Public Member Functions

Stores and evaluates path constraints within optimal control problems. More...

#include <path_constraint.hpp>

Inheritance diagram for PathConstraint:
Inheritance graph
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List of all members.

Public Member Functions

returnValue add (const DVector lb_, const Expression &arg, const DVector ub_)
returnValue evaluate (const OCPiterate &iter)
returnValue evaluateSensitivities ()
returnValue evaluateSensitivities (int &count, const BlockMatrix &seed, BlockMatrix &hessian)
int getDim (const int &idx_)
int getNC () const
BooleanType isBoxConstraint () const
PathConstraintoperator= (const PathConstraint &rhs)
 PathConstraint ()
 PathConstraint (const Grid &grid_)
 PathConstraint (const PathConstraint &rhs)
virtual ~PathConstraint ()

Detailed Description

Stores and evaluates path constraints within optimal control problems.

The class PathConstraint allows to manage and evaluate constraints along the whole horizon within optimal control problems. Note that the path constraints need to be decoupled on each control interval, otherwise the class CouplePathConstraint has to be used.

Author:
Boris Houska, Hans Joachim Ferreau

Definition at line 57 of file path_constraint.hpp.


Constructor & Destructor Documentation

Default constructor.

Definition at line 46 of file path_constraint.cpp.

Default constructor.

Definition at line 51 of file path_constraint.cpp.

Copy constructor (deep copy).

Definition at line 56 of file path_constraint.cpp.

Destructor.

Definition at line 61 of file path_constraint.cpp.


Member Function Documentation

returnValue PathConstraint::add ( const DVector  lb_,
const Expression arg,
const DVector  ub_ 
) [inline]

Adds a path-constraint component.

Returns:
SUCCESSFUL_RETURN RET_MEMBER_NOT_INITIALISED (if the ConstraintElement::fcn is not initialized)

Evaluates all components in this constraint and stores the
residuum.

Returns:
SUCESSFUL_RETURN

Definition at line 76 of file path_constraint.cpp.

Evaluates the sensitivities of all components in this
constraint. Note that the seed can be defined via the base
class ConstraintElement.

Returns:
SUCESSFUL_RETURN

Definition at line 113 of file path_constraint.cpp.

returnValue PathConstraint::evaluateSensitivities ( int &  count,
const BlockMatrix seed,
BlockMatrix hessian 
)

Evaluates the sensitivities and Hessian.

Returns:
SUCESSFUL_RETURN

Definition at line 191 of file path_constraint.cpp.

int PathConstraint::getDim ( const int &  idx_) [inline]

returns the dimension of a specified block of the constraints

int PathConstraint::getNC ( ) const [inline]

returns the number of constraints

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

Assignment operator (deep copy).

Definition at line 65 of file path_constraint.cpp.


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