Public Member Functions | Protected Member Functions | Protected Attributes

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

#include <export_gauss_newton_qpdunes2.hpp>

Inheritance diagram for ExportGaussNewtonQpDunes2:
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List of all members.

Public Member Functions

 ExportGaussNewtonQpDunes2 (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 ~ExportGaussNewtonQpDunes2 ()

Protected Member Functions

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

Protected Attributes

std::tr1::shared_ptr
< ExportQpDunesInterface
qpInterface
ExportVariable x0
QP interface variables
ExportVariable qpH
ExportVariable qpg
ExportVariable qpC
ExportVariable qpc
ExportVariable qpLb0
ExportVariable qpUb0
ExportVariable qpLb
ExportVariable qpUb
ExportVariable qpA
ExportVariable qpLbA
ExportVariable qpUbA
ExportVariable qpPrimal
ExportVariable qpLambda
ExportVariable qpMu
Objective evaluation.
ExportFunction evaluateObjective
ExportFunction setStageH
ExportFunction setStagef
ExportFunction setObjQ1Q2
ExportFunction setObjR1R2
ExportFunction setObjQN1QN2
Constraint evaluation
ExportFunction evaluateConstraints
ExportFunction setStagePac
std::vector< unsigned > qpConDim
RTI related
ExportFunction preparation
ExportFunction feedback
qpDUNES interface functions
ExportFunction cleanup
ExportFunction shiftQpData
Auxiliary functions
ExportFunction getKKT
Helper functions
ExportFunction acc

Detailed Description

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

The class ExportGaussNewtonQpDunes2 allows export of and OCP solver using the generalized Gauss-Newton method. The underlying QP is solved using the structured sparse QP solver qpDUNES.

Author:
Milan Vukov

Definition at line 51 of file export_gauss_newton_qpdunes2.hpp.


Constructor & Destructor Documentation

ExportGaussNewtonQpDunes2::ExportGaussNewtonQpDunes2 ( 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 40 of file export_gauss_newton_qpdunes2.cpp.

Destructor.

Definition at line 66 of file export_gauss_newton_qpdunes2.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 132 of file export_gauss_newton_qpdunes2.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 79 of file export_gauss_newton_qpdunes2.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 110 of file export_gauss_newton_qpdunes2.cpp.

unsigned ExportGaussNewtonQpDunes2::getNumQPvars ( ) const [virtual]

Returns number of variables in underlying QP.

Returns:
Number of variables in underlying QP

Implements ExportNLPSolver.

Definition at line 195 of file export_gauss_newton_qpdunes2.cpp.

Initializes export of an algorithm.

Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 45 of file export_gauss_newton_qpdunes2.cpp.

Set-up evaluation of constraints

  • box constraints on states and controls
Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 554 of file export_gauss_newton_qpdunes2.cpp.

Exports source code containing the evaluation routines of the algorithm.

Implements ExportNLPSolver.

Definition at line 975 of file export_gauss_newton_qpdunes2.cpp.

Exports source code containing the multiplication routines of the algorithm.

Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 970 of file export_gauss_newton_qpdunes2.cpp.

Setting up of an objective evaluation:

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

Definition at line 204 of file export_gauss_newton_qpdunes2.cpp.

Setup of the glue code for the QP solver interaction.

Definition at line 1089 of file export_gauss_newton_qpdunes2.cpp.

Initialization of all member variables.

Returns:
SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 959 of file export_gauss_newton_qpdunes2.cpp.


Member Data Documentation

Definition at line 207 of file export_gauss_newton_qpdunes2.hpp.

Definition at line 196 of file export_gauss_newton_qpdunes2.hpp.

Definition at line 183 of file export_gauss_newton_qpdunes2.hpp.

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Definition at line 191 of file export_gauss_newton_qpdunes2.hpp.

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Definition at line 158 of file export_gauss_newton_qpdunes2.hpp.

Definition at line 159 of file export_gauss_newton_qpdunes2.hpp.

std::vector< unsigned > ExportGaussNewtonQpDunes2::qpConDim [protected]

Definition at line 185 of file export_gauss_newton_qpdunes2.hpp.

Definition at line 156 of file export_gauss_newton_qpdunes2.hpp.

Definition at line 155 of file export_gauss_newton_qpdunes2.hpp.

qpDUNES interface object.

Definition at line 211 of file export_gauss_newton_qpdunes2.hpp.

Definition at line 166 of file export_gauss_newton_qpdunes2.hpp.

Definition at line 161 of file export_gauss_newton_qpdunes2.hpp.

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Definition at line 184 of file export_gauss_newton_qpdunes2.hpp.

Definition at line 197 of file export_gauss_newton_qpdunes2.hpp.

Current state feedback.

Definition at line 151 of file export_gauss_newton_qpdunes2.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