ACADO Toolkit  1.2.0beta
Toolkit for Automatic Control and Dynamic Optimization
Class List
Here are the classes, structs, unions and interfaces with brief descriptions:
ACADOcsparse(not yet documented)
AcosImplements the scalar inverse cosine operator (arccos) within the symbolic operators family
ActuatorAllows to simulate the behaviour of actuators within the Process
AdaptiveReferenceTrajectoryAllows to define an adaptive reference trajectory that the ControlLaw aims to track
AdditionImplements the scalar addition operator within the symbolic expressions family
AdjointIRKExportAllows to export a tailored implicit Runge-Kutta integrator with adjoint sensitivity generation for fast model predictive control
AlgebraicConsistencyConstraintDeals with algebraic consistency constraints within optimal control problems
AlgebraicStateImplements a scalar algebraic state
AlgorithmicBaseBase class for all algorithmic modules within the ACADO Toolkit providing some basic functionality
AsinImplements the scalar inverse sine operator (arcsin) within the symbolic operators family
AtanImplements the scalar inverse tangens operator (arctan) within the symbolic operators family
BandedCPData class for storing conic programs arising from optimal control
BandedCPsolverBase class for algorithms solving banded conic programs arising in optimal control
BFGSupdateImplements BFGS updates for approximating second-order derivatives within NLPsolvers
BinaryOperatorAbstract base class for all scalar-valued binary operators within the symbolic operators family
BlockMatrixImplements a very rudimentary block sparse matrix class
BoundaryConstraintStores and evaluates boundary constraints within optimal control problems
BoxConstraintStores and evaluates box constraints within optimal control problems
CFunction(no description yet)
ClippingFunctionalityAllows to transform the output of the ControlLaw before passing it to the Process
ClockBase class for all kind of time measurements
CollocationMethodDiscretizes a DifferentialEquation by means of a collocation scheme
ColoredNoiseGenerates pseudo-random colored noise for simulating the Process
CondensingBasedCPsolverSolves banded conic programs arising in optimal control using condensing
ConjugateGradientMethodImplements a conjugate gradient method as sparse linear algebra solver
ConstantHessianImplements a constant Hessian as approximation of second-order derivatives within NLPsolvers
ConstraintStores and evaluates the constraints of optimal control problems
ConstraintComponentData class for symbolically formulating constraints within optimal control problems
ConstraintElementBase class for all kind of constraints (except for bounds) within optimal control problems
ControlImplements a control variable
ControlLawBase class for interfacing online feedback laws to be used within a Controller
ControllerCalculates the control inputs of the Process based on the Process outputs
COperatorThe class COperator is an auxiliary class to use C-Functions within a function evaluation tree
CosImplements the scalar cosine operator within the symbolic operators family
CoupledPathConstraintStores and evaluates coupled path constraints within optimal control problems
CurveAllows to work with piecewise-continous function defined over a scalar time interval
DenseCPData class for storing generic conic programs
DenseCPsolverBase class for algorithms solving conic programs
DenseQPsolverAbstract base class for algorithms solving quadratic programs
DiagonallyImplicitRKExportAllows to export a tailored diagonally implicit Runge-Kutta integrator for fast model predictive control
DiagonallyIRK3ExportAllows to export a tailored diagonally implicit 2-stage Runge-Kutta method of order 3 for fast model predictive control
DiagonallyIRK4ExportAllows to export a tailored diagonally implicit 3-stage Runge-Kutta method of order 4 for fast model predictive control
DiagonallyIRK5ExportAllows to export a tailored diagonally implicit 5-stage Runge-Kutta method of order 5 for fast model predictive control
DifferentialEquationAllows to setup and evaluate differential equations (ODEs and DAEs) based on SymbolicExpressions
DifferentialStateImplements a differential state
DifferentialStateDerivativeImplements a derivative of a differential state
DiscreteTimeExportAllows to export a tailored discrete-time 'integrator' for fast model predictive control
DiscretizedDifferentialEquationAllows to setup and evaluate discretized differential equations based on SymbolicExpressions
DisturbanceImplements a disturbance variable
DoubleConstantImplements a scalar constant within the symbolic operators family
DynamicDiscretizationBase class for discretizing a DifferentialEquation for use in optimal control algorithms
DynamicEstimatorImplements an online state/parameter estimator based on dynamic optimization
DynamicSystemStores a DifferentialEquation together with an OutputFcn
EllipsoidalIntegratorValidated integrator for ODEs based on Taylor models with ellipsoidal remainder term
EstimatorBase class for interfacing online state/parameter estimators
EvaluationBaseAbstract base class for templated evaluation of operators
EvaluationPointAllows to setup function evaluation points
EvaluationTemplate< T >Templated class for operator evaluation
ExactHessianImplements an exact Hessian computation for obtaining second-order derivatives within NLPsolvers
TaylorModel< T >::ExceptionsTaylor model exceptions
ExpImplements the scalar exponential operator within the symbolic operators family
ExplicitEulerExportAllows to export a tailored explicit Euler method for fast model predictive control
ExplicitRungeKutta2ExportAllows to export a tailored explicit Runge-Kutta integrator of order 2 for fast model predictive control
ExplicitRungeKutta3ExportAllows to export a tailored explicit Runge-Kutta integrator of order 3 for fast model predictive control
ExplicitRungeKutta4ExportAllows to export a tailored explicit Runge-Kutta integrator of order 4 for fast model predictive control
ExplicitRungeKuttaExportAllows to export a tailored explicit Runge-Kutta integrator for fast model predictive control
ExportAcadoFunctionAllows to export code of an ACADO function
ExportAlgorithmAllows to export automatically generated algorithms for fast model predictive control
ExportAlgorithmFactory< AlgorithmBase, AlgorithmType >Factory for creation of exported algorithms
ExportArgumentDefines a matrix-valued variable that can be passed as argument to exported functions
ExportArgumentInternalDefines a matrix-valued variable that can be passed as argument to exported functions
ExportArgumentListAllows to store a list of calling arguments of an ExportFunction
ExportArithmeticStatementAllows to export code of different arithmetic statements
ExportAuxiliaryFunctionsA class for generating some helper functions
ExportCholeskyDecompositionA class for exporting a function for calculation of the Cholesky decomposition
ExportDataAbstract base class to define variables to be used for exporting code
ExportDataDeclarationAllows to export code containing variable declarations
ExportDataInternal
ExportFileAllows to export files containing automatically generated algorithms for fast model predictive control
ExportForcesGeneratorGenerator of the FORCES interface, the to, be called from MATLAB
ExportForcesInterfaceA class for configuration and export for interface to the FORCES QP solver
ExportForLoopAllows to export code of a for-loop
ExportFunctionAllows to export code of an arbitrary function
ExportFunctionCallAllows to export code of a function call
ExportFunctionDeclarationAllows to export code containing function (forward) declarations
ExportGaussElimAllows to export Gaussian elimination for solving linear systems of specific dimensions
ExportGaussNewtonCN2TBD
ExportGaussNewtonCondensedA class for export of Gauss-Newton condensed OCP solver
ExportGaussNewtonForcesA class for export of an OCP solver using sparse QP solver FORCES
ExportGaussNewtonQpDunesA class for export of an OCP solver using sparse QP solver qpDUNES
ExportHouseholderQRAllows to export Householder QR Factorization for solving linear systems of specific dimensions
ExportIndexDefines a scalar-valued index variable to be used for exporting code
ExportIndexComparator
ExportIndexNode
ExportLinearSolverAllows to export automatically generated algorithms for solving linear systems of specific dimensions
ExportMatlabIntegrator..
ExportMatlabRhs..
ExportModuleUser-interface to automatically generate algorithms for fast model predictive control
ExportNLPSolverBase class for export of NLP/OCP solvers
ExportQpDunesInterfaceInterface generator for the qpDUNES QP solver
ExportQpOasesInterfaceA class for generating the glue code for interfacing qpOASES
ExportSimulinkInterfaceA class for generating the glue code and makefile for interfacing generated code and Simulink
ExportStatementBase class for all kind of statements to be exported by the code generation tool
ExportStatementBlockAllows to export code for a block of statements
ExportStatementStringAllows to export code writing a string
ExportTemplatedFileAllows export of template files
ExportVariableDefines a matrix-valued variable to be used for exporting code
ExportVariableInternalDefines a matrix-valued variable to be used for exporting code
ExpressionBase class for all variables within the symbolic expressions family
FeedforwardLawImplements a feedforward law to be used within a Controller
ForwardIRKExportAllows to export a tailored implicit Runge-Kutta integrator with forward sensitivity generation for fast model predictive control
FrameDefine the concept of a mechanical frame
FrameNodeInternal class to make Frame trees reference-safe
FunctionAllows to setup and evaluate a general function based on SymbolicExpressions
FunctionEvaluationTreeOrganizes the evaluation of the function tree
GaussianNoiseGenerates pseudo-random Gaussian noise for simulating the Process
GaussLegendre2ExportAllows to export a tailored Gauss-Legendre method of order 2 for fast model predictive control
GaussLegendre4ExportAllows to export a tailored Gauss-Legendre method of order 4 for fast model predictive control
GaussLegendre6ExportAllows to export a tailored Gauss-Legendre method of order 6 for fast model predictive control
GaussLegendre8ExportAllows to export a tailored Gauss-Legendre method of order 8 for fast model predictive control
GaussNewtonApproximationImplements a Gauss-Newton approximation as second-order derivatives within NLPsolvers
GaussNewtonApproximationWithBFGSImplements a Gauss-Newton approximation with block BFGS updates as second-order derivatives within NLPsolvers
GnuplotWindowProvides an interface to Gnuplot for plotting algorithmic outputs
GridAllows to conveniently handle (one-dimensional) grids consisting of time points
ImplicitRungeKuttaExportAllows to export a tailored implicit Runge-Kutta integrator for fast model predictive control
IntegerControlImplements an integer-valued control
IntegerParameterImplements an integer-valued parameter
IntegrationAlgorithmUser-interface to integrate a DynamicSystem, possibly over multiple stages
IntegratorAbstract base class for all kinds of algorithms for integrating differential equations (ODEs or DAEs)
IntegratorBDFImplements the backward-differentiation formula for integrating DAEs
IntegratorDiscretizedODEImplements a scheme for evaluating discretized ODEs
IntegratorExportAllows to export a tailored integrator for fast model predictive control
IntegratorLYAPUNOVBase class for all kinds of Runge-Kutta schemes for integrating ODEs
IntegratorLYAPUNOV45Implements the Runge-Kutta-45 scheme for integrating ODEs
IntegratorRKAbstract base class for all kinds of Runge-Kutta schemes for integrating ODEs
IntegratorRK12Implements the Runge-Kutta-12 scheme for integrating ODEs
IntegratorRK23Implements the Runge-Kutta-23 scheme for integrating ODEs
IntegratorRK45Implements the Runge-Kutta-45 scheme for integrating ODEs
IntegratorRK78Implements the Runge-Kutta-78 scheme for integrating ODEs
IntermediateStateImplements an intermediate state
IntervalImplements a rudimentary interval class
IPmethodImplements different interior-point methods for solving NLPs
KalmanFilterProvides a Kalman filter for state estimation
KinVecRepresent kinematical vectors
LagrangeTermStores and evaluates Lagrange terms within optimal control problems
LinearStateFeedbackImplements a linear state feedback law to be used within a Controller
LogarithmImplements the scalar logarithm operator within the symbolic operators family
LogCollectionManages a generic list of log records (for internal use)
LoggerA very simple logging class
LoggingProvides a generic way to store algorithmic information during runtime
LogRecordAllows to setup and store user-specified log records of algorithmic information
LogRecordItemAllows to manage single items of user-specified LogRecords of algorithmic information (for internal use)
LSQEndTermStores and evaluates LSQ mayer terms within optimal control problems
LSQTermStores and evaluates LSQ terms within optimal control problems
LyapunovImplements a parameter
MatFileSimple class for writing binary data file that are compatible with Matlab
MatrixImplements a rudimentary dense matrix class
MatrixVariableProvides matrix-valued optimization variables
MatrixVariablesGridProvides a time grid consisting of matrix-valued optimization variables at each grid point
MayerTermStores and evaluates Mayer terms within optimal control problems
MemoryAllocator
MHEalgorithmUser-interface to formulate and solve moving horizon estimation problems
ModelContainerContainer class to store and pass data to the ModelData class
ModelDataData class for defining models and everything that is related, to be passed to the integrator
MultiObjectiveAlgorithmUser-interface to formulate and solve optimal control problems with multiple objectives
MultiObjectiveFunctionalityEncapsulates functionality for defining OCPs having multiple objectives
NARXExportAllows to export a tailored polynomial NARX integrator for fast model predictive control
NLPData class for defining static optimization problems
NLPderivativeApproximationBase class for techniques of approximating second-order derivatives within NLPsolvers
NLPsolverBase class for different algorithms for solving nonlinear programming (NLP) problems
NoiseBase class for generating pseudo-random noise for simulating the Process
NonsmoothOperatorAbstract base class for all scalar-valued symbolic operators
NormalConjugateGradientMethodImplements a conjugate gradient method as sparse linear algebra solver for non-symmetric linear systems
ObjectiveStores and evaluates the objective function of optimal control problems
ObjectiveElementBase class for all kind of objective function terms within optimal control problems
ObjectPool< T, C >An object pool class that creates and reuses objects of an arbitrary type
OCPData class for defining optimal control problems
OCPexportA user class for auto-generation of OCP solvers
OCPiterateData class for storing generic optimization variables
OperatorAbstract base class for all scalar-valued symbolic operators
OptimizationAlgorithmUser-interface to formulate and solve optimal control problems and static NLPs
OptimizationAlgorithmBaseNotes:
TaylorModel< T >::OptionsTaylor model options
OptionsProvides a generic way to set and pass user-specified options
OptionsItemAbstract base class for items of a generic OptionsList (for internal use)
OptionsItemDoubleProvides real-valued items within the OptionsList (for internal use)
OptionsItemIntProvides integer-valued items within the OptionsList (for internal use)
OptionsListProvides a generic list of options (for internal use)
OutputImplements a differential state
OutputFcnAllows to setup and evaluate output functions based on SymbolicExpressions
ParameterImplements a parameter
ParameterEstimationAlgorithmUser-interface to formulate and solve parameter estimation problems
PathConstraintStores and evaluates path constraints within optimal control problems
PeriodicReferenceTrajectoryAllows to define a static periodic reference trajectory that the ControlLaw aims to track
PIDcontrollerImplements a PID control law to be used within a Controller
PlotCollectionProvides a generic list of plot windows (for internal use)
PlottingProvides a generic way to plot algorithmic outputs during runtime
PlotWindowAllows to setup and plot user-specified plot windows for algorithmic outputs
PlotWindowSubplotAllows to manage sub-windows of user-specified plot windows for algorithmic outputs (for internal use)
PointConstraintStores and evaluates pointwise constraints within optimal control problems
PowerImplements the scalar power operator within the symbolic operators family
Power_IntImplements the scalar power operator with integer exponent within the symbolic operators family
ProcessSimulates the process to be controlled based on a dynamic model
ProductImplements the scalar product operator within the symbolic operators family
ProjectionImplements the projection operator within the symbolic operators family
QPsolver_qpOASES(not yet documented)
QuotientImplements the scalar quotient operator within the symbolic operators family
RadauIIA1ExportAllows to export a tailored Radau IIA method of order 1 for fast model predictive control
RadauIIA3ExportAllows to export a tailored Radau IIA method of order 3 for fast model predictive control
RadauIIA5ExportAllows to export a tailored Radau IIA method of order 5 for fast model predictive control
RealClockAllows real time measurements based on the system's clock
RealTimeAlgorithmUser-interface to formulate and solve model predictive control problems
ReferenceTrajectoryAbstract base class to define a reference trajectory that the ControlLaw aims to track
RegisterDiagonallyIRK3Export
RegisterDiagonallyIRK4Export
RegisterDiagonallyIRK5Export
RegisterDiscreteTimeExport
RegisterExplicitEulerExport
RegisterExplicitRungeKutta2Export
RegisterExplicitRungeKutta3Export
RegisterExplicitRungeKutta4Export
RegisterGaussLegendre2Export
RegisterGaussLegendre4Export
RegisterGaussLegendre6Export
RegisterGaussLegendre8Export
RegisterGaussNewtonCN2
RegisterGaussNewtonCondensed
RegisterGaussNewtonForces
RegisterGaussNewtonQpDunes
RegisterNARXExport
RegisterRadauIIA1Export
RegisterRadauIIA3Export
RegisterRadauIIA5Export
returnValueAllows to pass back messages to the calling function
ReturnValueListData structure for entries in returnValueList
RKSensitivitiesExportAllows to export a tailored Runge-Kutta sensitivity propagation for fast model predictive control
RungeKuttaExportAllows to export a tailored Runge-Kutta integrator for fast model predictive control
SCPevaluationBase class for different ways to evaluate functions and derivatives within an SCPmethod for solving NLPs
SCPmeritFunctionAllows to evaluate a merit function within an SCPmethod for solving NLPs
SCPmethodImplements different sequential convex programming methods for solving NLPs
SCPstepBase class for different ways to perform a step of an SCPmethod for solving NLPs
SCPstepFullstepImplements a fullstep to perform a step of an SCPmethod for solving NLPs
SCPstepLinesearchImplements linesearch techniques to perform a globalized step of an SCPmethod for solving NLPs
SensorAllows to simulate the behaviour of sensors within the Process
ShootingMethodDiscretizes a DifferentialEquation by means of single or multiple shooting
SIMexportUser-interface to automatically generate simulation algorithms for fast optimal control
SimulatedReferenceTrajectoryAllows to define a simulated reference trajectory that the ControlLaw aims to track
SimulationBlockBase class for building-blocks of the SimulationEnvironment
SimulationClockSimulates real time measurements for simulations
SimulationEnvironmentAllows to run closed-loop simulations of dynamic systems
SinImplements the scalar sine operator within the symbolic operators family
SmoothOperatorAbstract base class for all scalar-valued symbolic operators
SparseSolverGeneric interface for sparse solvers to be coupled with ACADO Toolkit
StaticReferenceTrajectoryAllows to define a static reference trajectory that the ControlLaw aims to track
StreamProvides a very rudimentary class to handle streams
StringProvides a very rudimentary class to handle strings
StringComparer
SubtractionImplements the scalar subtraction operator within the symbolic operators family
SymbolicIndexListManages the indices of SymbolicVariables
SymmetricConjugateGradientMethodImplements a conjugate gradient method as sparse linear algebra solver for symmetric linear systems
TanImplements the scalar tangens operator within the symbolic operators family
TaylorModel< T >C++ class supporting the definition and computation of Taylor models for factorable functions ///////////////////////////////////////////////////////////////////// mc::TaylorModel<T> is a C++ base class that supports the definition and computation of Taylor models for factorable functions on a box. The template parameter T corresponds to the type used in computing the remainder error bound. /////////////////////////////////////////////////////////////////////
TaylorVariable< T >C++ template class for definition of and operation on variables in a Taylor model ///////////////////////////////////////////////////////////////////// mc::TaylorVariable<T> is a C++ template class for definition of and operation on the variables participating in a Taylor model of a factorable function. The template parameter T corresponds to the type used in computing the remainder error bound in the Taylor model. /////////////////////////////////////////////////////////////////////
TevaluationPoint< T >Allows to setup function evaluation points
TIMEImplements the time within the family of Expressions
Tmatrix< T >Implements a templated dense matrix class
TransferDeviceBase class for simulating Actuator and Sensor behaviour wihtin the Process
TransitionAllows to setup and evaluate transition functions based on SymbolicExpressions
TreeProjectionImplements the tree-projection operator within the family of SymbolicOperators
UnaryOperatorAbstract base class for all scalar-valued unary operators within the symbolic operators family
UniformNoiseGenerates pseudo-random uniformly distributed noise for simulating the Process
UserInteractionEncapsulates all user interaction for setting options, logging data and plotting results
VariableSettingsProvides variable-specific settings for vector- or matrix-valued optimization variables (for internal use)
VariablesGridProvides a time grid consisting of vector-valued optimization variables at each grid point
VectorImplements a rudimentary dense vector class
VectorspaceElementBasis of the rudimentary dense Matrix and Vector classes
WeightGenerationGenerates weights for solving OCPs having multiple objectives
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