Public Member Functions | Protected Member Functions | Protected Attributes

Base class for all kind of objective function terms within optimal control problems. More...

#include <objective_element.hpp>

Inheritance diagram for ObjectiveElement:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual returnValue getBackwardSensitivities (BlockMatrix *D, int order)
virtual returnValue getForwardSensitivities (BlockMatrix *D, int order)
returnValue getFunction (Function &_function)
int getNP () const
int getNU () const
int getNW () const
int getNX () const
int getNXA () const
virtual returnValue getObjectiveValue (double &objectiveValue)
returnValue init (const OCPiterate &x)
 ObjectiveElement ()
 ObjectiveElement (const Grid &grid_)
 ObjectiveElement (const ObjectiveElement &rhs)
ObjectiveElementoperator= (const ObjectiveElement &rhs)
virtual returnValue setBackwardSeed (BlockMatrix *seed, int order)
virtual returnValue setForwardSeed (BlockMatrix *xSeed_, BlockMatrix *xaSeed_, BlockMatrix *pSeed_, BlockMatrix *uSeed_, BlockMatrix *wSeed_, int order)
returnValue setGrid (const Grid &grid_)
virtual ~ObjectiveElement ()

Protected Member Functions

Grid getGrid () const

Protected Attributes

BlockMatrixbSeed
BlockMatrixbSeed2
BlockMatrix dBackward
BlockMatrix dForward
Function fcn
Grid grid
EvaluationPoint JJ
int na
int np
int nu
int nw
int nx
int ny
double obj
BlockMatrixpSeed
BlockMatrixpSeed2
int t_index
BlockMatrixuSeed
BlockMatrixuSeed2
BlockMatrixwSeed
BlockMatrixwSeed2
BlockMatrixxaSeed
BlockMatrixxaSeed2
BlockMatrixxSeed
BlockMatrixxSeed2
int * y_index
EvaluationPoint z

Detailed Description

Base class for all kind of objective function terms within optimal control problems.

The class ObjectiveElement serves as base class for all kind of different objective function terms within optimal control problems.

Author:
Boris Houska, Hans Joachim Ferreau

Definition at line 55 of file objective_element.hpp.


Constructor & Destructor Documentation

Default constructor.

Definition at line 43 of file objective_element.cpp.

Default constructor.

Definition at line 71 of file objective_element.cpp.

Copy constructor (deep copy).

Definition at line 100 of file objective_element.cpp.

Destructor.

Definition at line 158 of file objective_element.cpp.


Member Function Documentation

Returns the result for the backward sensitivities in BlockMatrix form.

Returns:
SUCCESSFUL_RETURN
RET_INPUT_OUT_OF_RANGE
Parameters:
Dthe result for the forward sensitivi- ties
orderthe order

Definition at line 470 of file objective_element.cpp.

Returns the result for the forward sensitivities in BlockMatrix form.

Returns:
SUCCESSFUL_RETURN
RET_INPUT_OUT_OF_RANGE
Parameters:
Dthe result for the forward sensitivi- ties
orderthe order

Definition at line 453 of file objective_element.cpp.

Returns the element's function

Returns:
SUCCESSFUL_RETURN.
Grid ObjectiveElement::getGrid ( ) const [inline, protected]

returns the constraint grid

int ObjectiveElement::getNP ( ) const [inline]

Returns the number of parameters

Returns:
The requested number of parameters.
int ObjectiveElement::getNU ( ) const [inline]

Returns the number of controls

Returns:
The requested number of controls.
int ObjectiveElement::getNW ( ) const [inline]

Returns the number of disturbances

Returns:
The requested number of disturbances.
int ObjectiveElement::getNX ( ) const [inline]

Returns the number of differential states

Returns:
The requested number of differential states.
int ObjectiveElement::getNXA ( ) const [inline]

Returns the number of algebraic states

Returns:
The requested number of algebraic states.
returnValue ObjectiveElement::getObjectiveValue ( double &  objectiveValue) [virtual]

Returns the result for the residuum.

Returns:
SUCCESSFUL_RETURN
Parameters:
objectiveValuethe objective value

Definition at line 446 of file objective_element.cpp.

Initializes the Objective Element: The dimensions and
index lists.

Returns:
SUCCESSFUL_RETURN

Definition at line 263 of file objective_element.cpp.

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

Assignment operator (deep copy).

Definition at line 181 of file objective_element.cpp.

returnValue ObjectiveElement::setBackwardSeed ( BlockMatrix seed,
int  order 
) [virtual]

Define a backward seed in form of a block matrix.

Returns:
SUCCESFUL_RETURN
RET_INPUT_OUT_OF_RANGE
Parameters:
seedthe seed matrix
orderthe order of the seed.

Definition at line 414 of file objective_element.cpp.

returnValue ObjectiveElement::setForwardSeed ( BlockMatrix xSeed_,
BlockMatrix xaSeed_,
BlockMatrix pSeed_,
BlockMatrix uSeed_,
BlockMatrix wSeed_,
int  order 
) [virtual]

Define a forward seed in form of a block matrix.

Returns:
SUCCESFUL RETURN
RET_INPUT_OUT_OF_RANGE
Parameters:
xSeed_the seed in x -direction
xaSeed_the seed in xa-direction
pSeed_the seed in p -direction
uSeed_the seed in u -direction
wSeed_the seed in w -direction
orderthe order of the seed.

Definition at line 313 of file objective_element.cpp.

returnValue ObjectiveElement::setGrid ( const Grid grid_) [inline]

Sets the discretization grid.

Returns:
SUCCESSFUL_RETURN

Reimplemented in LSQTerm.


Member Data Documentation

the 1st order backward seed

Definition at line 260 of file objective_element.hpp.

the 2nd order backward seed

Definition at line 268 of file objective_element.hpp.

the first order backward derivatives

Definition at line 276 of file objective_element.hpp.

the first order forward derivatives

Definition at line 275 of file objective_element.hpp.

the function

Definition at line 236 of file objective_element.hpp.

the objective grid

Definition at line 235 of file objective_element.hpp.

Definition at line 239 of file objective_element.hpp.

int ObjectiveElement::na [protected]

number of alg. states

Definition at line 245 of file objective_element.hpp.

int ObjectiveElement::np [protected]

number of parameters

Definition at line 247 of file objective_element.hpp.

int ObjectiveElement::nu [protected]

number of controls

Definition at line 246 of file objective_element.hpp.

int ObjectiveElement::nw [protected]

number of disturbances

Definition at line 248 of file objective_element.hpp.

int ObjectiveElement::nx [protected]

number of diff. states

Definition at line 244 of file objective_element.hpp.

int ObjectiveElement::ny [protected]

:= nx+na+nu+np+nw

Definition at line 249 of file objective_element.hpp.

double ObjectiveElement::obj [protected]

the objective value

Definition at line 273 of file objective_element.hpp.

the 1st order forward seed in p-direction

Definition at line 256 of file objective_element.hpp.

the 2nd order forward seed in p-direction

Definition at line 264 of file objective_element.hpp.

int ObjectiveElement::t_index [protected]

time index

Definition at line 242 of file objective_element.hpp.

the 1st order forward seed in u-direction

Definition at line 257 of file objective_element.hpp.

the 2nd order forward seed in u-direction

Definition at line 265 of file objective_element.hpp.

the 1st order forward seed in w-direction

Definition at line 258 of file objective_element.hpp.

the 2nd order forward seed in w-direction

Definition at line 266 of file objective_element.hpp.

the 1st order forward seed in x-direction

Definition at line 255 of file objective_element.hpp.

the 2nd order forward seed in x-direction

Definition at line 263 of file objective_element.hpp.

the 1st order forward seed in x-direction

Definition at line 254 of file objective_element.hpp.

the 2nd order forward seed in x-direction

Definition at line 262 of file objective_element.hpp.

int* ObjectiveElement::y_index [protected]

index lists

Definition at line 241 of file objective_element.hpp.

the evaluation point

Definition at line 238 of file objective_element.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 19:40:25