Public Member Functions | Protected Member Functions | Protected Attributes | Friends | List of all members
Constraint Class Reference
Basic Data Structures -- used mainly internally or by the user to call interface functions

Stores and evaluates the constraints of optimal control problems. More...

#include <constraint.hpp>

Inheritance diagram for Constraint:
Inheritance graph
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Public Member Functions

returnValue add (const double lb_, const Expression &arg, const double ub_)
 
returnValue add (const DVector lb_, const Expression &arg, const double ub_)
 
returnValue add (const double lb_, const Expression &arg, const DVector ub_)
 
returnValue add (const DVector lb_, const Expression &arg, const DVector ub_)
 
returnValue add (const int index_, const double lb_, const Expression &arg, const double ub_)
 
returnValue add (const double lb_, const Expression &arg1, const Expression &arg2, const double ub_)
 
returnValue add (const double lb_, const Expression *arguments, const double ub_)
 
returnValue add (const uint &endOfStage_, const DifferentialEquation &dae)
 
returnValue add (const ConstraintComponent &component)
 
returnValue add (const int index_, const ConstraintComponent &component)
 
 Constraint ()
 
 Constraint (const Constraint &rhs)
 
returnValue evaluate (const OCPiterate &iter)
 
returnValue evaluateSensitivities ()
 
returnValue evaluateSensitivities (const BlockMatrix &seed, BlockMatrix &hessian)
 
virtual returnValue getBackwardSensitivities (BlockMatrix &D, int order)
 
int getBlockDim (int idx) const
 
DVector getBlockDims () const
 
virtual returnValue getBoundResiduum (BlockMatrix &lowerRes, BlockMatrix &upperRes)
 
virtual returnValue getConstraintResiduum (BlockMatrix &lowerRes, BlockMatrix &upperRes)
 
virtual returnValue getForwardSensitivities (BlockMatrix &D, int order)
 
Grid & getGrid ()
 
int getNC ()
 
int getNP () const
 
int getNU () const
 
int getNumberOfBlocks () const
 
int getNW () const
 
int getNX () const
 
int getNXA () const
 
returnValue getPathConstraints (Function &function_, DMatrix &lb_, DMatrix &ub_) const
 
returnValue getPointConstraint (const unsigned index, Function &function_, DMatrix &lb_, DMatrix &ub_) const
 
returnValue init (const Grid &grid_, const int &numberOfStages_=1)
 
BooleanType isAffine () const
 
BooleanType isBoxConstraint () const
 
BooleanType isEmpty () const
 
Constraint & operator= (const Constraint &rhs)
 
virtual returnValue setBackwardSeed (BlockMatrix *seed, int order)
 
virtual returnValue setForwardSeed (BlockMatrix *xSeed_, BlockMatrix *xaSeed_, BlockMatrix *pSeed_, BlockMatrix *uSeed_, BlockMatrix *wSeed_, int order)
 
virtual returnValue setUnitBackwardSeed ()
 
virtual returnValue setUnitForwardSeed ()
 
virtual ~Constraint ()
 
- Public Member Functions inherited from BoxConstraint
 BoxConstraint ()
 
 BoxConstraint (const BoxConstraint &rhs)
 
returnValue init (const Grid &grid_)
 
BoxConstraint & operator= (const BoxConstraint &rhs)
 
virtual ~BoxConstraint ()
 

Protected Member Functions

returnValue add (const int index_, const double lb_, Expression *arg, const double ub_)
 
returnValue add (const DVector lb_, Expression *arg, const DVector ub_)
 
void deleteAll ()
 
virtual returnValue getBounds (const OCPiterate &iter)
 
- Protected Member Functions inherited from BoxConstraint
void deleteAll ()
 
returnValue evaluateBounds (const OCPiterate &iter)
 

Protected Attributes

AlgebraicConsistencyConstraint * algebraic_consistency_constraint
 
BoundaryConstraint * boundary_constraint
 
CoupledPathConstraint * coupled_path_constraint
 
PathConstraint * path_constraint
 
PointConstraint ** point_constraints
 
- Protected Attributes inherited from BoxConstraint
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
 

Friends

class ExportNLPSolver
 
class OptimizationAlgorithm
 
class OptimizationAlgorithmBase
 
class RealTimeAlgorithm
 
class TESTExport
 

Detailed Description

Stores and evaluates the constraints of optimal control problems.

The class Constraint allows to manage and evaluate the constraints of optimal control problems. It consists of a list of all different types of constraints that are derived from the base class ConstraintElement.

Author
Boris Houska, Hans Joachim Ferreau

Definition at line 60 of file constraint.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO Constraint::Constraint ( )

Default constructor.

Definition at line 49 of file constraint.cpp.

Constraint::Constraint ( const Constraint &  rhs)

Copy constructor (deep copy).

Definition at line 61 of file constraint.cpp.

Constraint::~Constraint ( )
virtual

Destructor.

Definition at line 95 of file constraint.cpp.

Member Function Documentation

returnValue Constraint::add ( const double  lb_,
const Expression &  arg,
const double  ub_ 
)

< adds a constraint of the form lb_ <= arg <= ub with constant lower
and upper bounds.

Returns
SUCCESSFUL_RETURN RET_INFEASIBLE_CONSTRAINTadds a constraint of the form lb_ <= arg <= ub where the
lower bound is varying over the grid points.
SUCCESSFUL_RETURN RET_INFEASIBLE_CONSTRAINT

Definition at line 194 of file constraint.cpp.

returnValue Constraint::add ( const DVector  lb_,
const Expression &  arg,
const double  ub_ 
)

adds a constraint of the form lb_ <= arg <= ub where the
upper bound is varying over the grid points.

Returns
SUCCESSFUL_RETURN RET_INFEASIBLE_CONSTRAINT

Definition at line 207 of file constraint.cpp.

returnValue Constraint::add ( const double  lb_,
const Expression &  arg,
const DVector  ub_ 
)

adds a constraint of the form lb_ <= arg <= ub where the
upper and the lower bound are varying over the grid points.

Returns
SUCCESSFUL_RETURN RET_INFEASIBLE_CONSTRAINT

Definition at line 216 of file constraint.cpp.

returnValue Constraint::add ( const DVector  lb_,
const Expression &  arg,
const DVector  ub_ 
)

Definition at line 225 of file constraint.cpp.

returnValue Constraint::add ( const int  index_,
const double  lb_,
const Expression &  arg,
const double  ub_ 
)

< adds a constraint of the form lb_ <= arg <= ub with constant lower
and upper bounds.

Returns
SUCCESSFUL_RETURN RET_INFEASIBLE_CONSTRAINT

Definition at line 1182 of file constraint.cpp.

returnValue Constraint::add ( const double  lb_,
const Expression &  arg1,
const Expression &  arg2,
const double  ub_ 
)

< adds a constraint of the form lb_ <= arg1(0) + arg_2(T) <= ub with
constant lower and upper bounds.

Returns
SUCCESSFUL_RETURN RET_INFEASIBLE_CONSTRAINT

Definition at line 1200 of file constraint.cpp.

returnValue Constraint::add ( const double  lb_,
const Expression *  arguments,
const double  ub_ 
)

< adds a constraint of the form lb_ <= sum_i arg_i(t_i) <= ub with
constant lower and upper bounds.

Returns
SUCCESSFUL_RETURN RET_INFEASIBLE_CONSTRAINT

Definition at line 264 of file constraint.cpp.

returnValue Constraint::add ( const uint &  endOfStage_,
const DifferentialEquation &  dae 
)

Adds an algebraic consistency constraint for a specified stage. This
method is rather for internal use, as the optimization routine will
care about the transformation of DAE optimization problems adding
consistency constraints, if necessary. Note that the number of stages
has to be specified in advance within the constructor of the constraint.
Actually, the "endOfStage" does at the same specify the start of
the next stage. Thus the DAE's should be added in the correct order.

Returns
SUCCESSFUL_RETURN RET_INDEX_OUT_OF_BOUNDS
Parameters
endOfStage_end of the stage
daethe DAE itself

Definition at line 274 of file constraint.cpp.

returnValue Constraint::add ( const ConstraintComponent &  component)

< adds a (continuous) contraint.

Returns
SUCCESSFUL_RETURN RET_INFEASIBLE_CONSTRAINTadds a (discrete) contraint.
SUCCESSFUL_RETURN RET_INFEASIBLE_CONSTRAINT

Definition at line 281 of file constraint.cpp.

returnValue Constraint::add ( const int  index_,
const ConstraintComponent &  component 
)

Definition at line 337 of file constraint.cpp.

returnValue Constraint::add ( const int  index_,
const double  lb_,
Expression *  arg,
const double  ub_ 
)
protected

CAUTION: This function is protected and stictly for internal use. Note that e.g. the expression pointer will be deleted when using this function.

returnValue Constraint::add ( const DVector  lb_,
Expression *  arg,
const DVector  ub_ 
)
protected

CAUTION: This function is protected and strictly for internal use. Note that e.g. the expression pointer will be deleted when using this function.

void Constraint::deleteAll ( )
protected

Protected version of the destructor.

Definition at line 101 of file constraint.cpp.

returnValue Constraint::evaluate ( const OCPiterate &  iter)

Definition at line 399 of file constraint.cpp.

returnValue Constraint::evaluateSensitivities ( )

Definition at line 475 of file constraint.cpp.

returnValue Constraint::evaluateSensitivities ( const BlockMatrix &  seed,
BlockMatrix &  hessian 
)

Return the sensitivities and the hessian term contribution of the constraint
components. The seed should be a (1 x getNumberOfBlocks())-matrix, which are
is in an optimization context the multiplier associated with the constraint.

Returns
SUCCESSFUL_RETURN

Definition at line 532 of file constraint.cpp.

returnValue Constraint::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
Dthe result for the forward sensitivi- ties
orderthe order

Definition at line 1051 of file constraint.cpp.

int Constraint::getBlockDim ( int  idx) const
inline

returns the dimension of the requested sub-block

DVector Constraint::getBlockDims ( ) const
inline

returns the dimension of the requested sub-block

returnValue Constraint::getBoundResiduum ( BlockMatrix &  lowerRes,
BlockMatrix &  upperRes 
)
virtual

Returns the result for the residuum of the bounds.

Returns
SUCCESSFUL_RETURN
Parameters
lowerResthe lower residuum
upperResthe upper residuum

Definition at line 910 of file constraint.cpp.

returnValue Constraint::getBounds ( const OCPiterate &  iter)
protectedvirtual

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

Reimplemented from BoxConstraint.

Definition at line 1211 of file constraint.cpp.

returnValue Constraint::getConstraintResiduum ( BlockMatrix &  lowerRes,
BlockMatrix &  upperRes 
)
virtual

Returns the result for the residuum of the constraints.

Returns
SUCCESSFUL_RETURN
Parameters
lowerResthe lower residuum
upperResthe upper residuum

Definition at line 797 of file constraint.cpp.

returnValue Constraint::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
Dthe result for the forward sensitivi- ties
orderthe order

Definition at line 941 of file constraint.cpp.

Grid& Constraint::getGrid ( )
inline

returns the constraint grid

int Constraint::getNC ( )
inline

returns the number of constraints

int Constraint::getNP ( ) const
inline

Returns the number of parameters

Returns
The requested number of parameters.
int Constraint::getNU ( ) const
inline

Returns the number of controls

Returns
The requested number of controls.
int Constraint::getNumberOfBlocks ( ) const
inline

returns the number of constraint blocks

int Constraint::getNW ( ) const
inline

Returns the number of disturbances

Returns
The requested number of disturbances.
int Constraint::getNX ( ) const
inline

Returns the number of differential states

Returns
The requested number of differential states.
int Constraint::getNXA ( ) const
inline

Returns the number of algebraic states

Returns
The requested number of algebraic states.
returnValue Constraint::getPathConstraints ( Function &  function_,
DMatrix &  lb_,
DMatrix &  ub_ 
) const

Definition at line 1228 of file constraint.cpp.

returnValue Constraint::getPointConstraint ( const unsigned  index,
Function &  function_,
DMatrix &  lb_,
DMatrix &  ub_ 
) const

Definition at line 1233 of file constraint.cpp.

returnValue Constraint::init ( const Grid &  grid_,
const int &  numberOfStages_ = 1 
)

Initializes the constraint.

Parameters
grid_the discretization grid.
numberOfStages_the number of stages (default = 1).
Returns
SUCCESSFUL_RETURN

Definition at line 129 of file constraint.cpp.

BooleanType Constraint::isAffine ( ) const
inline

returns whether the constraint is affine.

BooleanType Constraint::isBoxConstraint ( ) const
inline

returns whether object only comprises box constraints.

BooleanType Constraint::isEmpty ( ) const

Returns whether or not the constraint is empty.

Returns
BT_TRUE if no constraint is specified yet.
BT_FALSE otherwise.

Definition at line 1164 of file constraint.cpp.

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

Assignment operator (deep copy).

Definition at line 151 of file constraint.cpp.

returnValue Constraint::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 719 of file constraint.cpp.

returnValue Constraint::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 599 of file constraint.cpp.

returnValue Constraint::setUnitBackwardSeed ( )
virtual

Defines the first order backward seed to be
a unit matrix.

Returns
SUCCESFUL_RETURN
RET_INPUT_OUT_OF_RANGE

Definition at line 725 of file constraint.cpp.

returnValue Constraint::setUnitForwardSeed ( )
virtual

Defines the first order forward seed to be
the unit-directions matrix.

Returns
SUCCESFUL_RETURN
RET_INPUT_OUT_OF_RANGE

Definition at line 662 of file constraint.cpp.

Friends And Related Function Documentation

friend class ExportNLPSolver
friend

Definition at line 66 of file constraint.hpp.

friend class OptimizationAlgorithm
friend

Definition at line 63 of file constraint.hpp.

friend class OptimizationAlgorithmBase
friend

Definition at line 62 of file constraint.hpp.

friend class RealTimeAlgorithm
friend

Definition at line 64 of file constraint.hpp.

friend class TESTExport
friend

Definition at line 65 of file constraint.hpp.

Member Data Documentation

AlgebraicConsistencyConstraint* Constraint::algebraic_consistency_constraint
protected

Definition at line 465 of file constraint.hpp.

BoundaryConstraint* Constraint::boundary_constraint
protected

Definition at line 462 of file constraint.hpp.

CoupledPathConstraint* Constraint::coupled_path_constraint
protected

Definition at line 463 of file constraint.hpp.

PathConstraint* Constraint::path_constraint
protected

Definition at line 464 of file constraint.hpp.

PointConstraint** Constraint::point_constraints
protected

Definition at line 466 of file constraint.hpp.

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

acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Mon Jun 10 2019 12:35:22