99 const Grid &stageIntervals,
160 Grid grid( t0,tend,2 );
168 return integrate( &xGrid,&xaGrid,&pGrid,&uGrid,&wGrid );
188 return integrate( &xGrid,&xaGrid,&pGrid,&uGrid,&wGrid );
235 seedTmpMatrix.transposeInPlace();
357 Dx = DxTmpMatrix.
getCol( 0 );
390 Dx_x0 = DxTmpMatrix.
getRow( 0 );
396 Dx_p = DxTmpMatrix.
getRow( 0 );
402 Dx_u = DxTmpMatrix.
getRow( 0 );
408 Dx_w = DxTmpMatrix.
getRow( 0 );
virtual returnValue plot(PlotFrequency _frequency=PLOT_IN_ANY_CASE)
GenericVector< T > getCol(unsigned _idx) const
virtual returnValue getForwardSensitivities(BlockMatrix &D) const
Data class for storing generic optimization variables.
Implements a very rudimentary block sparse matrix class.
virtual returnValue clear()
returnValue setUnitForwardSeed()
const int defaultFeasibilityCheck
virtual returnValue evaluate(OCPiterate &iter)
returnValue addItem(LogName _name, const char *const _label=DEFAULT_LABEL)
const double defaultRelaxationParameter
const double defaultMaxStepsize
returnValue getBackwardSensitivities(BlockMatrix &D) const
ShootingMethod * integrationMethod
Stores a DifferentialEquation together with an OutputFcn.
returnValue setStatus(BlockStatus _status)
virtual returnValue deleteAllSeeds()
void init(unsigned _dim=0)
Discretizes a DifferentialEquation by means of single or multiple shooting.
Provides a time grid consisting of vector-valued optimization variables at each grid point...
int addLogRecord(LogRecord &record)
Allows to pass back messages to the calling function.
virtual returnValue evaluateSensitivities()
returnValue getXA(DVector &xaEnd) const
virtual returnValue setBackwardSeed(const BlockMatrix &seed)
const double defaultStepsizeTuning
returnValue init(const VariablesGrid *const _x, const VariablesGrid *const _xa, const VariablesGrid *const _p, const VariablesGrid *const _u, const VariablesGrid *const _w)
const double defaultMinStepsize
Allows to conveniently handle (one-dimensional) grids consisting of time points.
returnValue getX(DVector &xEnd) const
virtual returnValue setupLogging()
const int defaultMaxNumSteps
returnValue integrate(VariablesGrid *x, VariablesGrid *xa, VariablesGrid *p, VariablesGrid *u, VariablesGrid *w)
#define CLOSE_NAMESPACE_ACADO
const double defaultIntegratorTolerance
const int defaultIntegratorPrintlevel
virtual returnValue setUnitForwardSeed()
returnValue integrateSensitivities()
returnValue deleteAllSeeds()
returnValue getSubBlock(uint rowIdx, uint colIdx, DMatrix &value) const
returnValue evaluateSensitivities()
const double defaultCorrectorTolerance
DVector getLastVector() const
User-interface to integrate a DynamicSystem, possibly over multiple stages.
virtual returnValue addTransition(const Transition &transition_)
returnValue setForwardSeed(const BlockMatrix &xSeed_, const BlockMatrix &pSeed_=emptyBlockMatrix, const BlockMatrix &uSeed_=emptyBlockMatrix, const BlockMatrix &wSeed_=emptyBlockMatrix)
virtual returnValue clear()
Encapsulates all user interaction for setting options, logging data and plotting results.
virtual ~IntegrationAlgorithm()
virtual BooleanType isAffine() const
returnValue setUnitBackwardSeed()
const double defaultInitialStepsize
unsigned getNumRows() const
const int defaultprintIntegratorProfile
virtual returnValue setupOptions()
const int defaultAlgebraicRelaxation
virtual returnValue unfreeze()
unsigned getNumCols() const
Allows to setup and evaluate transition functions based on SymbolicExpressions.
IntegrationAlgorithm & operator=(const IntegrationAlgorithm &rhs)
returnValue setBackwardSeed(const BlockMatrix &seed)
returnValue evaluate(VariablesGrid *x, VariablesGrid *xa, VariablesGrid *p, VariablesGrid *u, VariablesGrid *w)
virtual returnValue setForwardSeed(const BlockMatrix &xSeed_, const BlockMatrix &pSeed_, const BlockMatrix &uSeed_, const BlockMatrix &wSeed_)
returnValue getForwardSensitivities(BlockMatrix &D) const
virtual returnValue addStage(const DynamicSystem &dynamicSystem_, const Grid &stageIntervals, const IntegratorType &integratorType_=INT_UNKNOWN)
Allows to setup and store user-specified log records of algorithmic information.
#define BEGIN_NAMESPACE_ACADO
const int defaultPlotResoltion
const int defaultLinearAlgebraSolver
virtual returnValue getBackwardSensitivities(BlockMatrix &D) const
virtual returnValue setUnitBackwardSeed()
returnValue addOption(OptionsName name, int value)
BooleanType isAffine() const
virtual returnValue addStage(const DynamicSystem &dynamicSystem_, const Grid &stageIntervals, const IntegratorType &integratorType_=INT_UNKNOWN)
virtual returnValue addTransition(const Transition &transition_)
const double defaultAbsoluteTolerance
GenericVector< T > getRow(unsigned _idx) const
#define ACADOERROR(retval)