Public Member Functions | Protected Member Functions | Protected Attributes
ExportGaussNewtonCN2 Class Reference
Numerical Algorithms -- used internally or by developers to solve numerical problems

An OCP solver based on the N^2 condensing algorithm. More...

#include <export_gauss_newton_cn2.hpp>

Inheritance diagram for ExportGaussNewtonCN2:
Inheritance graph
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List of all members.

Public Member Functions

 ExportGaussNewtonCN2 (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 ~ExportGaussNewtonCN2 ()

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 C
ExportFunction condenseFdb
ExportFunction condensePrep
ExportFunction copyHTH
ExportFunction copyHTH1
ExportVariable Dx0
ExportVariable E
ExportFunction evaluateObjective
ExportFunction expand
ExportFunction expansionStep
ExportFunction expansionStep2
ExportFunction feedback
ExportVariable g
ExportFunction getKKT
ExportVariable H
ExportVariable lb
ExportVariable lbA
ExportVariable lbAValues
ExportVariable lbValues
ExportFunction mac_S1T_E
ExportFunction mac_ST_C
ExportFunction macASbar
ExportFunction macATw1QDy
ExportFunction macBTw1
ExportFunction macBTW1_R1
ExportFunction macGxTGx
ExportFunction macQEW2
ExportFunction macQSbarW2
ExportFunction macS1TSbar
ExportFunction moveGuE
ExportFunction moveGxT
ExportFunction mult_BT_T1
ExportFunction multBTW1
ExportFunction multEDu
ExportFunction multEQDy
ExportFunction multGxd
ExportFunction multGxGu
ExportFunction multGxGx
ExportFunction multGxTGu
ExportFunction multGxTGx
ExportFunction multQ1d
ExportFunction multQ1Gu
ExportFunction multQ1Gx
ExportFunction multQDy
ExportFunction multQETGx
ExportFunction multQN1d
ExportFunction multQN1Gu
ExportFunction multQN1Gx
ExportFunction multRDy
ExportFunction preparation
ExportVariable Qd
ExportVariable QDy
ExportVariable sbar
ExportFunction setObjQ1Q2
ExportFunction setObjQN1QN2
ExportFunction setObjR1R2
ExportFunction setObjS1
ExportVariable T1
ExportVariable T2
ExportVariable ub
ExportVariable ubA
ExportVariable ubAValues
ExportVariable ubValues
ExportVariable W1
ExportVariable w1
ExportVariable W2
ExportVariable w2
ExportVariable x0
std::vector< unsigned > xBoundsIdx
ExportVariable xVars
ExportVariable yVars

Detailed Description

An OCP solver based on the N^2 condensing algorithm.

Authors:
Milan Vukov, Joel Andersson
Note:
Still a limited experimental version

Definition at line 48 of file export_gauss_newton_cn2.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO ExportGaussNewtonCN2::ExportGaussNewtonCN2 ( 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.cpp.

virtual ExportGaussNewtonCN2::~ExportGaussNewtonCN2 ( ) [inline, virtual]

Destructor.

Definition at line 62 of file export_gauss_newton_cn2.hpp.

Member Function Documentation

returnValue ExportGaussNewtonCN2::getCode ( ExportStatementBlock &  code) [virtual]

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 154 of file export_gauss_newton_cn2.cpp.

returnValue ExportGaussNewtonCN2::getDataDeclarations ( ExportStatementBlock &  declarations,
ExportStruct  dataStruct = ACADO_ANY 
) const [virtual]

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 92 of file export_gauss_newton_cn2.cpp.

returnValue ExportGaussNewtonCN2::getFunctionDeclarations ( ExportStatementBlock &  declarations) const [virtual]

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.

Reimplemented in ExportExactHessianCN2.

Definition at line 135 of file export_gauss_newton_cn2.cpp.

unsigned ExportGaussNewtonCN2::getNumQPvars ( ) const [virtual]

Returns number of variables in underlying QP.

Returns:
Number of variables in underlying QP

Implements ExportNLPSolver.

Definition at line 248 of file export_gauss_newton_cn2.cpp.

unsigned ExportGaussNewtonCN2::getNumStateBounds ( ) const [virtual]

Returns number of bounds on differential states.

Returns:
Number of bounds on differential states

Definition at line 256 of file export_gauss_newton_cn2.cpp.

bool ExportGaussNewtonCN2::performFullCondensing ( ) const [protected]

Definition at line 1634 of file export_gauss_newton_cn2.cpp.

returnValue ExportGaussNewtonCN2::setup ( ) [virtual]

Initializes export of an algorithm.

Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Reimplemented in ExportExactHessianCN2.

Definition at line 44 of file export_gauss_newton_cn2.cpp.

returnValue ExportGaussNewtonCN2::setupCondensing ( void  ) [protected, virtual]

NEW CODE END

Definition at line 621 of file export_gauss_newton_cn2.cpp.

returnValue ExportGaussNewtonCN2::setupConstraintsEvaluation ( void  ) [protected, virtual]

Set-up evaluation of constraints

  • box constraints on states and controls
Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 431 of file export_gauss_newton_cn2.cpp.

returnValue ExportGaussNewtonCN2::setupEvaluation ( ) [protected, virtual]

Exports source code containing the evaluation routines of the algorithm.

Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 1485 of file export_gauss_newton_cn2.cpp.

returnValue ExportGaussNewtonCN2::setupMultiplicationRoutines ( ) [protected, virtual]

Exports source code containing the multiplication routines of the algorithm.

Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 1246 of file export_gauss_newton_cn2.cpp.

returnValue ExportGaussNewtonCN2::setupObjectiveEvaluation ( void  ) [protected, virtual]

Setting up of an objective evaluation:

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

Reimplemented in ExportExactHessianCN2.

Definition at line 265 of file export_gauss_newton_cn2.cpp.

returnValue ExportGaussNewtonCN2::setupQPInterface ( ) [protected, virtual]

Definition at line 1577 of file export_gauss_newton_cn2.cpp.

returnValue ExportGaussNewtonCN2::setupVariables ( ) [protected, virtual]

Initialization of all member variables.

Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 1182 of file export_gauss_newton_cn2.cpp.

Member Data Documentation

ExportVariable ExportGaussNewtonCN2::A [protected]

Variable containing the QP constraint matrix.

Definition at line 171 of file export_gauss_newton_cn2.hpp.

ExportVariable ExportGaussNewtonCN2::C [protected]

Definition at line 202 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::condenseFdb [protected]

Definition at line 199 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::condensePrep [protected]

Definition at line 198 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::copyHTH [protected]

Definition at line 209 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::copyHTH1 [protected]

Definition at line 210 of file export_gauss_newton_cn2.hpp.

ExportVariable ExportGaussNewtonCN2::Dx0 [protected]

Definition at line 161 of file export_gauss_newton_cn2.hpp.

ExportVariable ExportGaussNewtonCN2::E [protected]

Definition at line 202 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::evaluateObjective [protected]

Definition at line 159 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::expand [protected]

Definition at line 200 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::expansionStep [protected]

Definition at line 236 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::expansionStep2 [protected]

Definition at line 239 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::feedback [protected]

Definition at line 224 of file export_gauss_newton_cn2.hpp.

ExportVariable ExportGaussNewtonCN2::g [protected]

Variable containing the QP gradient.

Definition at line 174 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::getKKT [protected]

Definition at line 226 of file export_gauss_newton_cn2.hpp.

ExportVariable ExportGaussNewtonCN2::H [protected]

Variable containing the QP Hessian matrix.

Definition at line 169 of file export_gauss_newton_cn2.hpp.

ExportVariable ExportGaussNewtonCN2::lb [protected]

Variable containing the lower limits on QP variables.

Definition at line 177 of file export_gauss_newton_cn2.hpp.

ExportVariable ExportGaussNewtonCN2::lbA [protected]

Variable containing lower limits on QP constraints.

Definition at line 183 of file export_gauss_newton_cn2.hpp.

ExportVariable ExportGaussNewtonCN2::lbAValues [protected]

Definition at line 196 of file export_gauss_newton_cn2.hpp.

ExportVariable ExportGaussNewtonCN2::lbValues [protected]

Definition at line 195 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::mac_S1T_E [protected]

Definition at line 234 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::mac_ST_C [protected]

Definition at line 242 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::macASbar [protected]

Definition at line 235 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::macATw1QDy [protected]

Definition at line 235 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::macBTw1 [protected]

Definition at line 235 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::macBTW1_R1 [protected]

Definition at line 234 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::macGxTGx [protected]

Definition at line 242 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::macQEW2 [protected]

Definition at line 234 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::macQSbarW2 [protected]

Definition at line 235 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::macS1TSbar [protected]

Definition at line 235 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::moveGuE [protected]

Definition at line 208 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::moveGxT [protected]

Definition at line 205 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::mult_BT_T1 [protected]

Definition at line 242 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::multBTW1 [protected]

Definition at line 234 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::multEDu [protected]

Definition at line 217 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::multEQDy [protected]

Definition at line 215 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::multGxd [protected]

Definition at line 204 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::multGxGu [protected]

Definition at line 207 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::multGxGx [protected]

Definition at line 206 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::multGxTGu [protected]

Definition at line 234 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::multGxTGx [protected]

Definition at line 242 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::multQ1d [protected]

Definition at line 211 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::multQ1Gu [protected]

Definition at line 220 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::multQ1Gx [protected]

Definition at line 218 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::multQDy [protected]

Definition at line 214 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::multQETGx [protected]

Definition at line 216 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::multQN1d [protected]

Definition at line 212 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::multQN1Gu [protected]

Definition at line 221 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::multQN1Gx [protected]

Definition at line 219 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::multRDy [protected]

Definition at line 213 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::preparation [protected]

Definition at line 223 of file export_gauss_newton_cn2.hpp.

ExportVariable ExportGaussNewtonCN2::Qd [protected]

Definition at line 202 of file export_gauss_newton_cn2.hpp.

ExportVariable ExportGaussNewtonCN2::QDy [protected]

Definition at line 202 of file export_gauss_newton_cn2.hpp.

ExportVariable ExportGaussNewtonCN2::sbar [protected]

Definition at line 232 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::setObjQ1Q2 [protected]

Definition at line 163 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::setObjQN1QN2 [protected]

Definition at line 166 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::setObjR1R2 [protected]

Definition at line 164 of file export_gauss_newton_cn2.hpp.

ExportFunction ExportGaussNewtonCN2::setObjS1 [protected]

Definition at line 165 of file export_gauss_newton_cn2.hpp.

ExportVariable ExportGaussNewtonCN2::T1 [protected]

Definition at line 231 of file export_gauss_newton_cn2.hpp.

ExportVariable ExportGaussNewtonCN2::T2 [protected]

Definition at line 231 of file export_gauss_newton_cn2.hpp.

ExportVariable ExportGaussNewtonCN2::ub [protected]

Variable containing the upper limits on QP variables.

Definition at line 180 of file export_gauss_newton_cn2.hpp.

ExportVariable ExportGaussNewtonCN2::ubA [protected]

Variable containing upper limits on QP constraints.

Definition at line 186 of file export_gauss_newton_cn2.hpp.

ExportVariable ExportGaussNewtonCN2::ubAValues [protected]

Definition at line 196 of file export_gauss_newton_cn2.hpp.

ExportVariable ExportGaussNewtonCN2::ubValues [protected]

Definition at line 195 of file export_gauss_newton_cn2.hpp.

ExportVariable ExportGaussNewtonCN2::W1 [protected]

Definition at line 231 of file export_gauss_newton_cn2.hpp.

ExportVariable ExportGaussNewtonCN2::w1 [protected]

Definition at line 232 of file export_gauss_newton_cn2.hpp.

ExportVariable ExportGaussNewtonCN2::W2 [protected]

Definition at line 231 of file export_gauss_newton_cn2.hpp.

ExportVariable ExportGaussNewtonCN2::w2 [protected]

Definition at line 232 of file export_gauss_newton_cn2.hpp.

ExportVariable ExportGaussNewtonCN2::x0 [protected]

Definition at line 161 of file export_gauss_newton_cn2.hpp.

std::vector< unsigned > ExportGaussNewtonCN2::xBoundsIdx [protected]

Definition at line 194 of file export_gauss_newton_cn2.hpp.

ExportVariable ExportGaussNewtonCN2::xVars [protected]

Variable containing the primal QP variables.

Definition at line 189 of file export_gauss_newton_cn2.hpp.

ExportVariable ExportGaussNewtonCN2::yVars [protected]

Variable containing the dual QP variables.

Definition at line 192 of file export_gauss_newton_cn2.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 19:40:24