PathConstraint Class Reference

Stores and evaluates path constraints within optimal control problems. More...

#include <path_constraint.hpp>

Inheritance diagram for PathConstraint:

Public Member Functions
returnValue	add (const DVector lb_, const Expression &arg, const DVector ub_)
returnValue	evaluate (const OCPiterate &iter)
returnValue	evaluateSensitivities ()
returnValue	evaluateSensitivities (int &count, const BlockMatrix &seed, BlockMatrix &hessian)
int	getDim (const int &idx_)
int	getNC () const
BooleanType	isBoxConstraint () const
PathConstraint &	operator= (const PathConstraint &rhs)
	PathConstraint ()
	PathConstraint (const Grid &grid_)
	PathConstraint (const PathConstraint &rhs)
virtual	~PathConstraint ()
Public Member Functions inherited from ConstraintElement
	ConstraintElement ()
	ConstraintElement (const Grid &grid_, int nFcn_, int nB_)
	ConstraintElement (const ConstraintElement &rhs)
returnValue	get (Function &function_, DMatrix &lb_, DMatrix &ub_)
virtual returnValue	getBackwardSensitivities (BlockMatrix *D, int order)
virtual returnValue	getForwardSensitivities (BlockMatrix *D, int order)
Grid &	getGrid ()
int	getNP () const
int	getNU () const
int	getNW () const
int	getNX () const
int	getNXA () const
virtual returnValue	getResiduum (BlockMatrix &lower_residuum, BlockMatrix &upper_residuum)
returnValue	init (const OCPiterate &iter)
BooleanType	isAffine () const
ConstraintElement &	operator= (const ConstraintElement &rhs)
virtual returnValue	setBackwardSeed (BlockMatrix *seed, int order)
virtual returnValue	setForwardSeed (BlockMatrix *xSeed_, BlockMatrix *xaSeed_, BlockMatrix *pSeed_, BlockMatrix *uSeed_, BlockMatrix *wSeed_, int order)
virtual returnValue	setUnitForwardSeed ()
virtual	~ConstraintElement ()

Additional Inherited Members
Protected Member Functions inherited from ConstraintElement
virtual returnValue	initializeEvaluationPoints (const OCPiterate &iter)
Protected Attributes inherited from ConstraintElement
BlockMatrix *	bSeed
BlockMatrix *	bSeed2
CondensingType	condType
BlockMatrix	dBackward
BlockMatrix	dForward
Function *	fcn
Grid	grid
EvaluationPoint *	JJ
double **	lb
int	na
int	nB
int	nFcn
int	np
int	nu
int	nw
int	nx
int	ny
BlockMatrix *	pSeed
BlockMatrix *	pSeed2
BlockMatrix	residuumL
BlockMatrix	residuumU
int *	t_index
double **	ub
BlockMatrix *	uSeed
BlockMatrix *	uSeed2
BlockMatrix *	wSeed
BlockMatrix *	wSeed2
BlockMatrix *	xaSeed
BlockMatrix *	xaSeed2
BlockMatrix *	xSeed
BlockMatrix *	xSeed2
int **	y_index
EvaluationPoint *	z

Detailed Description

Stores and evaluates path constraints within optimal control problems.

The class PathConstraint allows to manage and evaluate constraints along the whole horizon within optimal control problems. Note that the path constraints need to be decoupled on each control interval, otherwise the class CouplePathConstraint has to be used.

\author Boris Houska, Hans Joachim Ferreau

Definition at line 57 of file path_constraint.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO PathConstraint::PathConstraint

(

)

Default constructor.

Definition at line 46 of file path_constraint.cpp.

PathConstraint::PathConstraint

(

const Grid &

grid_

)

Default constructor.

Definition at line 51 of file path_constraint.cpp.

PathConstraint::PathConstraint

(

const PathConstraint &

rhs

)

Copy constructor (deep copy).

Definition at line 56 of file path_constraint.cpp.

PathConstraint::~PathConstraint ( )

virtual

Destructor.

Definition at line 61 of file path_constraint.cpp.

Member Function Documentation

returnValue PathConstraint::add ( const DVector  lb_, const Expression &  arg, const DVector  ub_  )

inline

Adds a path-constraint component.

Returns

SUCCESSFUL_RETURN RET_MEMBER_NOT_INITIALISED (if the ConstraintElement::fcn is not initialized)

returnValue PathConstraint::evaluate

(

const OCPiterate &

iter

)

Evaluates all components in this constraint and stores the
residuum.

Returns

SUCESSFUL_RETURN

Definition at line 76 of file path_constraint.cpp.

returnValue PathConstraint::evaluateSensitivities

(

)

Evaluates the sensitivities of all components in this
constraint. Note that the seed can be defined via the base
class ConstraintElement.

Returns

SUCESSFUL_RETURN

Definition at line 113 of file path_constraint.cpp.

returnValue PathConstraint::evaluateSensitivities	(	int &	count,
		const BlockMatrix &	seed,
		BlockMatrix &	hessian
	)

Evaluates the sensitivities and Hessian.

Returns

SUCESSFUL_RETURN

Definition at line 191 of file path_constraint.cpp.

int PathConstraint::getDim ( const int &  idx_ )

inline

returns the dimension of a specified block of the constraints

int PathConstraint::getNC ( ) const

inline

returns the number of constraints

BooleanType PathConstraint::isBoxConstraint ( ) const

inline

PathConstraint & PathConstraint::operator=

(

const PathConstraint &

rhs

)

Assignment operator (deep copy).

Definition at line 65 of file path_constraint.cpp.

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

• path_constraint.hpp
• path_constraint.cpp