A user class for auto-generation of OCP solvers. More...

#include <ocp_export.hpp>

Inheritance diagram for OCPexport:

[legend]

Public Member Functions
virtual returnValue	exportCode (const std::string &dirName, const std::string &_realString="real_t", const std::string &_intString="int", int _precision=16)

	OCPexport ()

	OCPexport (const OCP &_ocp)

returnValue	printDimensionsQP ()

virtual	~OCPexport ()

Public Member Functions inherited from ExportModule
	ExportModule ()

virtual	~ExportModule ()

Public Member Functions inherited from UserInteraction
virtual int	addPlotWindow (PlotWindow &_window)

virtual int	operator<< (PlotWindow &_window)

virtual int	operator<< (LogRecord &_record)

UserInteraction &	operator= (const UserInteraction &rhs)

	UserInteraction ()

	UserInteraction (const UserInteraction &rhs)

virtual	~UserInteraction ()

Public Member Functions inherited from Options
returnValue	addOptionsList ()

returnValue	ensureConsistency ()

returnValue	ensureConsistency ()

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

uint	getNumOptionsLists () const

Options	getOptions (uint idx) const

Options &	operator= (const Options &rhs)

Options &	operator= (const Options &rhs)

	Options ()

	Options ()

	Options (const Options &rhs)

	Options (const Options &rhs)

	Options ()

	Options (const OptionsList &_optionsList)

returnValue	print () const

returnValue	print () const

returnValue	printOptionsList () const

returnValue	printOptionsList (uint idx) const

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

returnValue	setOptions (const Options &arg)

returnValue	setOptions (uint idx, const Options &arg)

returnValue	setToDefault ()

returnValue	setToDefault ()

returnValue	setToFast ()

returnValue	setToFast ()

returnValue	setToMPC ()

returnValue	setToReliable ()

returnValue	setToReliable ()

	~Options ()

	~Options ()

virtual	~Options ()

Public Member Functions inherited from Logging
int	addLogRecord (LogRecord &record)

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

returnValue	getLogRecord (LogRecord &_record) const

uint	getNumLogRecords () const

	Logging ()

int	operator<< (LogRecord &record)

returnValue	printLoggingInfo () const

returnValue	printNumDoubles () const

returnValue	setAll (LogName _name, const MatrixVariablesGrid &values)

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

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

returnValue	updateLogRecord (LogRecord &_record) const

virtual	~Logging ()

Public Member Functions inherited from Plotting
int	addPlotWindow (PlotWindow &_window)

uint	getNumPlotWindows () const

returnValue	getPlotWindow (uint idx, PlotWindow &_window) const

returnValue	getPlotWindow (PlotWindow &_window) const

int	operator<< (PlotWindow &_window)

Plotting &	operator= (const Plotting &rhs)

virtual returnValue	plot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)

	Plotting ()

	Plotting (const Plotting &rhs)

virtual returnValue	replot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)

virtual	~Plotting ()

Protected Member Functions
returnValue	checkConsistency () const

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

returnValue	collectFunctionDeclarations (ExportStatementBlock &declarations) const

returnValue	exportAcadoHeader (const std::string &_dirName, const std::string &_fileName, const std::string &_realString="real_t", const std::string &_intString="int", int _precision=16) const

returnValue	setup ()

Protected Member Functions inherited from ExportModule
returnValue	setupOptions ()

Protected Member Functions inherited from UserInteraction
virtual returnValue	getPlotDataFromMemberLoggings (PlotWindow &_window) const

BlockStatus	getStatus () const

returnValue	setStatus (BlockStatus _status)

Protected Member Functions inherited from Options
returnValue	addOption (OptionsName name, int value)

returnValue	addOption (OptionsName name, double value)

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

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

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

returnValue	addOption (uint idx, OptionsName name, const std::string &value)

returnValue	clearOptionsList ()

returnValue	copy (const Options &rhs)

returnValue	copy (const Options &rhs)

returnValue	declareOptionsUnchanged ()

returnValue	declareOptionsUnchanged (uint idx)

BooleanType	haveOptionsChanged () const

BooleanType	haveOptionsChanged (uint idx) const

Protected Member Functions inherited from Logging
virtual returnValue	setupLogging ()

Protected Attributes
std::shared_ptr< IntegratorExport >	integrator

OCP	ocp

std::shared_ptr< ExportNLPSolver >	solver

Protected Attributes inherited from ExportModule
std::string	commonHeaderName

Protected Attributes inherited from UserInteraction
BlockStatus	status

Protected Attributes inherited from Options
std::vector< OptionsList >	lists

Protected Attributes inherited from Logging
std::vector< LogRecord >	logCollection

int	logIdx

Protected Attributes inherited from Plotting
PlotCollection	plotCollection

Additional Inherited Members
Public Attributes inherited from Options
real_t	boundRelaxation

real_t	boundTolerance

int	dropBoundPriority

int_t	dropBoundPriority

int	dropEqConPriority

int_t	dropEqConPriority

int	dropIneqConPriority

int_t	dropIneqConPriority

int	enableCholeskyRefactorisation

int_t	enableCholeskyRefactorisation

int	enableDriftCorrection

int_t	enableDriftCorrection

BooleanType	enableDropInfeasibles

BooleanType	enableEqualities

BooleanType	enableFarBounds

BooleanType	enableFlippingBounds

BooleanType	enableFullLITests

BooleanType	enableInertiaCorrection

BooleanType	enableNZCTests

BooleanType	enableRamping

BooleanType	enableRegularisation

real_t	epsDen

real_t	epsFlipping

real_t	epsIterRef

real_t	epsLITests

real_t	epsNum

real_t	epsNZCTests

real_t	epsRegularisation

real_t	finalRamping

real_t	growFarBounds

real_t	initialFarBounds

real_t	initialRamping

SubjectToStatus	initialStatusBounds

real_t	maxDualJump

real_t	maxPrimalJump

int	numRefinementSteps

int_t	numRefinementSteps

int	numRegularisationSteps

int_t	numRegularisationSteps

PrintLevel	printLevel

real_t	rcondSMin

real_t	terminationTolerance

Detailed Description

A user class for auto-generation of OCP solvers.

The class OCPexport is a user-interface to automatically generate tailored algorithms for fast model predictive control and moving horizon estimation. It takes an optimal control problem (OCP) formulation and generates code based on given user options, e.g specifying the number of integrator steps or the online QP solver.

\authors Boris Houska, Hans Joachim Ferreau, Milan Vukov

\note Based on the old mpc_export class.

Definition at line 57 of file ocp_export.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO OCPexport::OCPexport ( )

Default constructor.

Definition at line 54 of file ocp_export.cpp.

OCPexport::OCPexport ( const OCP & _ocp )

Constructor which takes OCP formulation.

@param[in] _ocp             OCP formulation for code export.

Definition at line 60 of file ocp_export.cpp.

virtual OCPexport::~OCPexport ( )

inlinevirtual

Destructor.

Definition at line 72 of file ocp_export.hpp.

Member Function Documentation

returnValue OCPexport::checkConsistency ( ) const

protected

Checks whether OCP formulation is compatible with code export capabilities.

\return SUCCESSFUL_RETURN, \n
        RET_INVALID_OBJECTIVE_FOR_CODE_EXPORT, \n
        RET_ONLY_ODE_FOR_CODE_EXPORT, \n
        RET_NO_DISCRETE_ODE_FOR_CODE_EXPORT, \n
        RET_ONLY_STATES_AND_CONTROLS_FOR_CODE_EXPORT, \n
        RET_ONLY_EQUIDISTANT_GRID_FOR_CODE_EXPORT, \n
        RET_ONLY_BOUNDS_FOR_CODE_EXPORT

Definition at line 654 of file ocp_export.cpp.

returnValue OCPexport::collectDataDeclarations	(	ExportStatementBlock &	declarations,
		ExportStruct	dataStruct = `ACADO_ANY`
	)		const

protectedvirtual

Collects all data declarations of the auto-generated sub-modules to given list of declarations.

Parameters

[in] declarations List of declarations.

Returns: SUCCESSFUL_RETURN,
RET_UNABLE_TO_EXPORT_CODE

Implements ExportModule.

Definition at line 703 of file ocp_export.cpp.

returnValue OCPexport::collectFunctionDeclarations ( ExportStatementBlock & declarations ) const

protectedvirtual

Collects all function (forward) declarations of the auto-generated sub-modules to given list of declarations.

Parameters

[in] declarations List of declarations.

Returns: SUCCESSFUL_RETURN,
RET_UNABLE_TO_EXPORT_CODE

Implements ExportModule.

Definition at line 717 of file ocp_export.cpp.

returnValue OCPexport::exportAcadoHeader	(	const std::string &	_dirName,
		const std::string &	_fileName,
		const std::string &	_realString = `"real_t"`,
		const std::string &	_intString = `"int"`,
		int	_precision = `16`
	)		const

protectedvirtual

Exports main header file for using the exported MHE algorithm.

@param[in] _dirName                 Name of directory to be used to export file.
@param[in] _fileName                Name of file to be exported.
@param[in] _realString              std::string to be used to declare real variables.
@param[in] _intString               std::string to be used to declare integer variables.
@param[in] _precision               Number of digits to be used for exporting real values.

\return SUCCESSFUL_RETURN

Implements ExportModule.

Definition at line 729 of file ocp_export.cpp.

returnValue OCPexport::exportCode	(	const std::string &	dirName,
		const std::string &	_realString = `"real_t"`,
		const std::string &	_intString = `"int"`,
		int	_precision = `16`
	)

virtual

Exports all files of the auto-generated code into the given directory.

@param[in] dirName                  Name of directory to be used to export files.
@param[in] _realString              std::string to be used to declare real variables.
@param[in] _intString               std::string to be used to declare integer variables.
@param[in] _precision               Number of digits to be used for exporting real values.

\return SUCCESSFUL_RETURN

Implements ExportModule.

Definition at line 68 of file ocp_export.cpp.

returnValue OCPexport::printDimensionsQP ( )

Prints dimensions (i.e. number of variables and constraints) of underlying QP.

\return SUCCESSFUL_RETURN

Definition at line 464 of file ocp_export.cpp.

returnValue OCPexport::setup ( )

protected

Sets-up code export and initializes underlying export modules.

\return SUCCESSFUL_RETURN, \n
        RET_INVALID_OPTION, \n
        RET_INVALID_OBJECTIVE_FOR_CODE_EXPORT, \n
        RET_ONLY_ODE_FOR_CODE_EXPORT, \n
        RET_NO_DISCRETE_ODE_FOR_CODE_EXPORT, \n
        RET_ONLY_STATES_AND_CONTROLS_FOR_CODE_EXPORT, \n
        RET_ONLY_EQUIDISTANT_GRID_FOR_CODE_EXPORT, \n
        RET_ONLY_BOUNDS_FOR_CODE_EXPORT, \n
        RET_UNABLE_TO_EXPORT_CODE

Definition at line 476 of file ocp_export.cpp.

Member Data Documentation

std::shared_ptr< IntegratorExport > OCPexport::integrator

protected

Shared pointer to a tailored integrator.

Definition at line 162 of file ocp_export.hpp.

OCP OCPexport::ocp

protected

Internal copy of the OCP object.

Definition at line 168 of file ocp_export.hpp.

std::shared_ptr< ExportNLPSolver > OCPexport::solver

protected

Shared pointer to an NLP solver.

Definition at line 165 of file ocp_export.hpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation