NLPsolver Class Reference

Base class for different algorithms for solving nonlinear programming (NLP) problems. More...

#include <nlp_solver.hpp>

Inheritance diagram for NLPsolver:

List of all members.

Public Member Functions
virtual NLPsolver *	clone () const =0
virtual returnValue	feedbackStep (const DVector &x0_, const DVector &p_=emptyConstVector)
virtual returnValue	getAlgebraicStates (VariablesGrid &xa_) const
virtual returnValue	getControls (VariablesGrid &u_) const
virtual returnValue	getDifferentialStates (VariablesGrid &xd_) const
virtual returnValue	getDisturbances (VariablesGrid &w_) const
virtual returnValue	getFirstControl (DVector &u0_) const
int	getNumberOfSteps () const
virtual double	getObjectiveValue () const
virtual returnValue	getParameters (VariablesGrid &p_) const
virtual returnValue	getParameters (DVector &p_) const
virtual returnValue	getSensitivitiesP (BlockMatrix &_sens) const
virtual returnValue	getSensitivitiesU (BlockMatrix &_sens) const
virtual returnValue	getSensitivitiesW (BlockMatrix &_sens) const
virtual returnValue	getSensitivitiesX (BlockMatrix &_sens) const
virtual returnValue	getSensitivitiesXA (BlockMatrix &_sens) const
virtual returnValue	getVarianceCovariance (DMatrix &var)=0
virtual returnValue	init (VariablesGrid *xd, VariablesGrid *xa, VariablesGrid *p, VariablesGrid *u, VariablesGrid *w)=0
	NLPsolver (UserInteraction *_userInteraction=0)
	NLPsolver (const NLPsolver &rhs)
NLPsolver &	operator= (const NLPsolver &rhs)
virtual returnValue	performCurrentStep ()
virtual returnValue	prepareNextStep ()
returnValue	resetNumberOfSteps ()
virtual returnValue	setReference (const VariablesGrid &ref)
virtual returnValue	shiftVariables (double timeShift, DVector lastX=emptyVector, DVector lastXA=emptyVector, DVector lastP=emptyVector, DVector lastU=emptyVector, DVector lastW=emptyVector)
virtual returnValue	solve (const DVector &x0_=emptyConstVector, const DVector &p_=emptyConstVector)
virtual returnValue	step (const DVector &x0_=emptyConstVector, const DVector &p_=emptyConstVector)
virtual	~NLPsolver ()
Protected Member Functions
virtual returnValue	setupLogging ()
virtual returnValue	setupOptions ()
Protected Attributes
int	numberOfSteps

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Detailed Description

Base class for different algorithms for solving nonlinear programming (NLP) problems.

The class NLPsolver serves as a base class for all kind of different algorithms for solving nonlinear programming (NLP) problems.

Author:

Boris Houska, Hans Joachim Ferreau

Definition at line 59 of file nlp_solver.hpp.

---

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO NLPsolver::NLPsolver

(

UserInteraction *

_userInteraction = 0

)

Default constructor.

Definition at line 46 of file nlp_solver.cpp.

NLPsolver::NLPsolver

(

const NLPsolver &

rhs

)

Copy constructor (deep copy).

Definition at line 59 of file nlp_solver.cpp.

NLPsolver::~NLPsolver

(

)

[virtual]

Destructor.

Definition at line 65 of file nlp_solver.cpp.

---

Member Function Documentation

virtual NLPsolver* NLPsolver::clone

(

)

const [pure virtual]

Implemented in SCPmethod.

returnValue NLPsolver::feedbackStep	(	const DVector &	x0_,
		const DVector &	p_ = emptyConstVector
	)		[virtual]

Executes a real-time feedback step

Reimplemented in SCPmethod.

Definition at line 89 of file nlp_solver.cpp.

returnValue NLPsolver::getAlgebraicStates

(

VariablesGrid &

xa_

)

const [virtual]

Reimplemented in SCPmethod.

Definition at line 137 of file nlp_solver.cpp.

returnValue NLPsolver::getControls

(

VariablesGrid &

u_

)

const [virtual]

Reimplemented in SCPmethod.

Definition at line 154 of file nlp_solver.cpp.

returnValue NLPsolver::getDifferentialStates

(

VariablesGrid &

xd_

)

const [virtual]

Reimplemented in SCPmethod.

Definition at line 131 of file nlp_solver.cpp.

returnValue NLPsolver::getDisturbances

(

VariablesGrid &

w_

)

const [virtual]

Reimplemented in SCPmethod.

Definition at line 166 of file nlp_solver.cpp.

returnValue NLPsolver::getFirstControl

(

DVector &

u0_

)

const [virtual]

Reimplemented in SCPmethod.

Definition at line 160 of file nlp_solver.cpp.

int NLPsolver::getNumberOfSteps

(

)

const [inline]

double NLPsolver::getObjectiveValue

(

)

const [virtual]

Reimplemented in SCPmethod.

Definition at line 172 of file nlp_solver.cpp.

returnValue NLPsolver::getParameters

(

VariablesGrid &

p_

)

const [virtual]

Reimplemented in SCPmethod.

Definition at line 143 of file nlp_solver.cpp.

returnValue NLPsolver::getParameters

(

DVector &

p_

)

const [virtual]

Reimplemented in SCPmethod.

Definition at line 148 of file nlp_solver.cpp.

returnValue NLPsolver::getSensitivitiesP

(

BlockMatrix &

_sens

)

const [virtual]

Reimplemented in SCPmethod.

Definition at line 191 of file nlp_solver.cpp.

returnValue NLPsolver::getSensitivitiesU

(

BlockMatrix &

_sens

)

const [virtual]

Reimplemented in SCPmethod.

Definition at line 198 of file nlp_solver.cpp.

returnValue NLPsolver::getSensitivitiesW

(

BlockMatrix &

_sens

)

const [virtual]

Reimplemented in SCPmethod.

Definition at line 205 of file nlp_solver.cpp.

returnValue NLPsolver::getSensitivitiesX

(

BlockMatrix &

_sens

)

const [virtual]

Reimplemented in SCPmethod.

Definition at line 178 of file nlp_solver.cpp.

returnValue NLPsolver::getSensitivitiesXA

(

BlockMatrix &

_sens

)

const [virtual]

Reimplemented in SCPmethod.

Definition at line 185 of file nlp_solver.cpp.

virtual returnValue NLPsolver::getVarianceCovariance

(

DMatrix &

var

)

[pure virtual]

Returns a variance-covariance estimate if possible or an error message otherwise.

Returns:

SUCCESSFUL_RETURN RET_MEMBER_NOT_INITIALISED

Implemented in SCPmethod.

virtual returnValue NLPsolver::init	(	VariablesGrid *	xd,
		VariablesGrid *	xa,
		VariablesGrid *	p,
		VariablesGrid *	u,
		VariablesGrid *	w
	)		[pure virtual]

Initializes the problem.

Implemented in SCPmethod, and IPmethod.

NLPsolver & NLPsolver::operator=

(

const NLPsolver &

rhs

)

Assignment operator (deep copy).

Definition at line 70 of file nlp_solver.cpp.

returnValue NLPsolver::performCurrentStep

(

)

[virtual]

Executes a real-time preparation step

Reimplemented in SCPmethod.

Definition at line 95 of file nlp_solver.cpp.

returnValue NLPsolver::prepareNextStep

(

)

[virtual]

Executes a real-time preparation step

Reimplemented in SCPmethod.

Definition at line 101 of file nlp_solver.cpp.

returnValue NLPsolver::resetNumberOfSteps

(

)

[inline]

returnValue NLPsolver::setReference

(

const VariablesGrid &

ref

)

[virtual]

Sets the reference to be used in the LSQ tracking terms. If the objective
has also non-LSQ terms a error message will be returned (cf. objective.hpp).
This routine has been designed for real-time applications where the reference
is explicitly time-dependent.

Returns:

SUCCESSFUL_RETURN

Reimplemented in SCPmethod.

Definition at line 125 of file nlp_solver.cpp.

returnValue NLPsolver::setupLogging

(

)

[protected, virtual]

Reimplemented in SCPmethod.

Definition at line 248 of file nlp_solver.cpp.

returnValue NLPsolver::setupOptions

(

)

[protected, virtual]

Definition at line 217 of file nlp_solver.cpp.

returnValue NLPsolver::shiftVariables	(	double	timeShift,
		DVector	lastX = emptyVector,
		DVector	lastXA = emptyVector,
		DVector	lastP = emptyVector,
		DVector	lastU = emptyVector,
		DVector	lastW = emptyVector
	)		[virtual]

Applies a shift of the SQP data (for moving horizons)

Reimplemented in SCPmethod.

Definition at line 114 of file nlp_solver.cpp.

returnValue NLPsolver::solve	(	const DVector &	x0_ = emptyConstVector,
		const DVector &	p_ = emptyConstVector
	)		[virtual]

Solves current real-time optimization problem.

Reimplemented in SCPmethod.

Definition at line 82 of file nlp_solver.cpp.

returnValue NLPsolver::step	(	const DVector &	x0_ = emptyConstVector,
		const DVector &	p_ = emptyConstVector
	)		[virtual]

Executes a complete real-time step.

Reimplemented in SCPmethod.

Definition at line 107 of file nlp_solver.cpp.

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Member Data Documentation

int NLPsolver::numberOfSteps [protected]

Definition at line 185 of file nlp_solver.hpp.

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The documentation for this class was generated from the following files:

• nlp_solver.hpp
• nlp_solver.cpp