMatrix seed,
int  order 
) [virtual]

Define a backward seed in form of a block matrix.

Returns:
SUCCESFUL_RETURN
RET_INPUT_OUT_OF_RANGE
Parameters:
seedthe seed matrix
orderthe order of the seed.

Definition at line 649 of file constraint_element.cpp.

returnValue ConstraintElement::setForwardSeed ( BlockMatrix xSeed_,
BlockMatrix xaSeed_,
BlockMatrix pSeed_,
BlockMatrix uSeed_,
BlockMatrix wSeed_,
int  order 
) [virtual]

Define a forward seed in form of a block matrix.

Returns:
SUCCESFUL RETURN
RET_INPUT_OUT_OF_RANGE
Parameters:
xSeed_the seed in x -direction
xaSeed_the seed in xa-direction
pSeed_the seed in p -direction
uSeed_the seed in u -direction
wSeed_the seed in w -direction
orderthe order of the seed.

Definition at line 530 of file constraint_element.cpp.

Defines the first order forward seed to be
the unit-directions matrix.

Returns:
SUCCESFUL_RETURN
RET_INPUT_OUT_OF_RANGE

Definition at line 631 of file constraint_element.cpp.


Member Data Documentation

the 1st order backward seed

Definition at line 284 of file constraint_element.hpp.

the 2nd order backward seed

Definition at line 292 of file constraint_element.hpp.

the condensing type

Definition at line 303 of file constraint_element.hpp.

the first order backward derivatives

Definition at line 301 of file constraint_element.hpp.

the first order forward derivatives

Definition at line 300 of file constraint_element.hpp.

the functions

Definition at line 247 of file constraint_element.hpp.

the constraint grid

Definition at line 246 of file constraint_element.hpp.

Definition at line 252 of file constraint_element.hpp.

double** ConstraintElement::lb [protected]

lower bounds

Definition at line 248 of file constraint_element.hpp.

int ConstraintElement::na [protected]

number of alg. states

Definition at line 266 of file constraint_element.hpp.

int ConstraintElement::nB [protected]

number of bounds

Definition at line 273 of file constraint_element.hpp.

int ConstraintElement::nFcn [protected]

number of functions

Definition at line 272 of file constraint_element.hpp.

int ConstraintElement::np [protected]

number of parameters

Definition at line 268 of file constraint_element.hpp.

int ConstraintElement::nu [protected]

number of controls

Definition at line 267 of file constraint_element.hpp.

int ConstraintElement::nw [protected]

number of disturbances

Definition at line 269 of file constraint_element.hpp.

int ConstraintElement::nx [protected]

number of diff. states

Definition at line 265 of file constraint_element.hpp.

int ConstraintElement::ny [protected]

:= nx+na+nu+np+nw

Definition at line 270 of file constraint_element.hpp.

the 1st order forward seed in p-direction

Definition at line 280 of file constraint_element.hpp.

the 2nd order forward seed in p-direction

Definition at line 288 of file constraint_element.hpp.

the residuum vectors

Definition at line 297 of file constraint_element.hpp.

the residuum vectors

Definition at line 298 of file constraint_element.hpp.

int* ConstraintElement::t_index [protected]

time indices

Definition at line 259 of file constraint_element.hpp.

double** ConstraintElement::ub [protected]

upper bounds

Definition at line 249 of file constraint_element.hpp.

the 1st order forward seed in u-direction

Definition at line 281 of file constraint_element.hpp.

the 2nd order forward seed in u-direction

Definition at line 289 of file constraint_element.hpp.

the 1st order forward seed in w-direction

Definition at line 282 of file constraint_element.hpp.

the 2nd order forward seed in w-direction

Definition at line 290 of file constraint_element.hpp.

the 1st order forward seed in x-direction

Definition at line 279 of file constraint_element.hpp.

the 2nd order forward seed in x-direction

Definition at line 287 of file constraint_element.hpp.

the 1st order forward seed in x-direction

Definition at line 278 of file constraint_element.hpp.

the 2nd order forward seed in x-direction

Definition at line 286 of file constraint_element.hpp.

int** ConstraintElement::y_index [protected]

index lists

Definition at line 258 of file constraint_element.hpp.

the evaluation points

Definition at line 251 of file constraint_element.hpp.


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