Data class for storing generic optimization variables. More...

#include <ocp_iterate.hpp>

Public Member Functions
returnValue	allocateAll ()
returnValue	applyStep (const BlockMatrix &bm, double alpha)
BooleanType	areGridsConsistent ()
returnValue	clear ()
returnValue	enableSimulationMode ()
Grid	getGrid () const
returnValue	getInitialData (DVector &x_=emptyVector, DVector &xa_=emptyVector, DVector &p_=emptyVector, DVector &u_=emptyVector, DVector &w_=emptyVector) const
uint	getNP () const
uint	getNU () const
uint	getNumPoints () const
uint	getNW () const
uint	getNX () const
uint	getNXA () const
DVector	getP (const uint &idx) const
double	getTime (const uint &idx) const
DVector	getU (const uint &idx) const
Grid	getUnionGrid () const
DVector	getW (const uint &idx) const
DVector	getX (const uint &idx) const
DVector	getXA (const uint &idx) const
returnValue	init (const VariablesGrid const _x, const VariablesGrid const _xa, const VariablesGrid const _p, const VariablesGrid const _u, const VariablesGrid *const _w)
BooleanType	isInSimulationMode () const
	OCPiterate ()
	OCPiterate (const VariablesGrid const _x, const VariablesGrid const _xa, const VariablesGrid const _p, const VariablesGrid const _u, const VariablesGrid *const _w)
	OCPiterate (const OCPiterate &rhs)
OCPiterate &	operator= (const OCPiterate &rhs)
returnValue	print () const
virtual returnValue	shift (double timeShift=-1.0, DVector lastX=emptyVector, DVector lastXA=emptyVector, DVector lastP=emptyVector, DVector lastU=emptyVector, DVector lastW=emptyVector)
returnValue	updateData (double t, DVector &x_=emptyVector, DVector &xa_=emptyVector, DVector &p_=emptyVector, DVector &u_=emptyVector, DVector &w_=emptyVector)
virtual	~OCPiterate ()
Public Attributes
VariablesGrid *	p
VariablesGrid *	u
VariablesGrid *	w
VariablesGrid *	x
VariablesGrid *	xa
Protected Member Functions
void	copy (const OCPiterate &rhs)
DVector	copy (const VariablesGrid *z, const uint &idx) const
uint	getDim (VariablesGrid *z) const
void	update (double t, VariablesGrid &z1, DVector &z2) const
Protected Attributes
BooleanType	inSimulationMode

Detailed Description

Data class for storing generic optimization variables.

The class OCPiterate is a data class to store generic optimization variables as arising in the optimal control context. (Philosophy: This class is used liked a struct with some add-on functionality.)

Author:: Boris Houska, Hans Joachim Ferreau

Definition at line 57 of file ocp_iterate.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO OCPiterate::OCPiterate ( )

Default constructor.

Definition at line 43 of file ocp_iterate.cpp.

OCPiterate::OCPiterate	(	const VariablesGrid *const	_x,
		const VariablesGrid *const	_xa,
		const VariablesGrid *const	_p,
		const VariablesGrid *const	_u,
		const VariablesGrid *const	_w
	)

Definition at line 55 of file ocp_iterate.cpp.

OCPiterate::OCPiterate ( const OCPiterate & rhs )

Copy constructor (deep copy).

Definition at line 69 of file ocp_iterate.cpp.

OCPiterate::~OCPiterate ( ) [virtual]

Destructor.

Definition at line 75 of file ocp_iterate.cpp.

Member Function Documentation

returnValue OCPiterate::allocateAll ( )

Definition at line 92 of file ocp_iterate.cpp.

returnValue OCPiterate::applyStep	(	const BlockMatrix &	bm,
		double	alpha
	)

Definition at line 328 of file ocp_iterate.cpp.

BooleanType OCPiterate::areGridsConsistent ( )

Definition at line 197 of file ocp_iterate.cpp.

returnValue OCPiterate::clear ( )

Definition at line 140 of file ocp_iterate.cpp.

void OCPiterate::copy ( const OCPiterate & rhs ) [protected]

Definition at line 436 of file ocp_iterate.cpp.

DVector OCPiterate::copy	(	const VariablesGrid *	z,
		const uint &	idx
	)		const `[inline, protected]`

returnValue OCPiterate::enableSimulationMode ( )

Definition at line 381 of file ocp_iterate.cpp.

uint OCPiterate::getDim ( VariablesGrid * z ) const [inline, protected]

Grid OCPiterate::getGrid ( ) const [inline]

returnValue OCPiterate::getInitialData	(	DVector &	x_ = `emptyVector`,
		DVector &	xa_ = `emptyVector`,
		DVector &	p_ = `emptyVector`,
		DVector &	u_ = `emptyVector`,
		DVector &	w_ = `emptyVector`
	)		const

Definition at line 278 of file ocp_iterate.cpp.

uint OCPiterate::getNP ( ) const [inline]

Returns the dimension of the parameter vector.

uint OCPiterate::getNU ( ) const [inline]

Returns the dimension of the control vector.

uint OCPiterate::getNumPoints ( ) const

Definition at line 155 of file ocp_iterate.cpp.

uint OCPiterate::getNW ( ) const [inline]

Returns the dimension of the disturbance vector.

uint OCPiterate::getNX ( ) const [inline]

Assignment operator (deep copy). Returns the dimension of the differential state vector.

uint OCPiterate::getNXA ( ) const [inline]

Returns the dimension of the algebraic state vector.

DVector OCPiterate::getP ( const uint & idx ) const [inline]

double OCPiterate::getTime ( const uint & idx ) const [inline]

DVector OCPiterate::getU ( const uint & idx ) const [inline]

Grid OCPiterate::getUnionGrid ( ) const

Returns the union grid of all members, i.e. x, xa, p, u, and w.

Returns:: The requested union grid.

Definition at line 182 of file ocp_iterate.cpp.

DVector OCPiterate::getW ( const uint & idx ) const [inline]

DVector OCPiterate::getX ( const uint & idx ) const [inline]

DVector OCPiterate::getXA ( const uint & idx ) const [inline]

returnValue OCPiterate::init	(	const VariablesGrid *const	_x,
		const VariablesGrid *const	_xa,
		const VariablesGrid *const	_p,
		const VariablesGrid *const	_u,
		const VariablesGrid *const	_w
	)

Definition at line 112 of file ocp_iterate.cpp.

BooleanType OCPiterate::isInSimulationMode ( ) const [inline]

OCPiterate & OCPiterate::operator= ( const OCPiterate & rhs )

Assignment operator (deep copy).

Definition at line 81 of file ocp_iterate.cpp.

returnValue OCPiterate::print ( ) const

Definition at line 169 of file ocp_iterate.cpp.

returnValue OCPiterate::shift	(	double	timeShift = `-1.0`,
		DVector	lastX = `emptyVector`,
		DVector	lastXA = `emptyVector`,
		DVector	lastP = `emptyVector`,
		DVector	lastU = `emptyVector`,
		DVector	lastW = `emptyVector`
	)		`[virtual]`

Shifts all grids by given amount.

Returns:: SUCCESSFUL_RETURN
RET_INVALID_ARGUMENTS

Definition at line 396 of file ocp_iterate.cpp.

void OCPiterate::update	(	double	t,
		VariablesGrid &	z1,
		DVector &	z2
	)		const `[protected]`

Definition at line 291 of file ocp_iterate.cpp.

returnValue OCPiterate::updateData	(	double	t,
		DVector &	x_ = `emptyVector`,
		DVector &	xa_ = `emptyVector`,
		DVector &	p_ = `emptyVector`,
		DVector &	u_ = `emptyVector`,
		DVector &	w_ = `emptyVector`
	)