Base class for all kind of objective function terms within optimal control problems. More...

#include <objective_element.hpp>

Inheritance diagram for ObjectiveElement:

Public Member Functions
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 Member Functions
Grid	getGrid () const

Protected Attributes
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

Detailed Description

Base class for all kind of objective function terms within optimal control problems.

The class ObjectiveElement serves as base class for all kind of different objective function terms within optimal control problems.

\author Boris Houska, Hans Joachim Ferreau

Definition at line 55 of file objective_element.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO ObjectiveElement::ObjectiveElement ( )

Default constructor.

Definition at line 43 of file objective_element.cpp.

ObjectiveElement::ObjectiveElement ( const Grid & grid_ )

Default constructor.

Definition at line 71 of file objective_element.cpp.

ObjectiveElement::ObjectiveElement ( const ObjectiveElement & rhs )

Copy constructor (deep copy).

Definition at line 100 of file objective_element.cpp.

ObjectiveElement::~ObjectiveElement ( )

virtual

Destructor.

Definition at line 158 of file objective_element.cpp.

Member Function Documentation

returnValue ObjectiveElement::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

D	the result for the forward sensitivi- ties
order	the order

Definition at line 470 of file objective_element.cpp.

returnValue ObjectiveElement::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

D	the result for the forward sensitivi- ties
order	the order

Definition at line 453 of file objective_element.cpp.

returnValue ObjectiveElement::getFunction ( Function & _function )

Returns the element's function

Returns: SUCCESSFUL_RETURN.

Grid ObjectiveElement::getGrid ( ) const

inlineprotected

returns the constraint grid

int ObjectiveElement::getNP ( ) const

inline

Returns the number of parameters

Returns: The requested number of parameters.

int ObjectiveElement::getNU ( ) const

inline

Returns the number of controls

Returns: The requested number of controls.

int ObjectiveElement::getNW ( ) const

inline

Returns the number of disturbances

Returns: The requested number of disturbances.

int ObjectiveElement::getNX ( ) const

inline

Returns the number of differential states

Returns: The requested number of differential states.

int ObjectiveElement::getNXA ( ) const

inline

Returns the number of algebraic states

Returns: The requested number of algebraic states.

returnValue ObjectiveElement::getObjectiveValue ( double & objectiveValue )

virtual

Returns the result for the residuum.

Returns: SUCCESSFUL_RETURN

Parameters

objectiveValue the objective value

Definition at line 446 of file objective_element.cpp.

returnValue ObjectiveElement::init ( const OCPiterate & x )

Initializes the Objective Element: The dimensions and
index lists.

Returns: SUCCESSFUL_RETURN

Definition at line 263 of file objective_element.cpp.

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

Assignment operator (deep copy).

Definition at line 181 of file objective_element.cpp.

returnValue ObjectiveElement::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

seed	the seed matrix
order	the order of the seed.

Definition at line 414 of file objective_element.cpp.

returnValue ObjectiveElement::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
order	the order of the seed.

Definition at line 313 of file objective_element.cpp.

returnValue ObjectiveElement::setGrid ( const Grid & grid_ )

inline

Sets the discretization grid.

Returns: SUCCESSFUL_RETURN

Member Data Documentation

BlockMatrix* ObjectiveElement::bSeed

protected

the 1st order backward seed

Definition at line 260 of file objective_element.hpp.

BlockMatrix* ObjectiveElement::bSeed2

protected

the 2nd order backward seed

Definition at line 268 of file objective_element.hpp.

BlockMatrix ObjectiveElement::dBackward

protected

the first order backward derivatives

Definition at line 276 of file objective_element.hpp.

BlockMatrix ObjectiveElement::dForward

protected

the first order forward derivatives

Definition at line 275 of file objective_element.hpp.

Function ObjectiveElement::fcn

protected

the function

Definition at line 236 of file objective_element.hpp.

Grid ObjectiveElement::grid

protected

the objective grid

Definition at line 235 of file objective_element.hpp.

EvaluationPoint ObjectiveElement::JJ

protected

Definition at line 239 of file objective_element.hpp.

int ObjectiveElement::na

protected

number of alg. states

Definition at line 245 of file objective_element.hpp.

int ObjectiveElement::np

protected

number of parameters

Definition at line 247 of file objective_element.hpp.

int ObjectiveElement::nu

protected

number of controls

Definition at line 246 of file objective_element.hpp.

int ObjectiveElement::nw

protected

number of disturbances

Definition at line 248 of file objective_element.hpp.

int ObjectiveElement::nx

protected

number of diff. states

Definition at line 244 of file objective_element.hpp.

int ObjectiveElement::ny

protected

:= nx+na+nu+np+nw

Definition at line 249 of file objective_element.hpp.

double ObjectiveElement::obj

protected

the objective value

Definition at line 273 of file objective_element.hpp.

BlockMatrix* ObjectiveElement::pSeed

protected

the 1st order forward seed in p-direction

Definition at line 256 of file objective_element.hpp.

BlockMatrix* ObjectiveElement::pSeed2

protected

the 2nd order forward seed in p-direction

Definition at line 264 of file objective_element.hpp.

int ObjectiveElement::t_index

protected

time index

Definition at line 242 of file objective_element.hpp.

BlockMatrix* ObjectiveElement::uSeed

protected

the 1st order forward seed in u-direction

Definition at line 257 of file objective_element.hpp.

BlockMatrix* ObjectiveElement::uSeed2

protected

the 2nd order forward seed in u-direction

Definition at line 265 of file objective_element.hpp.

BlockMatrix* ObjectiveElement::wSeed

protected

the 1st order forward seed in w-direction

Definition at line 258 of file objective_element.hpp.

BlockMatrix* ObjectiveElement::wSeed2

protected

the 2nd order forward seed in w-direction

Definition at line 266 of file objective_element.hpp.

BlockMatrix* ObjectiveElement::xaSeed

protected

the 1st order forward seed in x-direction

Definition at line 255 of file objective_element.hpp.

BlockMatrix* ObjectiveElement::xaSeed2

protected

the 2nd order forward seed in x-direction

Definition at line 263 of file objective_element.hpp.

BlockMatrix* ObjectiveElement::xSeed

protected

the 1st order forward seed in x-direction

Definition at line 254 of file objective_element.hpp.

BlockMatrix* ObjectiveElement::xSeed2

protected

the 2nd order forward seed in x-direction

Definition at line 262 of file objective_element.hpp.

int* ObjectiveElement::y_index

protected

index lists

Definition at line 241 of file objective_element.hpp.

EvaluationPoint ObjectiveElement::z

protected

the evaluation point

Definition at line 238 of file objective_element.hpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation