Stores and evaluates LSQ mayer terms within optimal control problems. More...

#include <lsq_end_term.hpp>

Inheritance diagram for LSQEndTerm:

Public Member Functions
returnValue	evaluate (const OCPiterate &x)

returnValue	evaluateSensitivities (BlockMatrix *hessian)

returnValue	evaluateSensitivitiesGN (BlockMatrix *GNhessian)

returnValue	init (const Grid &grid_, const DMatrix &S_, const Function &m_, const DVector &r_)

BooleanType	isAffine ()

BooleanType	isConvex ()

BooleanType	isQuadratic ()

	LSQEndTerm ()

	LSQEndTerm (const Grid &grid_, const DMatrix &S_, const Function &m_, const DVector &r_)

	LSQEndTerm (const LSQEndTerm &rhs)

LSQEndTerm &	operator= (const LSQEndTerm &rhs)

returnValue	setReference (const DVector &ref)

virtual	~LSQEndTerm ()

Public Member Functions inherited from ObjectiveElement
virtual returnValue	getBackwardSensitivities (BlockMatrix *D, int order)

virtual returnValue	getForwardSensitivities (BlockMatrix *D, int order)

returnValue	getFunction (Function &_function)

int	getNP () const

int	getNU () const

int	getNW () const

int	getNX () const

int	getNXA () const

virtual returnValue	getObjectiveValue (double &objectiveValue)

returnValue	init (const OCPiterate &x)

	ObjectiveElement ()

	ObjectiveElement (const Grid &grid_)

	ObjectiveElement (const ObjectiveElement &rhs)

ObjectiveElement &	operator= (const ObjectiveElement &rhs)

virtual returnValue	setBackwardSeed (BlockMatrix *seed, int order)

virtual returnValue	setForwardSeed (BlockMatrix xSeed_, BlockMatrix xaSeed_, BlockMatrix pSeed_, BlockMatrix uSeed_, BlockMatrix *wSeed_, int order)

returnValue	setGrid (const Grid &grid_)

virtual	~ObjectiveElement ()

Protected Attributes
DVector	r

DMatrix	S

double *	S_h_res

Protected Attributes inherited from ObjectiveElement
BlockMatrix *	bSeed

BlockMatrix *	bSeed2

BlockMatrix	dBackward

BlockMatrix	dForward

Function	fcn

Grid	grid

EvaluationPoint	JJ

int	na

int	np

int	nu

int	nw

int	nx

int	ny

double	obj

BlockMatrix *	pSeed

BlockMatrix *	pSeed2

int	t_index

BlockMatrix *	uSeed

BlockMatrix *	uSeed2

BlockMatrix *	wSeed

BlockMatrix *	wSeed2

BlockMatrix *	xaSeed

BlockMatrix *	xaSeed2

BlockMatrix *	xSeed

BlockMatrix *	xSeed2

int *	y_index

EvaluationPoint	z

Additional Inherited Members
Protected Member Functions inherited from ObjectiveElement
Grid	getGrid () const

Detailed Description

Stores and evaluates LSQ mayer terms within optimal control problems.

The class LSQEndTerm allows to manage and evaluate least square objective mayer terms
of the general form:

0.5* || S * ( m(T,x(T),p(T),...) - r ) ||^2_2

Here the T is the time at the last grid point of the objective grid.

Author: Boris Houska, Hans Joachim Ferreau

Definition at line 61 of file lsq_end_term.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO LSQEndTerm::LSQEndTerm ( )

Default constructor.

Definition at line 51 of file lsq_end_term.cpp.

LSQEndTerm::LSQEndTerm	(	const Grid &	grid_,
		const DMatrix &	S_,
		const Function &	m_,
		const DVector &	r_
	)

Default constructor.

Parameters

grid_	the objective grid
S_	the weighting matrix
m_	the LSQ function
r_	the reference vector

Definition at line 58 of file lsq_end_term.cpp.

LSQEndTerm::LSQEndTerm ( const LSQEndTerm & rhs )

Copy constructor (deep copy).

Definition at line 70 of file lsq_end_term.cpp.

LSQEndTerm::~LSQEndTerm ( )

virtual

Destructor.

Definition at line 80 of file lsq_end_term.cpp.

Member Function Documentation

returnValue LSQEndTerm::evaluate ( const OCPiterate & x )

Definition at line 103 of file lsq_end_term.cpp.

returnValue LSQEndTerm::evaluateSensitivities ( BlockMatrix * hessian )

Evaluates the objective gradient contribution from this term
and computes the corresponding exact hessian.

Returns: SUCCESSFUL_RETURN

Definition at line 136 of file lsq_end_term.cpp.

returnValue LSQEndTerm::evaluateSensitivitiesGN ( BlockMatrix * GNhessian )

Evaluates the objective gradient contribution from this term
and computes the corresponding GN hessian approximation for
the case that GNhessian != 0.

Returns: SUCCESSFUL_RETURN

Definition at line 143 of file lsq_end_term.cpp.

returnValue LSQEndTerm::init	(	const Grid &	grid_,
		const DMatrix &	S_,
		const Function &	m_,
		const DVector &	r_
	)

inline

Parameters

grid_	the objective grid
S_	the weighting matrix
m_	the LSQ function
r_	the reference vectors

BooleanType LSQEndTerm::isAffine ( )

inline

returns whether the constraint element is affine.

BooleanType LSQEndTerm::isConvex ( )

inline

returns whether the constraint element is convex.

BooleanType LSQEndTerm::isQuadratic ( )

inline

returns whether the constraint element is convex.

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

Assignment operator (deep copy).

Definition at line 86 of file lsq_end_term.cpp.

returnValue LSQEndTerm::setReference ( const DVector & ref )

inline

overwrites the reference vector r

Returns: SUCCESSFUL_RETURN

Member Data Documentation

DVector LSQEndTerm::r

protected

a tracking reference

Definition at line 159 of file lsq_end_term.hpp.

DMatrix LSQEndTerm::S

protected

a symmetric weighting matrix

Definition at line 158 of file lsq_end_term.hpp.

double* LSQEndTerm::S_h_res

protected

specific intermediate results
to be stored for backward
differentiation

Definition at line 161 of file lsq_end_term.hpp.

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation