Discretizes a DifferentialEquation by means of single or multiple shooting. More...
#include <shooting_method.hpp>
Protected Attributes | |
DMatrix | breakPoints |
Integrator ** | integrator |
Protected Attributes inherited from DynamicDiscretization | |
BlockMatrix | bSeed |
BlockMatrix | dBackward |
BlockMatrix | dForward |
BooleanType | freezeTraj |
int | N |
int | na |
int | np |
int | nu |
int | nw |
int | nx |
PrintLevel | printLevel |
BlockMatrix | pSeed |
VariablesGrid | residuum |
Grid | unionGrid |
BlockMatrix | uSeed |
BlockMatrix | wSeed |
BlockMatrix | xSeed |
Protected Attributes inherited from AlgorithmicBase | |
int | outputLoggingIdx |
BooleanType | useModuleStandalone |
UserInteraction * | userInteraction |
Discretizes a DifferentialEquation by means of single or multiple shooting.
The class ShootingMethod allows to discretize a DifferentialEquation for use in optimal control algorithms by means of an (online) integrator using either single or multiple shooting.
Definition at line 55 of file shooting_method.hpp.
BEGIN_NAMESPACE_ACADO ShootingMethod::ShootingMethod | ( | ) |
Default constructor.
Definition at line 48 of file shooting_method.cpp.
ShootingMethod::ShootingMethod | ( | UserInteraction * | _userInteraction | ) |
Definition at line 54 of file shooting_method.cpp.
ShootingMethod::ShootingMethod | ( | const ShootingMethod & | rhs | ) |
Copy constructor (deep copy).
Definition at line 60 of file shooting_method.cpp.
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Destructor.
Definition at line 66 of file shooting_method.cpp.
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Set the Differential Equations stage by stage.
Implements DynamicDiscretization.
Definition at line 105 of file shooting_method.cpp.
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Set the Transition stages.
Implements DynamicDiscretization.
Definition at line 184 of file shooting_method.cpp.
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Definition at line 164 of file shooting_method.cpp.
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Deletes all stages and transitions and resets the DynamicDiscretization.
Implements DynamicDiscretization.
Definition at line 193 of file shooting_method.cpp.
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Clone constructor (deep copy).
Implements DynamicDiscretization.
Definition at line 99 of file shooting_method.cpp.
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Definition at line 84 of file shooting_method.cpp.
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Definition at line 686 of file shooting_method.cpp.
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Deletes all seeds that have been set with the methods above.
This function will also give the corresponding memory free.
Reimplemented from DynamicDiscretization.
Definition at line 664 of file shooting_method.cpp.
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Definition at line 327 of file shooting_method.cpp.
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Definition at line 364 of file shooting_method.cpp.
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Definition at line 401 of file shooting_method.cpp.
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Evaluates the discretized DifferentialEquation at a specified
VariablesGrid. The results are written into the residuum of the
type VariablesGrid. This routine is for a simple evaluation only.
If sensitivities are needed use one of the routines below
instead.
Implements DynamicDiscretization.
Definition at line 205 of file shooting_method.cpp.
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Evaluates the sensitivities.
Implements DynamicDiscretization.
Definition at line 467 of file shooting_method.cpp.
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Evaluates the sensitivities and the hessian.
Implements DynamicDiscretization.
Definition at line 589 of file shooting_method.cpp.
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Evaluates the sensitivities.
Implements DynamicDiscretization.
Definition at line 533 of file shooting_method.cpp.
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Implements DynamicDiscretization.
Definition at line 676 of file shooting_method.cpp.
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Definition at line 704 of file shooting_method.cpp.
ShootingMethod & ShootingMethod::operator= | ( | const ShootingMethod & | rhs | ) |
Assignment operator (deep copy).
Definition at line 72 of file shooting_method.cpp.
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Definition at line 798 of file shooting_method.cpp.
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Implements DynamicDiscretization.
Definition at line 654 of file shooting_method.cpp.
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Writes the continous integrator output to the logging object, if this
is requested. Please note, that this routine converts the VariablesGrids
from the integration routine into a large matrix. Consequently, the break
points need to be logged, too.
Definition at line 519 of file shooting_method.cpp.
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Definition at line 215 of file shooting_method.hpp.
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Definition at line 214 of file shooting_method.hpp.