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

#include <objective_element.hpp>

Inheritance diagram for ObjectiveElement:

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)
ObjectiveElement &	operator= (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
BlockMatrix *	bSeed
BlockMatrix *	bSeed2
BlockMatrix	dBackward
BlockMatrix	dForward
Function	fcn
Grid	grid
EvaluationPoint	JJ
int	na
int	np
int	nu
int	nw
int	nx
int	ny
double	obj
BlockMatrix *	pSeed
BlockMatrix *	pSeed2
int	t_index
BlockMatrix *	uSeed
BlockMatrix *	uSeed2
BlockMatrix *	wSeed
BlockMatrix *	wSeed2
BlockMatrix *	xaSeed
BlockMatrix *	xaSeed2
BlockMatrix *	xSeed
BlockMatrix *	xSeed2
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

BEGIN_NAMESPACE_ACADO ObjectiveElement::ObjectiveElement ( )

Default constructor.

Definition at line 43 of file objective_element.cpp.

ObjectiveElement::ObjectiveElement ( const Grid & grid_ )

Default constructor.

Definition at line 71 of file objective_element.cpp.

ObjectiveElement::ObjectiveElement ( const ObjectiveElement & rhs )

Copy constructor (deep copy).

Definition at line 100 of file objective_element.cpp.

ObjectiveElement::~ObjectiveElement ( ) [virtual]

Destructor.

Definition at line 158 of file objective_element.cpp.

Member Function Documentation

returnValue ObjectiveElement::getBackwardSensitivities	(	BlockMatrix *	D,
		int	order
	)		`[virtual]`

Returns the result for the backward sensitivities in BlockMatrix form.

Returns:: SUCCESSFUL_RETURN
RET_INPUT_OUT_OF_RANGE

Parameters:

D	the result for the forward sensitivi- ties
order	the order

Definition at line 470 of file objective_element.cpp.

returnValue ObjectiveElement::getForwardSensitivities	(	BlockMatrix *	D,
		int	order
	)		`[virtual]`

Returns the result for the forward sensitivities in BlockMatrix form.

Returns:: SUCCESSFUL_RETURN
RET_INPUT_OUT_OF_RANGE

Parameters:

D	the result for the forward sensitivi- ties
order	the order

Definition at line 453 of file objective_element.cpp.

returnValue ObjectiveElement::getFunction ( Function & _function )

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:

objectiveValue the objective value

Definition at line 446 of file objective_element.cpp.

returnValue ObjectiveElement::init ( const OCPiterate & x )

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:

seed	the seed matrix
order	the 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
order	the order of the seed.