BoxConstraint Class Reference

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

#include <box_constraint.hpp>

Inheritance diagram for BoxConstraint:

Public Member Functions
	BoxConstraint ()
	BoxConstraint (const BoxConstraint &rhs)
returnValue	init (const Grid &grid_)
BoxConstraint &	operator= (const BoxConstraint &rhs)
virtual	~BoxConstraint ()

Protected Member Functions
void	deleteAll ()
returnValue	evaluateBounds (const OCPiterate &iter)
virtual returnValue	getBounds (const OCPiterate &iter)

Protected Attributes
DVector **	blb
DVector **	bub
Grid	grid
int *	index
int	nb
DMatrix *	residuumPL
DMatrix *	residuumPU
DMatrix *	residuumUL
DMatrix *	residuumUU
DMatrix *	residuumWL
DMatrix *	residuumWU
DMatrix *	residuumXAL
DMatrix *	residuumXAU
DMatrix *	residuumXL
DMatrix *	residuumXU
VariableType *	var

Detailed Description

Stores and evaluates box constraints within optimal control problems.

The class BoxConstraint allows to manage and evaluate box (path) constraints (simple upper or lower bounds) on the optimization variables within optimal control problems.

Author

Boris Houska, Hans Joachim Ferreau

Definition at line 59 of file box_constraint.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO BoxConstraint::BoxConstraint

(

)

Default constructor.

Definition at line 46 of file box_constraint.cpp.

BoxConstraint::BoxConstraint

(

const BoxConstraint &

rhs

)

Copy constructor (deep copy).

Definition at line 95 of file box_constraint.cpp.

BoxConstraint::~BoxConstraint ( )

virtual

Destructor.

Definition at line 134 of file box_constraint.cpp.

Member Function Documentation

void BoxConstraint::deleteAll ( )

protected

Protected destructor.

Definition at line 140 of file box_constraint.cpp.

returnValue BoxConstraint::evaluateBounds ( const OCPiterate &  iter )

protected

Definition at line 218 of file box_constraint.cpp.

returnValue BoxConstraint::getBounds ( const OCPiterate &  iter )

inlineprotectedvirtual

Writes a special copy of the bounds that is needed within the OptimizationAlgorithm into the optimization variables.

Reimplemented in Constraint.

Definition at line 369 of file box_constraint.cpp.

returnValue BoxConstraint::init

(

const Grid &

grid_

)

Initialization Routine.

Definition at line 67 of file box_constraint.cpp.

BoxConstraint & BoxConstraint::operator=

(

const BoxConstraint &

rhs

)

Assignment operator (deep copy).

Definition at line 168 of file box_constraint.cpp.

Member Data Documentation

DVector** BoxConstraint::blb

protected

lower bounds

Definition at line 117 of file box_constraint.hpp.

DVector** BoxConstraint::bub

protected

upper bounds

Definition at line 118 of file box_constraint.hpp.

Grid BoxConstraint::grid

protected

the grid

Definition at line 110 of file box_constraint.hpp.

int* BoxConstraint::index

protected

component of the variable

Definition at line 116 of file box_constraint.hpp.

int BoxConstraint::nb

protected

counts the number of bounds

Definition at line 114 of file box_constraint.hpp.

DMatrix* BoxConstraint::residuumPL

protected

residuum of the parameters to the lower bound

Definition at line 124 of file box_constraint.hpp.

DMatrix* BoxConstraint::residuumPU

protected

residuum of the parameters to the upper bound

Definition at line 125 of file box_constraint.hpp.

DMatrix* BoxConstraint::residuumUL

protected

residuum of the controls to the lower bound

Definition at line 126 of file box_constraint.hpp.

DMatrix* BoxConstraint::residuumUU

protected

residuum of the controls to the upper bound

Definition at line 127 of file box_constraint.hpp.

DMatrix* BoxConstraint::residuumWL

protected

residuum of the disturbances to the lower bound

Definition at line 128 of file box_constraint.hpp.

DMatrix* BoxConstraint::residuumWU

protected

residuum of the disturbances to the upper bound

Definition at line 129 of file box_constraint.hpp.

DMatrix* BoxConstraint::residuumXAL

protected

residuum of the algebraic states to the lower bound

Definition at line 122 of file box_constraint.hpp.

DMatrix* BoxConstraint::residuumXAU

protected

residuum of the algebraic states to the upper bound

Definition at line 123 of file box_constraint.hpp.

DMatrix* BoxConstraint::residuumXL

protected

residuum of the differential states to the lower bound

Definition at line 120 of file box_constraint.hpp.

DMatrix* BoxConstraint::residuumXU

protected

residuum of the differential states to the upper bound

Definition at line 121 of file box_constraint.hpp.

VariableType* BoxConstraint::var

protected

variable types

Definition at line 115 of file box_constraint.hpp.

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

• box_constraint.hpp
• box_constraint.cpp