An OCP solver based on the N^2 condensing algorithm. More...
#include <export_gauss_newton_cn2.hpp>
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bool | performFullCondensing () const |
virtual returnValue | setupCondensing () |
virtual returnValue | setupConstraintsEvaluation (void) |
virtual returnValue | setupEvaluation () |
virtual returnValue | setupMultiplicationRoutines () |
virtual returnValue | setupObjectiveEvaluation (void) |
virtual returnValue | setupQPInterface () |
virtual returnValue | setupVariables () |
Protected Member Functions inherited from ExportNLPSolver | |
returnValue | setupArrivalCostCalculation () |
returnValue | setupAuxiliaryFunctions () |
virtual returnValue | setupGetGeneralObjective () |
virtual returnValue | setupGetLSQObjective () |
virtual returnValue | setupGetObjective () |
virtual returnValue | setupInitialization () |
virtual returnValue | setupSimulation (void) |
An OCP solver based on the N^2 condensing algorithm.
Definition at line 48 of file export_gauss_newton_cn2.hpp.
BEGIN_NAMESPACE_ACADO ExportGaussNewtonCN2::ExportGaussNewtonCN2 | ( | UserInteraction * | _userInteraction = 0 , |
const std::string & | _commonHeaderName = "" |
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Default constructor.
@param[in] _userInteraction Pointer to corresponding user interface. @param[in] _commonHeaderName Name of common header file to be included.
Definition at line 40 of file export_gauss_newton_cn2.cpp.
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Destructor.
Definition at line 62 of file export_gauss_newton_cn2.hpp.
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Exports source code of the auto-generated condensing algorithm into the given directory.
@param[in] code Code block containing the auto-generated condensing algorithm. \return SUCCESSFUL_RETURN
Implements ExportNLPSolver.
Reimplemented in ExportGaussNewtonBlockCN2, ExportGaussNewtonBlockForces, and ExportGaussNewtonBlockQpDunes.
Definition at line 162 of file export_gauss_newton_cn2.cpp.
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Adds all data declarations of the auto-generated condensing algorithm to given list of declarations.
[in] | declarations | List of declarations. |
Reimplemented from ExportNLPSolver.
Reimplemented in ExportGaussNewtonBlockCN2.
Definition at line 93 of file export_gauss_newton_cn2.cpp.
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Adds all function (forward) declarations of the auto-generated condensing algorithm to given list of declarations.
[in] | declarations | List of declarations. |
Implements ExportNLPSolver.
Reimplemented in ExportGaussNewtonBlockCN2, and ExportExactHessianCN2.
Definition at line 143 of file export_gauss_newton_cn2.cpp.
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Returns number of variables in underlying QP.
Implements ExportNLPSolver.
Definition at line 260 of file export_gauss_newton_cn2.cpp.
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Returns number of bounds on differential states.
Definition at line 268 of file export_gauss_newton_cn2.cpp.
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Definition at line 2256 of file export_gauss_newton_cn2.cpp.
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Initializes export of an algorithm.
\return SUCCESSFUL_RETURN
Implements ExportNLPSolver.
Reimplemented in ExportGaussNewtonBlockForces, ExportGaussNewtonBlockQpDunes, ExportGaussNewtonBlockCN2, and ExportExactHessianCN2.
Definition at line 45 of file export_gauss_newton_cn2.cpp.
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NEW CODE END
Reimplemented in ExportGaussNewtonBlockCN2, and ExportGaussNewtonBlockForces.
Definition at line 1172 of file export_gauss_newton_cn2.cpp.
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Set-up evaluation of constraints
Implements ExportNLPSolver.
Reimplemented in ExportGaussNewtonBlockCN2, and ExportGaussNewtonBlockForces.
Definition at line 443 of file export_gauss_newton_cn2.cpp.
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Exports source code containing the evaluation routines of the algorithm.
\return SUCCESSFUL_RETURN
Implements ExportNLPSolver.
Reimplemented in ExportGaussNewtonBlockCN2, ExportGaussNewtonBlockForces, and ExportGaussNewtonBlockQpDunes.
Definition at line 2068 of file export_gauss_newton_cn2.cpp.
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Exports source code containing the multiplication routines of the algorithm.
\return SUCCESSFUL_RETURN
Implements ExportNLPSolver.
Reimplemented in ExportGaussNewtonBlockCN2.
Definition at line 1822 of file export_gauss_newton_cn2.cpp.
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Setting up of an objective evaluation:
Reimplemented in ExportExactHessianCN2.
Definition at line 277 of file export_gauss_newton_cn2.cpp.
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Reimplemented in ExportGaussNewtonBlockCN2, ExportGaussNewtonBlockForces, and ExportGaussNewtonBlockQpDunes.
Definition at line 2167 of file export_gauss_newton_cn2.cpp.
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Initialization of all member variables.
\return SUCCESSFUL_RETURN
Implements ExportNLPSolver.
Reimplemented in ExportGaussNewtonBlockCN2, and ExportGaussNewtonBlockForces.
Definition at line 1758 of file export_gauss_newton_cn2.cpp.
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Variable containing the QP constraint matrix.
Definition at line 171 of file export_gauss_newton_cn2.hpp.
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Definition at line 236 of file export_gauss_newton_cn2.hpp.
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Variable containing the QP gradient.
Definition at line 174 of file export_gauss_newton_cn2.hpp.
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Definition at line 238 of file export_gauss_newton_cn2.hpp.
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Variable containing the QP Hessian matrix.
Definition at line 169 of file export_gauss_newton_cn2.hpp.
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Variable containing the lower limits on QP variables.
Definition at line 177 of file export_gauss_newton_cn2.hpp.
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Variable containing lower limits on QP constraints.
Definition at line 183 of file export_gauss_newton_cn2.hpp.
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Definition at line 243 of file export_gauss_newton_cn2.hpp.
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Definition at line 243 of file export_gauss_newton_cn2.hpp.
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Variable containing the upper limits on QP variables.
Definition at line 180 of file export_gauss_newton_cn2.hpp.
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Variable containing upper limits on QP constraints.
Definition at line 186 of file export_gauss_newton_cn2.hpp.
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Definition at line 194 of file export_gauss_newton_cn2.hpp.
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Variable containing the primal QP variables.
Definition at line 189 of file export_gauss_newton_cn2.hpp.
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Variable containing the dual QP variables.
Definition at line 192 of file export_gauss_newton_cn2.hpp.