Allows to export linear solver based on Cholesky factorization. More...
#include <export_cholesky_solver.hpp>
Public Member Functions | |
| virtual returnValue | appendVariableNames (std::stringstream &string) |
| ExportCholeskySolver (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="") | |
| const ExportFunction & | getCholeskyFunction () const |
| virtual returnValue | getCode (ExportStatementBlock &code) |
| virtual returnValue | getDataDeclarations (ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const |
| virtual returnValue | getFunctionDeclarations (ExportStatementBlock &declarations) const |
| const ExportFunction & | getSolveFunction () const |
| returnValue | init (unsigned _dimA, unsigned _numColsB, const std::string &_id) |
| virtual returnValue | setup () |
| virtual | ~ExportCholeskySolver () |
Private Attributes | |
| ExportVariable | B |
| ExportFunction | chol |
| unsigned | nColsB |
Detailed Description
Allows to export linear solver based on Cholesky factorization.
Allows export of linear system solver, where the A matrix is a symmetric positive definite of dimensions n x n, and matrix B is of dimensions n x m, m >= 1.
This class configures and exports two functions:
- chol( A ), which computes Cholesky decomposition of matrix A = R' * R R is upper triangular. A gets overwritten by R.
- solve(R, B), which at the moment solves the system R' * X = B. B gets overwritten by the solution X.
- Note:
- Early experimental version.
- Exported solver code is based on qpOASES code.
- Todo:
- Extend the generator to be able to solve RX = B, too.
Definition at line 62 of file export_cholesky_solver.hpp.
Constructor & Destructor Documentation
| BEGIN_NAMESPACE_ACADO ExportCholeskySolver::ExportCholeskySolver | ( | UserInteraction * | _userInteraction = 0, |
| const std::string & | _commonHeaderName = "" |
||
| ) |
Default constructor.
- Parameters:
-
[in] _userInteraction Pointer to corresponding user interface. [in] _commonHeaderName Name of common header file to be included.
Definition at line 40 of file export_cholesky_solver.cpp.
| ExportCholeskySolver::~ExportCholeskySolver | ( | ) | [virtual] |
Destructor.
Definition at line 47 of file export_cholesky_solver.cpp.
Member Function Documentation
| returnValue ExportCholeskySolver::appendVariableNames | ( | std::stringstream & | string | ) | [virtual] |
Appends the names of the used variables to a given stringstream.
- Parameters:
-
[in] string The string to which the names of the used variables are appended.
- Returns:
- SUCCESSFUL_RETURN
Implements ExportLinearSolver.
Definition at line 254 of file export_cholesky_solver.cpp.
| const ExportFunction & ExportCholeskySolver::getCholeskyFunction | ( | ) | const |
Get the reference to the Cholesky decomposition routine.
Definition at line 244 of file export_cholesky_solver.cpp.
| returnValue ExportCholeskySolver::getCode | ( | ExportStatementBlock & | code | ) | [virtual] |
Exports source code of the auto-generated algorithm into the given directory.
- Parameters:
-
[in] code Code block containing the auto-generated algorithm.
- Returns:
- SUCCESSFUL_RETURN
Implements ExportLinearSolver.
Definition at line 220 of file export_cholesky_solver.cpp.
| returnValue ExportCholeskySolver::getDataDeclarations | ( | ExportStatementBlock & | declarations, |
| ExportStruct | dataStruct = ACADO_ANY |
||
| ) | const [virtual] |
Adds all data declarations of the auto-generated algorithm to given list of declarations.
- Parameters:
-
[in] declarations List of declarations.
- Returns:
- SUCCESSFUL_RETURN
Implements ExportLinearSolver.
Definition at line 228 of file export_cholesky_solver.cpp.
| returnValue ExportCholeskySolver::getFunctionDeclarations | ( | ExportStatementBlock & | declarations | ) | const [virtual] |
Adds all function (forward) declarations of the auto-generated algorithm to given list of declarations.
- Parameters:
-
[in] declarations List of declarations.
- Returns:
- SUCCESSFUL_RETURN
Implements ExportLinearSolver.
Definition at line 235 of file export_cholesky_solver.cpp.
| const ExportFunction & ExportCholeskySolver::getSolveFunction | ( | ) | const |
Get the reference to the solve function.
Definition at line 249 of file export_cholesky_solver.cpp.
| returnValue ExportCholeskySolver::init | ( | unsigned | _dimA, |
| unsigned | _numColsB, | ||
| const std::string & | _id | ||
| ) |
Solver initialization routine.
- Returns:
- SUCCESSFUL_RETURN
Definition at line 50 of file export_cholesky_solver.cpp.
| returnValue ExportCholeskySolver::setup | ( | ) | [virtual] |
The setup routine.
- Returns:
- SUCCESSFUL_RETURN
Implements ExportLinearSolver.
Definition at line 71 of file export_cholesky_solver.cpp.
Member Data Documentation
ExportVariable ExportCholeskySolver::B [private] |
Definition at line 140 of file export_cholesky_solver.hpp.
ExportFunction ExportCholeskySolver::chol [private] |
Definition at line 138 of file export_cholesky_solver.hpp.
unsigned ExportCholeskySolver::nColsB [private] |
Definition at line 142 of file export_cholesky_solver.hpp.
The documentation for this class was generated from the following files: