Public Member Functions | Protected Member Functions | Private Attributes

A class for export of an OCP solver using sparse QP solver FORCES. More...

#include <export_gauss_newton_forces.hpp>

Inheritance diagram for ExportGaussNewtonForces:
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List of all members.

Public Member Functions

 ExportGaussNewtonForces (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 returnValue setup ()
virtual ~ExportGaussNewtonForces ()

Protected Member Functions

virtual returnValue setupConstraintsEvaluation (void)
virtual returnValue setupEvaluation ()
virtual returnValue setupMultiplicationRoutines ()
virtual returnValue setupObjectiveEvaluation (void)
virtual returnValue setupQPInterface ()
virtual returnValue setupVariables ()

Private Attributes

ExportVariable x0
Objective evaluation
ExportFunction evaluateObjective
std::vector< ExportVariableobjHessians
std::vector< ExportVariableobjGradients
ExportFunction setStageH
ExportFunction setStagef
ExportFunction setObjQ1Q2
ExportFunction setObjR1R2
ExportFunction setObjQN1QN2
bool diagH
bool diagHN
Constraint evaluation
std::vector< ExportVariableconLB
std::vector< ExportVariableconUB
ExportVariable lbValues
ExportVariable ubValues
std::vector< std::vector
< unsigned > > 
conLBIndices
std::vector< std::vector
< unsigned > > 
conUBIndices
std::vector< std::vector
< double > > 
conLBValues
std::vector< std::vector
< double > > 
conUBValues
ExportFunction evaluateConstraints
ExportFunction conSetGxGu
ExportVariable conStageC
std::vector< ExportVariableconC
std::vector< ExportVariablecond
ExportFunction conSetd
RTI related
ExportFunction preparation
ExportFunction feedback
ExportFunction getKKT
Helper functions
ExportFunction acc
QP interface
std::string qpModuleName
std::string qpObjPrefix
std::tr1::shared_ptr
< ExportForcesInterface
qpInterface
std::tr1::shared_ptr
< ExportForcesGenerator
qpGenerator

Detailed Description

A class for export of an OCP solver using sparse QP solver FORCES.

The class ExportGaussNewtonForces allows export of and OCP solver using the generalized Gauss-Newton method. The underlying QP is solved using the structured sparse QP solver FORCES.

Author:
Milan Vukov

Definition at line 53 of file export_gauss_newton_forces.hpp.


Constructor & Destructor Documentation

ExportGaussNewtonForces::ExportGaussNewtonForces ( 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 44 of file export_gauss_newton_forces.cpp.

Destructor.

Definition at line 68 of file export_gauss_newton_forces.hpp.


Member Function Documentation

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 114 of file export_gauss_newton_forces.cpp.

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 78 of file export_gauss_newton_forces.cpp.

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.

Definition at line 95 of file export_gauss_newton_forces.cpp.

unsigned ExportGaussNewtonForces::getNumQPvars ( ) const [virtual]

Returns number of variables in underlying QP.

Returns:
Number of variables in underlying QP

Implements ExportNLPSolver.

Definition at line 166 of file export_gauss_newton_forces.cpp.

Initializes export of an algorithm.

Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 53 of file export_gauss_newton_forces.cpp.

Set-up evaluation of constraints

  • box constraints on states and controls
Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 579 of file export_gauss_newton_forces.cpp.

Exports source code containing the evaluation routines of the algorithm.

Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 838 of file export_gauss_newton_forces.cpp.

Exports source code containing the multiplication routines of the algorithm.

Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 833 of file export_gauss_newton_forces.cpp.

Setting up of an objective evaluation:

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

Definition at line 175 of file export_gauss_newton_forces.cpp.

Definition at line 990 of file export_gauss_newton_forces.cpp.

Initialization of all member variables.

Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 822 of file export_gauss_newton_forces.cpp.


Member Data Documentation

Definition at line 203 of file export_gauss_newton_forces.hpp.

Definition at line 188 of file export_gauss_newton_forces.hpp.

Definition at line 189 of file export_gauss_newton_forces.hpp.

Definition at line 177 of file export_gauss_newton_forces.hpp.

std::vector< std::vector< unsigned > > ExportGaussNewtonForces::conLBIndices [private]

Definition at line 181 of file export_gauss_newton_forces.hpp.

std::vector< std::vector< double > > ExportGaussNewtonForces::conLBValues [private]

Definition at line 182 of file export_gauss_newton_forces.hpp.

Definition at line 190 of file export_gauss_newton_forces.hpp.

Definition at line 185 of file export_gauss_newton_forces.hpp.

Definition at line 186 of file export_gauss_newton_forces.hpp.

Definition at line 178 of file export_gauss_newton_forces.hpp.

std::vector< std::vector< unsigned > > ExportGaussNewtonForces::conUBIndices [private]

Definition at line 181 of file export_gauss_newton_forces.hpp.

std::vector< std::vector< double > > ExportGaussNewtonForces::conUBValues [private]

Definition at line 182 of file export_gauss_newton_forces.hpp.

Definition at line 171 of file export_gauss_newton_forces.hpp.

Definition at line 172 of file export_gauss_newton_forces.hpp.

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Definition at line 208 of file export_gauss_newton_forces.hpp.

std::string ExportGaussNewtonForces::qpObjPrefix [private]

Definition at line 209 of file export_gauss_newton_forces.hpp.

Definition at line 167 of file export_gauss_newton_forces.hpp.

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Definition at line 179 of file export_gauss_newton_forces.hpp.

Current state feedback.

Definition at line 155 of file export_gauss_newton_forces.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