A class for export of an OCP solver using sparse QP solver FORCES. More...

#include <export_gauss_newton_forces.hpp>

Inheritance diagram for ExportGaussNewtonForces:

Public Member Functions
	ExportGaussNewtonForces (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")

virtual returnValue	getCode (ExportStatementBlock &code)

virtual returnValue	getDataDeclarations (ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const

virtual returnValue	getFunctionDeclarations (ExportStatementBlock &declarations) const

unsigned	getNumLowerBounds () const

unsigned	getNumQPvars () const

unsigned	getNumUpperBounds () const

virtual returnValue	setup ()

virtual	~ExportGaussNewtonForces ()

Public Member Functions inherited from ExportNLPSolver
	ExportNLPSolver (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")

unsigned	getNumComplexConstraints (void)

unsigned	getNumPathConstraints (void)

bool	initialStateFixed () const

bool	performsSingleShooting () const

returnValue	setConstraints (const OCP &_ocp)

returnValue	setGeneralObjective (const Objective &_objective)

returnValue	setIntegratorExport (IntegratorExportPtr const _integrator)

returnValue	setLevenbergMarquardt (double _levenbergMarquardt)

returnValue	setLSQObjective (const Objective &_objective)

returnValue	setObjective (const Objective &_objective)

bool	usingLinearTerms () const

unsigned	weightingMatricesType (void) const

virtual	~ExportNLPSolver ()

Public Member Functions inherited from ExportAlgorithm
	ExportAlgorithm (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName=std::string())

uint	getN () const

uint	getNDX () const

uint	getNOD () const

uint	getNP () const

uint	getNU () const

uint	getNX () const

uint	getNXA () const

uint	getNY () const

uint	getNYN () const

returnValue	setDimensions (uint _NX=0, uint _NU=0, uint _NP=0, uint _NI=0, uint _NOD=0)

returnValue	setDimensions (uint _NX, uint _NDX, uint _NXA, uint _NU, uint _NP, uint _NI, uint _NOD)

void	setNY (uint NY_)

void	setNYN (uint NYN_)

virtual	~ExportAlgorithm ()

Public Member Functions inherited from AlgorithmicBase
int	addLogRecord (LogRecord &_record)

returnValue	addOption (OptionsName name, int value)

returnValue	addOption (OptionsName name, double value)

returnValue	addOption (uint idx, OptionsName name, int value)

returnValue	addOption (uint idx, OptionsName name, double value)

returnValue	addOptionsList ()

	AlgorithmicBase ()

	AlgorithmicBase (UserInteraction *_userInteraction)

	AlgorithmicBase (const AlgorithmicBase &rhs)

returnValue	get (OptionsName name, int &value) const

returnValue	get (OptionsName name, double &value) const

returnValue	get (OptionsName name, std::string &value) const

returnValue	get (uint idx, OptionsName name, int &value) const

returnValue	get (uint idx, OptionsName name, double &value) const

returnValue	getAll (LogName _name, MatrixVariablesGrid &values) const

returnValue	getFirst (LogName _name, DMatrix &firstValue) const

returnValue	getFirst (LogName _name, VariablesGrid &firstValue) const

returnValue	getLast (LogName _name, DMatrix &lastValue) const

returnValue	getLast (LogName _name, VariablesGrid &lastValue) const

Options	getOptions (uint idx) const

BooleanType	haveOptionsChanged () const

BooleanType	haveOptionsChanged (uint idx) const

AlgorithmicBase &	operator= (const AlgorithmicBase &rhs)

returnValue	plot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)

returnValue	printLogRecord (std::ostream &_stream, int idx, LogPrintMode _mode=PRINT_ITEM_BY_ITEM) const

returnValue	replot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)

returnValue	set (OptionsName name, int value)

returnValue	set (OptionsName name, double value)

returnValue	set (OptionsName name, const std::string &value)

returnValue	set (uint idx, OptionsName name, int value)

returnValue	set (uint idx, OptionsName name, double value)

returnValue	setAll (LogName _name, const MatrixVariablesGrid &values)

returnValue	setLast (LogName _name, int lastValue, double time=-INFTY)

returnValue	setLast (LogName _name, double lastValue, double time=-INFTY)

returnValue	setLast (LogName _name, const DVector &lastValue, double time=-INFTY)

returnValue	setLast (LogName _name, const DMatrix &lastValue, double time=-INFTY)

returnValue	setLast (LogName _name, const VariablesGrid &lastValue, double time=-INFTY)

returnValue	setOptions (const Options &arg)

returnValue	setOptions (uint idx, const Options &arg)

virtual	~AlgorithmicBase ()

Protected Member Functions
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)

Private Attributes
ExportVariable	x0

Objective evaluation
ExportFunction	evaluateObjective

std::vector< ExportVariable >	objHessians

std::vector< ExportVariable >	objGradients

ExportFunction	setStageH

ExportFunction	setStagef

ExportFunction	setObjQ1Q2

ExportFunction	setObjR1R2

ExportFunction	setObjQN1QN2

ExportFunction	setObjS1

bool	diagH

bool	diagHN

Constraint evaluation
std::vector< ExportVariable >	conLB

std::vector< ExportVariable >	conUB

ExportVariable	lbValues

ExportVariable	ubValues

unsigned	numLB

unsigned	numUB

std::vector< std::vector< unsigned > >	conLBIndices

std::vector< std::vector< unsigned > >	conUBIndices

std::vector< unsigned >	conABDimensions

std::vector< std::vector< double > >	conLBValues

std::vector< std::vector< double > >	conUBValues

ExportFunction	evaluateConstraints

ExportFunction	conSetGxGu

ExportVariable	conStageC

std::vector< ExportVariable >	conC

std::vector< ExportVariable >	cond

ExportFunction	conSetd

RTI related
ExportFunction	preparation

ExportFunction	feedback

ExportFunction	getKKT

Helper functions
ExportFunction	acc

QP interface
std::string	qpModuleName

std::string	qpObjPrefix

std::shared_ptr< ExportForcesInterface >	qpInterface

std::shared_ptr< ExportForcesGenerator >	qpGenerator

Additional Inherited Members
Protected Attributes inherited from ExportNLPSolver
IntegratorExportPtr	integrator

ExportFunction	modelSimulation

ExportVariable	state

ExportVariable	x

ExportVariable	z

ExportVariable	u

ExportVariable	od

ExportVariable	d

ExportVariable	evGx

ExportVariable	evGu

double	levenbergMarquardt

ExportVariable	y

ExportVariable	yN

ExportVariable	Dy

ExportVariable	DyN

ExportVariable	mu

ExportVariable	objg

ExportVariable	objS

ExportVariable	objSEndTerm

ExportVariable	objEvFx

ExportVariable	objEvFu

ExportVariable	objEvFxEnd

ExportVariable	objEvFxx

ExportVariable	objEvFxu

ExportVariable	objEvFuu

ExportVariable	objEvFxxEnd

ExportVariable	objAuxVar

ExportVariable	objValueIn

ExportVariable	objValueOut

ExportAcadoFunction	evaluateStageCost

ExportAcadoFunction	evaluateTerminalCost

ExportVariable	Q1

ExportVariable	Q2

ExportVariable	R1

ExportVariable	R2

ExportVariable	S1

ExportVariable	QN1

ExportVariable	QN2

ExportVariable	objSlx

ExportVariable	objSlu

bool	diagonalH

bool	diagonalHN

VariablesGrid	uBounds

VariablesGrid	xBounds

unsigned	dimPacH

ExportAcadoFunction	evaluatePathConstraints

ExportVariable	conAuxVar

ExportVariable	conValueIn

ExportVariable	conValueOut

DVector	lbPathConValues

DVector	ubPathConValues

ExportVariable	pacEvH

ExportVariable	pacEvHx

ExportVariable	pacEvHu

ExportVariable	pacEvHxd

ExportVariable	pacEvDDH

unsigned	dimPocH

std::vector< std::shared_ptr< ExportAcadoFunction > >	evaluatePointConstraints

DVector	lbPointConValues

DVector	ubPointConValues

std::vector< DVector >	pocLbStack

std::vector< DVector >	pocUbStack

ExportVariable	pocEvH

ExportVariable	pocEvHx

ExportVariable	pocEvHu

ExportVariable	pocEvHxd

ExportFunction	initialize

ExportFunction	shiftStates

ExportFunction	shiftControls

ExportFunction	getObjective

ExportFunction	initializeNodes

ExportFunction	updateArrivalCost

ExportCholeskyDecomposition	cholObjS

ExportCholeskyDecomposition	cholSAC

ExportHouseholderQR	acSolver

ExportVariable	acA

ExportVariable	acb

ExportVariable	acP

ExportVariable	acTmp

ExportVariable	acWL

ExportVariable	acVL

ExportVariable	acHx

ExportVariable	acHu

ExportVariable	acXx

ExportVariable	acXu

ExportVariable	acXTilde

ExportVariable	acHTilde

ExportVariable	SAC

ExportVariable	xAC

ExportVariable	DxAC

ExportFunction	regularizeHessian

ExportFunction	regularization

Protected Attributes inherited from ExportAlgorithm
std::string	commonHeaderName

uint	N

uint	NDX

uint	NOD

uint	NP

uint	NU

uint	NX

uint	NXA

uint	NY

uint	NYN

Protected Attributes inherited from AlgorithmicBase
int	outputLoggingIdx

BooleanType	useModuleStandalone

UserInteraction *	userInteraction

Detailed Description

A class for export of an OCP solver using sparse QP solver FORCES.

The class ExportGaussNewtonForces allows export of and OCP solver using the generalized Gauss-Newton method. The underlying QP is solved using the structured sparse QP solver FORCES.

Author: Milan Vukov

Definition at line 53 of file export_gauss_newton_forces.hpp.

Constructor & Destructor Documentation

ExportGaussNewtonForces::ExportGaussNewtonForces	(	UserInteraction *	_userInteraction = `0`,
		const std::string &	_commonHeaderName = `""`
	)

Default constructor.

@param[in] _userInteraction         Pointer to corresponding user interface.
@param[in] _commonHeaderName        Name of common header file to be included.

Definition at line 44 of file export_gauss_newton_forces.cpp.

virtual ExportGaussNewtonForces::~ExportGaussNewtonForces ( )

inlinevirtual

Destructor.

Definition at line 68 of file export_gauss_newton_forces.hpp.

Member Function Documentation

returnValue ExportGaussNewtonForces::getCode ( ExportStatementBlock & code )

virtual

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.

Definition at line 118 of file export_gauss_newton_forces.cpp.

returnValue ExportGaussNewtonForces::getDataDeclarations	(	ExportStatementBlock &	declarations,
		ExportStruct	dataStruct = `ACADO_ANY`
	)		const

virtual

Adds all data declarations of the auto-generated condensing algorithm to given list of declarations.

Parameters

[in] declarations List of declarations.

Returns: SUCCESSFUL_RETURN

Reimplemented from ExportNLPSolver.

Definition at line 82 of file export_gauss_newton_forces.cpp.

returnValue ExportGaussNewtonForces::getFunctionDeclarations ( ExportStatementBlock & declarations ) const

virtual

Adds all function (forward) declarations of the auto-generated condensing algorithm to given list of declarations.

Parameters

[in] declarations List of declarations.

Returns: SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 99 of file export_gauss_newton_forces.cpp.

unsigned ExportGaussNewtonForces::getNumLowerBounds ( ) const

Definition at line 176 of file export_gauss_newton_forces.cpp.

unsigned ExportGaussNewtonForces::getNumQPvars ( ) const

virtual

Returns number of variables in underlying QP.

Returns: Number of variables in underlying QP

Implements ExportNLPSolver.

Definition at line 171 of file export_gauss_newton_forces.cpp.

unsigned ExportGaussNewtonForces::getNumUpperBounds ( ) const

Definition at line 181 of file export_gauss_newton_forces.cpp.

returnValue ExportGaussNewtonForces::setup ( )

virtual

Initializes export of an algorithm.

\return SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 56 of file export_gauss_newton_forces.cpp.

returnValue ExportGaussNewtonForces::setupConstraintsEvaluation ( void )

protectedvirtual

Set-up evaluation of constraints

box constraints on states and controls

Returns: SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 647 of file export_gauss_newton_forces.cpp.

returnValue ExportGaussNewtonForces::setupEvaluation ( )

protectedvirtual

Exports source code containing the evaluation routines of the algorithm.

\return SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 914 of file export_gauss_newton_forces.cpp.

returnValue ExportGaussNewtonForces::setupMultiplicationRoutines ( )

protectedvirtual

Exports source code containing the multiplication routines of the algorithm.

\return SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 909 of file export_gauss_newton_forces.cpp.

returnValue ExportGaussNewtonForces::setupObjectiveEvaluation ( void )

protectedvirtual

Setting up of an objective evaluation:

functions and derivatives evaulation
creating Hessians and gradients

Returns: SUCCESSFUL_RETURN

Definition at line 190 of file export_gauss_newton_forces.cpp.

returnValue ExportGaussNewtonForces::setupQPInterface ( )

protectedvirtual

Definition at line 1067 of file export_gauss_newton_forces.cpp.

returnValue ExportGaussNewtonForces::setupVariables ( )

protectedvirtual

Initialization of all member variables.

\return SUCCESSFUL_RETURN

Implements ExportNLPSolver.

Definition at line 898 of file export_gauss_newton_forces.cpp.

Member Data Documentation

ExportFunction ExportGaussNewtonForces::acc

private

Definition at line 212 of file export_gauss_newton_forces.hpp.

std::vector< unsigned > ExportGaussNewtonForces::conABDimensions

private

Definition at line 190 of file export_gauss_newton_forces.hpp.

std::vector< ExportVariable > ExportGaussNewtonForces::conC

private

Definition at line 197 of file export_gauss_newton_forces.hpp.

std::vector< ExportVariable > ExportGaussNewtonForces::cond

private

Definition at line 198 of file export_gauss_newton_forces.hpp.

std::vector< ExportVariable > ExportGaussNewtonForces::conLB

private

Definition at line 182 of file export_gauss_newton_forces.hpp.

std::vector< std::vector< unsigned > > ExportGaussNewtonForces::conLBIndices

private

Definition at line 189 of file export_gauss_newton_forces.hpp.

std::vector< std::vector< double > > ExportGaussNewtonForces::conLBValues

private

Definition at line 191 of file export_gauss_newton_forces.hpp.

ExportFunction ExportGaussNewtonForces::conSetd

private

Definition at line 199 of file export_gauss_newton_forces.hpp.

ExportFunction ExportGaussNewtonForces::conSetGxGu

private

Definition at line 194 of file export_gauss_newton_forces.hpp.

ExportVariable ExportGaussNewtonForces::conStageC

private

Definition at line 195 of file export_gauss_newton_forces.hpp.

std::vector< ExportVariable > ExportGaussNewtonForces::conUB

private

Definition at line 183 of file export_gauss_newton_forces.hpp.

std::vector< std::vector< unsigned > > ExportGaussNewtonForces::conUBIndices

private

Definition at line 189 of file export_gauss_newton_forces.hpp.

std::vector< std::vector< double > > ExportGaussNewtonForces::conUBValues

private

Definition at line 191 of file export_gauss_newton_forces.hpp.

bool ExportGaussNewtonForces::diagH

private

Definition at line 176 of file export_gauss_newton_forces.hpp.

bool ExportGaussNewtonForces::diagHN

private

Definition at line 177 of file export_gauss_newton_forces.hpp.

ExportFunction ExportGaussNewtonForces::evaluateConstraints

private

Definition at line 193 of file export_gauss_newton_forces.hpp.

ExportFunction ExportGaussNewtonForces::evaluateObjective

private

Definition at line 163 of file export_gauss_newton_forces.hpp.

ExportFunction ExportGaussNewtonForces::feedback

private

Definition at line 205 of file export_gauss_newton_forces.hpp.

ExportFunction ExportGaussNewtonForces::getKKT

private

Definition at line 207 of file export_gauss_newton_forces.hpp.

ExportVariable ExportGaussNewtonForces::lbValues

private

Definition at line 184 of file export_gauss_newton_forces.hpp.

unsigned ExportGaussNewtonForces::numLB

private

Definition at line 186 of file export_gauss_newton_forces.hpp.

unsigned ExportGaussNewtonForces::numUB

private

Definition at line 187 of file export_gauss_newton_forces.hpp.

std::vector< ExportVariable > ExportGaussNewtonForces::objGradients

private

Definition at line 166 of file export_gauss_newton_forces.hpp.

std::vector< ExportVariable > ExportGaussNewtonForces::objHessians

private

Definition at line 165 of file export_gauss_newton_forces.hpp.

ExportFunction ExportGaussNewtonForces::preparation

private

Definition at line 204 of file export_gauss_newton_forces.hpp.

std::shared_ptr< ExportForcesGenerator > ExportGaussNewtonForces::qpGenerator

private

Definition at line 221 of file export_gauss_newton_forces.hpp.

std::shared_ptr< ExportForcesInterface > ExportGaussNewtonForces::qpInterface

private

Definition at line 220 of file export_gauss_newton_forces.hpp.

std::string ExportGaussNewtonForces::qpModuleName

private

Definition at line 217 of file export_gauss_newton_forces.hpp.

std::string ExportGaussNewtonForces::qpObjPrefix

private

Definition at line 218 of file export_gauss_newton_forces.hpp.

ExportFunction ExportGaussNewtonForces::setObjQ1Q2

private

Definition at line 171 of file export_gauss_newton_forces.hpp.

ExportFunction ExportGaussNewtonForces::setObjQN1QN2

private

Definition at line 173 of file export_gauss_newton_forces.hpp.

ExportFunction ExportGaussNewtonForces::setObjR1R2

private

Definition at line 172 of file export_gauss_newton_forces.hpp.

ExportFunction ExportGaussNewtonForces::setObjS1

private

Definition at line 174 of file export_gauss_newton_forces.hpp.

ExportFunction ExportGaussNewtonForces::setStagef

private

Definition at line 169 of file export_gauss_newton_forces.hpp.

ExportFunction ExportGaussNewtonForces::setStageH

private

Definition at line 168 of file export_gauss_newton_forces.hpp.

ExportVariable ExportGaussNewtonForces::ubValues

private

Definition at line 184 of file export_gauss_newton_forces.hpp.

ExportVariable ExportGaussNewtonForces::x0

private

Current state feedback.

Definition at line 159 of file export_gauss_newton_forces.hpp.

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

Public Member Functions

Protected Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation