34 #ifndef ACADO_TOOLKIT_SHOOTING_METHOD_HPP 35 #define ACADO_TOOLKIT_SHOOTING_METHOD_HPP 83 const Grid &stageIntervals,
205 double newIntervalLength
223 #include <acado/dynamic_discretization/shooting_method.ipp> 226 #endif // ACADO_TOOLKIT_SHOOTING_METHOD_HPP Data class for storing generic optimization variables.
Implements a very rudimentary block sparse matrix class.
virtual returnValue clear()
virtual returnValue evaluate(OCPiterate &iter)
virtual returnValue evaluateSensitivitiesLifted()
returnValue allocateIntegrator(uint idx, IntegratorType type_)
Stores a DifferentialEquation together with an OutputFcn.
virtual returnValue deleteAllSeeds()
returnValue rescale(VariablesGrid *trajectory, double tEndNew, double newIntervalLength) const
Discretizes a DifferentialEquation by means of single or multiple shooting.
Provides a time grid consisting of vector-valued optimization variables at each grid point...
Allows to pass back messages to the calling function.
virtual returnValue evaluateSensitivities()
void copy(const ShootingMethod &arg)
BEGIN_NAMESPACE_ACADO typedef unsigned int uint
Allows to conveniently handle (one-dimensional) grids consisting of time points.
returnValue differentiateForwardBackward(const int &idx, const DMatrix &dX, const DMatrix &dP, const DMatrix &dU, const DMatrix &dW, const DMatrix &seed, DMatrix &D, DMatrix &ddX, DMatrix &ddP, DMatrix &ddU, DMatrix &ddW)
#define CLOSE_NAMESPACE_ACADO
Base class for discretizing a DifferentialEquation for use in optimal control algorithms.
Abstract base class for all kinds of algorithms for integrating differential equations (ODEs or DAEs)...
returnValue differentiateBackward(const int &idx, const DMatrix &seed, DMatrix &Gx, DMatrix &Gp, DMatrix &Gu, DMatrix &Gw)
ShootingMethod & operator=(const ShootingMethod &rhs)
returnValue logTrajectory(const OCPiterate &iter)
virtual DynamicDiscretization * clone() const
virtual returnValue addTransition(const Transition &transition_)
Encapsulates all user interaction for setting options, logging data and plotting results.
virtual BooleanType isAffine() const
void rhs(const real_t *x, real_t *f)
virtual returnValue unfreeze()
returnValue differentiateForward(const int &idx, const DMatrix &dX, const DMatrix &dP, const DMatrix &dU, const DMatrix &dW, DMatrix &D)
Allows to setup and evaluate transition functions based on SymbolicExpressions.
#define BEGIN_NAMESPACE_ACADO
virtual ~ShootingMethod()
returnValue update(DMatrix &G, const DMatrix &A, const DMatrix &B)
virtual returnValue addStage(const DynamicSystem &dynamicSystem_, const Grid &stageIntervals, const IntegratorType &integratorType_=INT_UNKNOWN)