Grid Class Reference

Allows to conveniently handle (one-dimensional) grids consisting of time points. More...

#include <grid.hpp>

Inheritance diagram for Grid:

List of all members.

Public Member Functions
	Grid ()
	Default constructor.
	Grid (uint nPoints_, double *times_=0)
	Constructor that takes the number of grid points along with with an optional double array containing the initialization of the times.
	Grid (const Vector &times_)
	Constructor that takes the number of grid points along with with a initialization of the times in form of a vector.
	Grid (double _firstTime, double _lastTime, uint _nPoints=2)
	Constructor that takes the number of grid points as well as as the time of the first and the last grid point.
	Grid (const Grid &rhs)
	Copy constructor (deep copy).
	~Grid ()
	Destructor.
Grid &	operator= (const Grid &rhs)
	Assignment operator (deep copy).
returnValue	init (uint _nPoints=0, const double *const _times=0)
	Initializes grid with given number of grid points and given times.
returnValue	init (const Vector &times_)
	Initializes grid with given number of grid points and given times in form of a vector.
returnValue	init (double _firstTime, double _lastTime, uint _nPoints=2)
	Initializes grid with given number of grid points and an equidistant grid of time points between given time of the first and last grid point.
returnValue	init (const Grid &rhs)
	Initializes grid with given grid.
BooleanType	operator== (const Grid &arg) const
	Tests for equality, i.e.
BooleanType	operator!= (const Grid &arg) const
	Tests for non-equality.
BooleanType	operator< (const Grid &arg) const
	Tests if left-hand side grid is a strict subset of the right-hand side one, i.e.
BooleanType	operator<= (const Grid &arg) const
	Tests if left-hand side grid is a subset of the right-hand side one, i.e.
BooleanType	operator> (const Grid &arg) const
	Tests if right-hand side grid is a strict subset of the left-hand side one, i.e.
BooleanType	operator>= (const Grid &arg) const
	Tests if right-hand side grid is a subset of the left-hand side one, i.e.
Grid &	operator& (const Grid &arg)
	Constructs the set union of two grids.
returnValue	equalizeGrids (Grid &arg)
	Constructs the set union of two grids and replaces both grids by this union grid.
returnValue	setTime (double _time)
	Assigns next unintialized time point.
returnValue	setTime (uint pointIdx, double _time)
	Assigns new time to grid point with given index.
returnValue	addTime (double _time)
	Adds a new grid point with given time to grid.
returnValue	merge (const Grid &arg, MergeMethod _mergeMethod=MM_DUPLICATE, BooleanType keepOverlap=BT_TRUE)
	Constructs the set union in time of current and given grid.
BooleanType	isEmpty () const
	Returns whether the grid is empty (i.e.
uint	getNumPoints () const
	Returns number of grid points.
uint	getNumIntervals () const
	Returns number of grid intervals.
double	getFirstTime () const
	Returns time of first grid point.
double	getLastTime () const
	Returns time of last grid point.
double	getTime (uint pointIdx) const
	Returns time of grid point with given index.
Grid &	shiftTimes (double timeShift)
	Shifts times at all grid points by a given offset.
BooleanType	isEquidistant () const
	Returns whether the grid has equally spaced grid points or not.
double	getIntervalLength () const
	Returns total interval length of grid.
double	getIntervalLength (uint pointIdx) const
	Returns interval length between given grid point and next one.
returnValue	scaleTimes (double scaling)
	Scales times at all grid points by a given positive factor.
returnValue	refineGrid (uint factor)
	Refines grid by a given factor by adding equally spaced additional time points in between existing ones.
returnValue	coarsenGrid (uint factor)
	Coarsens grid by a given factor by equally leaving out time points from the existing ones.
BooleanType	hasTime (double _time) const
	Returns whether the grid contains a given time point.
int	findTime (double _time, uint startIdx=0) const
	Returns index of an grid point at given time, starting at startIdx.
int	findFirstTime (double _time, uint startIdx=0) const
	Returns index of first grid point at given time, starting at startIdx.
int	findLastTime (double _time, uint startIdx=0) const
	Returns index of last grid point at given time, starting at startIdx.
uint	getFloorIndex (double time) const
	Returns index of grid point with greatest time smaller or equal to given time.
uint	getCeilIndex (double time) const
	Returns index of grid point with smallest time greater or equal to given time.
uint	getLastIndex () const
	Returns largest index of grid (note the difference to getNumPoints()).
BooleanType	isLast (uint pointIdx) const
	Returns whether given index is the last one of the grid.
BooleanType	isInInterval (double _time) const
	Returns whether given time lies within the total interval of the grid.
BooleanType	isInInterval (uint pointIdx, double _time) const
	Returns whether given time lies within the interval between given grid point and next one.
BooleanType	isInUpperHalfOpenInterval (uint pointIdx, double _time) const
	Returns whether given time lies within the half-open interval between given grid point and next one (next one not included).
BooleanType	isInLowerHalfOpenInterval (uint pointIdx, double _time) const
	Returns whether given time lies within the half-open interval between given grid point (given grid point not included) and next one.
returnValue	getSubGrid (double tStart, double tEnd, Grid &_subGrid) const
	Returns a sub-grid of current grid starting a given start time end ending at given end time.
returnValue	print () const
	Prints times of all grid points to screen.
Protected Member Functions
returnValue	setupEquidistant (double _firstTime, double _lastTime)
	Sets-up all times in an equidistant manner, starting at given start time and ending at given end time.
int	findNextIndex () const
	Returns index of next unintialized grid point.
Protected Attributes
uint	nPoints
	Number of grid points.
double *	times
	Time values at grid points.

---

Detailed Description

The class Grid allows to conveniently handle (one-dimensional) grids consisting of time points, as they usually occur when discretizing optimal control problems.

Note:

Time points of the grid are assumed to be ordered in increasing order.

Author:

Hans Joachim Ferreau, Boris Houska

---

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO Grid::Grid

(

)

References nPoints, and times.

Grid::Grid	(	uint	nPoints_,
		double *	times_ = 0
	)

Parameters:

[in]	_nPoints	Number of grid points.
[in]	times_	Initialization of time points.

References init(), and times.

Grid::Grid

(

const Vector &

times_

)

Parameters:

[in]

times

Initialization of times.

References init(), and times.

Grid::Grid	(	double	_firstTime,
		double	_lastTime,
		uint	_nPoints = 2
	)

All intermediate grid points are setup to form a equidistant grid of time points.

Parameters:

[in]	_firstTime	Time of first grid point.
[in]	_lastTime	Time of last grid point.
[in]	_nPoints	Number of grid points.

References init(), and times.

Grid::Grid

(

const Grid &

rhs

)

Parameters:

[in]

rhs

Right-hand side object.

References nPoints, times, and uint.

Grid::~Grid

(

)

References times.

---

Member Function Documentation

returnValue Grid::addTime

(

double

_time

)

Parameters:

[in]

_time

Time point to be added.

Returns:

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

References ACADOERROR, acadoIsGreater(), BT_FALSE, getLastTime(), getNumPoints(), nPoints, RET_INVALID_ARGUMENTS, SUCCESSFUL_RETURN, and times.

Referenced by MatrixVariablesGrid::addMatrix(), TransferDevice::generateNoise(), PlotWindow::getDataGrids(), Actuator::getDelayedInputGrids(), Sensor::getDelayedOutputGrid(), and merge().

returnValue Grid::coarsenGrid

(

uint

factor

)

Parameters:

[in]

factor

Coarsening factor.

Returns:

RET_NOT_YET_IMPLEMENTED,
RET_INVALID_ARGUMENTS

References ACADOERROR, getNumIntervals(), RET_INVALID_ARGUMENTS, RET_NOT_YET_IMPLEMENTED, and SUCCESSFUL_RETURN.

returnValue Grid::equalizeGrids

(

Grid &

arg

)

Note that both the original as well as the argument grid is changed!

Parameters:

[in]

arg

Right-hand side object.

Returns:

SUCCESSFUL_RETURN

References SUCCESSFUL_RETURN.

int Grid::findFirstTime	(	double	_time,
		uint	startIdx = 0
	)		const

Parameters:

[in]	_time	Time to be found.
[in]	startIdx	Start index for searching for time point.

Returns:

>= 0: index of first grid point with given time,
-1: time point does not exist

References acadoIsEqual(), BT_TRUE, getNumPoints(), times, and uint.

Referenced by findTime().

int Grid::findLastTime	(	double	_time,
		uint	startIdx = 0
	)		const

Parameters:

[in]	_time	Time to be found.
[in]	startIdx	Start index for searching for time point.

Returns:

>= 0: index of last grid point with given time,
-1: time point does not exist

References acadoIsEqual(), BT_TRUE, getNumPoints(), times, and uint.

Referenced by MatrixVariablesGrid::getCoarsenedGrid().

int Grid::findNextIndex

(

)

const [protected]

Returns:

>= 0: index of next unintialized grid point,
-1: time point does not exist

References getNumPoints(), INFTY, times, and uint.

Referenced by setTime().

int Grid::findTime	(	double	_time,
		uint	startIdx = 0
	)		const

Parameters:

[in]	_time	Time to be found.
[in]	startIdx	Start index for searching for time point.

Returns:

>= 0: index of grid point with given time,
-1: time point does not exist

References findFirstTime().

Referenced by hasTime(), operator<(), and operator>().

uint Grid::getCeilIndex

(

double

time

)

const

Parameters:

[in]

_time

Time smaller or equal than that of the time point to be found.

Returns:

>= 0: index of grid point with smallest time greater or equal to given time,
-1: time point does not exist

References acadoIsGreater(), acadoIsSmaller(), BT_TRUE, getLastIndex(), getTime(), isInLowerHalfOpenInterval(), and uint.

Referenced by VariablesGrid::getTimeSubGrid(), and MatrixVariablesGrid::linearInterpolation().

double Grid::getFirstTime

(

)

const [inline]

Returns:

Time of first grid point

References ASSERT, and times.

Referenced by Actuator::addActuatorNoise(), Sensor::addSensorNoise(), VariablesGrid::appendTimes(), MatrixVariablesGrid::appendTimes(), OCPiterate::areGridsConsistent(), Actuator::checkInputConsistency(), Process::checkInputConsistency(), Actuator::delayActuatorInput(), Sensor::delaySensorOutput(), IntegratorBDF::evaluate(), IntegratorRK::evaluate(), IntegratorLYAPUNOV::evaluate(), ImplicitRungeKuttaExport::evaluateDerivedPolynomial(), ImplicitRungeKuttaExport::evaluatePolynomial(), IntegratorLYAPUNOV::evaluateSensitivities(), IntegratorBDF::evaluateSensitivities(), IntegratorRK::evaluateSensitivities(), DiagonallyImplicitRKExport::formMatrix(), ImplicitRungeKuttaExport::formMatrix(), ImplicitRungeKuttaExport::generateOutput(), AdjointIRKExport::getCode(), ForwardIRKExport::getCode(), ExplicitRungeKuttaExport::getCode(), DiscreteTimeExport::getCode(), ImplicitRungeKuttaExport::getCode(), IntegratorExport::getIntegrationInterval(), PeriodicReferenceTrajectory::getReference(), StaticReferenceTrajectory::getReference(), OCP::getStartTime(), Curve::getTimeDomain(), Curve::isInTimeDomain(), ShootingMethod::logTrajectory(), VariablesGrid::merge(), MatrixVariablesGrid::merge(), DiagonallyImplicitRKExport::prepareInputSystem(), ImplicitRungeKuttaExport::prepareOutputEvaluation(), DiagonallyImplicitRKExport::prepareOutputSystem(), IntegratorBDF::relaxAlgebraic(), Process::run(), AdjointIRKExport::sensitivitiesOutputs(), ForwardIRKExport::sensitivitiesOutputs(), LogRecordItem::setAllValues(), ModelData::setIntegrationGrid(), LSQTerm::setReference(), ExplicitRungeKuttaExport::setup(), Sensor::step(), Process::step(), and Actuator::step().

uint Grid::getFloorIndex

(

double

time

)

const

Parameters:

[in]

_time

Time greater or equal than that of the time point to be found.

Returns:

>= 0: index of grid point with greatest time smaller or equal to given time,
-1: time point does not exist

References acadoIsGreater(), acadoIsSmaller(), acadoIsStrictlyGreater(), BT_TRUE, getLastIndex(), getTime(), isInUpperHalfOpenInterval(), and uint.

Referenced by Actuator::delayActuatorInput(), Sensor::delaySensorOutput(), Curve::evaluate(), PointConstraint::getBounds(), VariablesGrid::getTimeSubGrid(), IntegratorBDF::interpolate(), MatrixVariablesGrid::linearInterpolation(), IntegratorBDF::rk_start(), IntegratorDiscretizedODE::step(), IntegratorBDF::step(), IntegratorLYAPUNOV::step(), IntegratorRK::step(), and OCPiterate::update().

double Grid::getIntervalLength

(

)

const [inline]

Returns:

Total interval length of grid

References nPoints, and times.

Referenced by IntegratorBDF::evaluate(), VariablesGrid::getIntegral(), isEquidistant(), refineGrid(), IntegratorBDF::relaxAlgebraic(), and OCPiterate::shift().

double Grid::getIntervalLength

(

uint

pointIdx

)

const [inline]

Parameters:

[in]

pointIdx

Index of grid point at beginning of interval.

Returns:

Interval length between given grid point and next one

References ACADOERROR, getLastIndex(), getNumPoints(), INFTY, RET_INDEX_OUT_OF_BOUNDS, and times.

uint Grid::getLastIndex

(

)

const [inline]

Returns:

Largest index of grid.

References getNumPoints().

Referenced by VariablesGrid::appendTimes(), MatrixVariablesGrid::appendTimes(), Actuator::delayActuatorInput(), Sensor::delaySensorOutput(), BoundaryConstraint::evaluate(), CoupledPathConstraint::evaluate(), PathConstraint::evaluate(), MayerTerm::evaluate(), LSQEndTerm::evaluate(), AlgebraicConsistencyConstraint::evaluate(), getCeilIndex(), getFloorIndex(), getIntervalLength(), getNumIntervals(), StaticReferenceTrajectory::getReference(), isInInterval(), isInUpperHalfOpenInterval(), isLast(), and OCP::subjectTo().

double Grid::getLastTime

(

)

const [inline]

Returns:

Time of last grid point

References ASSERT, nPoints, and times.

Referenced by Curve::add(), Actuator::addActuatorNoise(), MatrixVariablesGrid::addMatrix(), Sensor::addSensorNoise(), addTime(), VariablesGrid::appendTimes(), MatrixVariablesGrid::appendTimes(), OCPiterate::areGridsConsistent(), Actuator::checkInputConsistency(), Process::checkInputConsistency(), Actuator::delayActuatorInput(), Sensor::delaySensorOutput(), Curve::evaluate(), IntegratorBDF::evaluate(), IntegratorRK::evaluate(), IntegratorLYAPUNOV::evaluate(), ImplicitRungeKuttaExport::evaluateDerivedPolynomial(), ImplicitRungeKuttaExport::evaluatePolynomial(), IntegratorBDF::evaluateSensitivities(), DiagonallyImplicitRKExport::formMatrix(), ImplicitRungeKuttaExport::formMatrix(), ImplicitRungeKuttaExport::generateOutput(), ForwardIRKExport::getCode(), AdjointIRKExport::getCode(), ExplicitRungeKuttaExport::getCode(), DiscreteTimeExport::getCode(), ImplicitRungeKuttaExport::getCode(), PlotWindow::getDataGrids(), Actuator::getDelayedInputGrids(), Sensor::getDelayedOutputGrid(), OCP::getEndTime(), IntegratorExport::getIntegrationInterval(), PeriodicReferenceTrajectory::getReference(), StaticReferenceTrajectory::getReference(), getTime(), Curve::getTimeDomain(), Integrator::integrate(), Curve::isInTimeDomain(), ShootingMethod::logTrajectory(), merge(), VariablesGrid::merge(), MatrixVariablesGrid::merge(), DiagonallyImplicitRKExport::prepareInputSystem(), ImplicitRungeKuttaExport::prepareOutputEvaluation(), DiagonallyImplicitRKExport::prepareOutputSystem(), refineGrid(), IntegratorBDF::rk_start(), Process::run(), AdjointIRKExport::sensitivitiesOutputs(), ForwardIRKExport::sensitivitiesOutputs(), ModelData::setIntegrationGrid(), ExplicitRungeKuttaExport::setup(), IntegratorDiscretizedODE::step(), IntegratorBDF::step(), IntegratorLYAPUNOV::step(), IntegratorRK::step(), Sensor::step(), Process::step(), and Actuator::step().

uint Grid::getNumIntervals

(

)

const [inline]

Returns:

Number of grid intervals

References getLastIndex(), and nPoints.

Referenced by ModelData::addOutput(), ShootingMethod::addStage(), coarsenGrid(), ShootingMethod::deleteAllSeeds(), ImplicitRungeKuttaExport::divideMeasurements(), ShootingMethod::evaluate(), DiagonallyImplicitRKExport::formMatrix(), ImplicitRungeKuttaExport::formMatrix(), ImplicitRungeKuttaExport::generateOutput(), AdjointIRKExport::getCode(), ForwardIRKExport::getCode(), ExplicitRungeKuttaExport::getCode(), DiscreteTimeExport::getCode(), ImplicitRungeKuttaExport::getCode(), ForwardIRKExport::getDataDeclarations(), AdjointIRKExport::getDataDeclarations(), VariablesGrid::getIntegral(), IntegratorExport::getIntegrationInterval(), DynamicDiscretization::getNumEvaluationPoints(), Curve::getTimeDomain(), isEquidistant(), OCP::OCP(), DiagonallyImplicitRKExport::prepareInputSystem(), ImplicitRungeKuttaExport::prepareOutputEvaluation(), DiagonallyImplicitRKExport::prepareOutputSystem(), refineGrid(), AdjointIRKExport::sensitivitiesInputSystem(), ForwardIRKExport::sensitivitiesInputSystem(), AdjointIRKExport::sensitivitiesOutputs(), ForwardIRKExport::sensitivitiesOutputs(), DiagonallyImplicitRKExport::sensitivitiesOutputSystem(), AdjointIRKExport::sensitivitiesOutputSystem(), ForwardIRKExport::sensitivitiesOutputSystem(), ModelData::setIntegrationGrid(), NARXExport::setup(), ExplicitRungeKuttaExport::setup(), DiscreteTimeExport::setup(), ForwardIRKExport::setup(), AdjointIRKExport::setup(), OCP::setupGrid(), MatrixVariablesGrid::shiftBackwards(), and ShootingMethod::unfreeze().

uint Grid::getNumPoints

(

)

const [inline]

Returns:

Number of grid points

References nPoints.

Referenced by acadoPlot(), CoupledPathConstraint::add(), PathConstraint::add(), Curve::add(), Constraint::add(), MatrixVariablesGrid::addMatrix(), addTime(), VariablesGrid::appendTimes(), MatrixVariablesGrid::appendTimes(), VariablesGrid::appendValues(), MatrixVariablesGrid::appendValues(), BoxConstraint::BoxConstraint(), Actuator::checkInputConsistency(), Process::checkInputConsistency(), ClippingFunctionality::clipSignals(), Constraint::Constraint(), Constraint::deleteAll(), MatrixVariablesGrid::determineStringLength(), MatrixVariablesGrid::disableAutoInit(), Curve::discretize(), MatrixVariablesGrid::enableAutoInit(), ShootingMethod::evaluate(), LSQTerm::evaluate(), Constraint::evaluate(), BoxConstraint::evaluateBounds(), PointConstraint::evaluateSensitivities(), BoundaryConstraint::evaluateSensitivities(), CoupledPathConstraint::evaluateSensitivities(), PathConstraint::evaluateSensitivities(), MayerTerm::evaluateSensitivities(), LSQTerm::evaluateSensitivities(), AlgebraicConsistencyConstraint::evaluateSensitivities(), Constraint::evaluateSensitivities(), LSQTerm::evaluateSensitivitiesGN(), LSQEndTerm::evaluateSensitivitiesGN(), findFirstTime(), findLastTime(), findNextIndex(), TransferDevice::generateNoise(), MatrixVariablesGrid::getAutoInit(), Constraint::getBackwardSensitivities(), Constraint::getBlockDim(), Constraint::getBoundResiduum(), BoxConstraint::getBounds(), Constraint::getBounds(), MatrixVariablesGrid::getCoarsenedGrid(), Constraint::getConstraintResiduum(), PlotWindow::getDataGrids(), PathConstraint::getDim(), MatrixVariablesGrid::getDim(), MatrixVariablesGrid::getFirstMatrix(), VariablesGrid::getFirstVector(), Constraint::getForwardSensitivities(), MatrixVariablesGrid::getGrid(), getIntervalLength(), getLastIndex(), MatrixVariablesGrid::getLastMatrix(), VariablesGrid::getLastVector(), MatrixVariablesGrid::getLowerBound(), MatrixVariablesGrid::getLowerBounds(), MatrixVariablesGrid::getMatrix(), MatrixVariablesGrid::getMax(), MatrixVariablesGrid::getMean(), MatrixVariablesGrid::getMin(), MatrixVariablesGrid::getName(), PathConstraint::getNC(), Constraint::getNC(), Constraint::getNP(), Constraint::getNU(), Constraint::getNumberOfBlocks(), MatrixVariablesGrid::getNumCols(), OCPiterate::getNumPoints(), LogRecordItem::getNumPoints(), MatrixVariablesGrid::getNumRows(), MatrixVariablesGrid::getNumValues(), Constraint::getNW(), Constraint::getNX(), Constraint::getNXA(), SimulationEnvironment::getProcessAlgebraicStates(), SimulationEnvironment::getProcessDifferentialStates(), SimulationEnvironment::getProcessIntermediateStates(), MatrixVariablesGrid::getRefinedGrid(), SimulationEnvironment::getSampledProcessOutput(), MatrixVariablesGrid::getScaling(), getSubGrid(), VariablesGrid::getSum(), getTime(), VariablesGrid::getTimeSubGrid(), MatrixVariablesGrid::getTimeSubGrid(), MatrixVariablesGrid::getType(), MatrixVariablesGrid::getUnit(), MatrixVariablesGrid::getUpperBound(), MatrixVariablesGrid::getUpperBounds(), VariablesGrid::getValuesSubGrid(), MatrixVariablesGrid::getValuesSubGrid(), VariablesGrid::getVector(), Integrator::getX(), Integrator::getXA(), MatrixVariablesGrid::hasLowerBounds(), MatrixVariablesGrid::hasNames(), MatrixVariablesGrid::hasScaling(), MatrixVariablesGrid::hasUnits(), MatrixVariablesGrid::hasUpperBounds(), BoxConstraint::init(), Constraint::init(), PIDcontroller::init(), VariablesGrid::initializeFromBounds(), OptimizationAlgorithmBase::initializeOCPiterate(), Constraint::isAffine(), Constraint::isBoxConstraint(), isInInterval(), isInLowerHalfOpenInterval(), isInUpperHalfOpenInterval(), MatrixVariablesGrid::linearInterpolation(), ShootingMethod::logTrajectory(), LSQTerm::LSQTerm(), Matrix::Matrix(), merge(), VariablesGrid::merge(), MatrixVariablesGrid::merge(), OCP::OCP(), MatrixVariablesGrid::operator()(), VariablesGrid::operator()(), MatrixVariablesGrid::operator+(), MatrixVariablesGrid::operator+=(), MatrixVariablesGrid::operator-(), MatrixVariablesGrid::operator-=(), operator<(), BoxConstraint::operator=(), LSQTerm::operator=(), Constraint::operator=(), operator==(), VariablesGrid::operator==(), operator>(), MatrixVariablesGrid::operator[](), VariablesGrid::operator[](), print(), MatrixVariablesGrid::printToString(), Process::projectToComponents(), Process::run(), GnuplotWindow::sendDataToGnuplot(), MatrixVariablesGrid::setAll(), MatrixVariablesGrid::setAllMatrices(), LogRecordItem::setAllValues(), VariablesGrid::setAllVectors(), MatrixVariablesGrid::setAutoInit(), ExportNLPSolver::setConstraints(), Constraint::setForwardSeed(), LSQTerm::setGrid(), MatrixVariablesGrid::setLowerBound(), MatrixVariablesGrid::setMatrix(), MatrixVariablesGrid::setName(), LSQTerm::setReference(), MatrixVariablesGrid::setScaling(), setTime(), MatrixVariablesGrid::setType(), MatrixVariablesGrid::setUnit(), Constraint::setUnitBackwardSeed(), Constraint::setUnitForwardSeed(), ExportGaussNewtonForces::setupConstraintsEvaluation(), OptimizationAlgorithmBase::setupDifferentialEquation(), setupEquidistant(), MatrixVariablesGrid::setUpperBound(), MatrixVariablesGrid::setUpperBounds(), VariablesGrid::setVector(), MatrixVariablesGrid::setZero(), MatrixVariablesGrid::shiftBackwards(), Process::simulate(), MatrixVariablesGrid::sprintf(), LinearStateFeedback::step(), PIDcontroller::step(), Sensor::step(), UniformNoise::step(), GaussianNoise::step(), Process::step(), LogCollection::updateLogRecord(), and LSQTerm::~LSQTerm().

returnValue Grid::getSubGrid	(	double	tStart,
		double	tEnd,
		Grid &	_subGrid
	)		const

Parameters:

[in]	tStart	Start time of sub-grid.
[in]	tEnd	End time of sub-grid.
[out]	_subGrid	Desired sub-grid.

Returns:

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

References ACADOERROR, acadoIsGreater(), acadoIsSmaller(), BT_FALSE, BT_TRUE, getNumPoints(), getTime(), hasTime(), init(), isInInterval(), RET_INVALID_ARGUMENTS, setTime(), SUCCESSFUL_RETURN, and uint.

Referenced by ShootingMethod::evaluate(), and Curve::evaluate().

double Grid::getTime

(

uint

pointIdx

)

const [inline]

Parameters:

[in]

pointIdx

Index of grid point.

Returns:

Time of grid point with given index

References ASSERT, getLastTime(), getNumPoints(), and times.

Referenced by acadoPlot(), Curve::add(), Constraint::add(), VariablesGrid::appendTimes(), MatrixVariablesGrid::appendTimes(), Curve::discretize(), ShootingMethod::evaluate(), ImplicitRungeKuttaExport::evaluateDerivedPolynomial(), ImplicitRungeKuttaExport::evaluatePolynomial(), PointConstraint::getBounds(), getCeilIndex(), MatrixVariablesGrid::getCoarsenedGrid(), PlotWindow::getDataGrids(), getFloorIndex(), IntegratorExport::getIntegrationInterval(), MatrixVariablesGrid::getRefinedGrid(), getSubGrid(), OCPiterate::getTime(), Curve::getTimeDomain(), VariablesGrid::getTimeSubGrid(), MatrixVariablesGrid::getTimeSubGrid(), VariablesGrid::getValuesSubGrid(), MatrixVariablesGrid::getValuesSubGrid(), OptimizationAlgorithmBase::initializeOCPiterate(), IntegratorRK::interpolate(), IntegratorLYAPUNOV::interpolate(), IntegratorBDF::interpolate(), isInInterval(), isInLowerHalfOpenInterval(), isInUpperHalfOpenInterval(), MatrixVariablesGrid::linearInterpolation(), Matrix::Matrix(), merge(), VariablesGrid::merge(), MatrixVariablesGrid::merge(), operator==(), MatrixVariablesGrid::operator[](), VariablesGrid::operator[](), print(), MatrixVariablesGrid::printToString(), refineGrid(), ShootingMethod::rescale(), GnuplotWindow::sendDataToGnuplot(), ModelData::setIntegrationGrid(), LSQTerm::setReference(), and MatrixVariablesGrid::sprintf().

BooleanType Grid::hasTime

(

double

_time

)

const

Parameters:

[in]

_time

Time point to be checked for existence.

Returns:

BT_TRUE iff grid contains given time point,
BT_FALSE otherwise

References BT_FALSE, BT_TRUE, and findTime().

Referenced by MatrixVariablesGrid::getRefinedGrid(), getSubGrid(), VariablesGrid::getTimeSubGrid(), and OCPiterate::update().

returnValue Grid::init	(	uint	_nPoints = 0,
		const double *const	_times = 0
	)

Parameters:

[in]	_nPoints	Number of grid points.
[in]	_times	Initialization of times.

Returns:

SUCCESSFUL_RETURN

References INFTY, nPoints, SUCCESSFUL_RETURN, times, and uint.

Referenced by ShootingMethod::deleteAll(), ShootingMethod::evaluate(), TransferDevice::generateNoise(), PlotWindow::getDataGrids(), MatrixVariablesGrid::getGrid(), getSubGrid(), PlotWindow::getVariableDataGrids(), Grid(), GnuplotWindow::sendDataToGnuplot(), and OCP::setupGrid().

returnValue Grid::init

(

const Vector &

times_

)

Parameters:

[in]

times

Initialization of times.

Returns:

SUCCESSFUL_RETURN

References VectorspaceElement::getDim(), nPoints, SUCCESSFUL_RETURN, times, and uint.

returnValue Grid::init	(	double	_firstTime,
		double	_lastTime,
		uint	_nPoints = 2
	)

Parameters:

[in]	_firstTime	Time of first grid point.
[in]	_lastTime	Time of last grid point.
[in]	_nPoints	Number of grid points.

Returns:

SUCCESSFUL_RETURN

References nPoints, setupEquidistant(), and times.

returnValue Grid::init

(

const Grid &

rhs

)

Parameters:

[in]

rhs

Grid to be taken for initialization.

Note:

This routine is introduced only for convenience and is equivalent to the assignment operator.

Returns:

SUCCESSFUL_RETURN

References operator=(), and SUCCESSFUL_RETURN.

BooleanType Grid::isEmpty

(

)

const [inline]

no grid points) or not.

Returns:

BT_TRUE iff grid is empty,
BT_FALSE otherwise

References BT_FALSE, BT_TRUE, and nPoints.

Referenced by Actuator::addActuatorNoise(), OCPiterate::areGridsConsistent(), Actuator::checkInputConsistency(), Process::checkInputConsistency(), MatrixVariablesGrid::coarsenGrid(), Actuator::delayActuatorInput(), MultiObjectiveAlgorithm::evaluateObjectives(), MatrixVariablesGrid::getCoarsenedGrid(), Controller::getCurrentReference(), Actuator::getDelayedInputGrids(), PlotWindow::getExpressionDataGrids(), MatrixVariablesGrid::getRefinedGrid(), ConstraintComponent::hasLBgrid(), ConstraintComponent::hasUBgrid(), RealTimeAlgorithm::init(), Controller::init(), OptimizationAlgorithmBase::initializeAlgebraicStates(), SimulationEnvironment::initializeAlgebraicStates(), Controller::initializeAlgebraicStates(), OptimizationAlgorithmBase::initializeControls(), OptimizationAlgorithmBase::initializeDifferentialStates(), OptimizationAlgorithmBase::initializeDisturbances(), OptimizationAlgorithmBase::initializeParameters(), OCP::minimizeLSQ(), ConstraintComponent::operator()(), RealTimeAlgorithm::performPreparationStep(), MatrixVariablesGrid::refineGrid(), ModelData::setIntegrationGrid(), Process::setProcessDisturbance(), MultiObjectiveAlgorithm::solveSingleObjective(), StaticReferenceTrajectory::StaticReferenceTrajectory(), and Process::step().

BooleanType Grid::isEquidistant

(

)

const [inline]

Returns:

BT_TRUE iff grid is equidistant,
BT_FALSE otherwise

References acadoIsEqual(), BT_FALSE, BT_TRUE, getIntervalLength(), getNumIntervals(), and uint.

Referenced by ModelData::setIntegrationGrid().

BooleanType Grid::isInInterval

(

double

_time

)

const [inline]

Parameters:

[in]

_time

Time point to be checked.

Returns:

BT_TRUE iff time within total interval,
BT_FALSE otherwise

References acadoIsGreater(), acadoIsSmaller(), BT_FALSE, BT_TRUE, getLastIndex(), getTime(), and times.

Referenced by getSubGrid(), VariablesGrid::getTimeSubGrid(), merge(), VariablesGrid::merge(), and MatrixVariablesGrid::merge().

BooleanType Grid::isInInterval	(	uint	pointIdx,
		double	_time
	)		const [inline]

Parameters:

[in]	pointIdx	Index of grid point at beginning of interval.
[in]	_time	Time point to be checked.

Returns:

BT_TRUE iff time within interval,
BT_FALSE otherwise

References ACADOERROR, acadoIsGreater(), acadoIsSmaller(), BT_FALSE, BT_TRUE, getLastIndex(), getNumPoints(), getTime(), RET_INDEX_OUT_OF_BOUNDS, times, and uint.

BooleanType Grid::isInLowerHalfOpenInterval	(	uint	pointIdx,
		double	_time
	)		const [inline]

Parameters:

[in]	pointIdx	Index of grid point at beginning of interval.
[in]	_time	Time point to be checked.

Returns:

BT_TRUE iff time within interval,
BT_FALSE otherwise

References ACADOERROR, acadoIsGreater(), acadoIsStrictlySmaller(), BT_FALSE, BT_TRUE, getNumPoints(), getTime(), RET_INDEX_OUT_OF_BOUNDS, times, and uint.

Referenced by getCeilIndex().

BooleanType Grid::isInUpperHalfOpenInterval	(	uint	pointIdx,
		double	_time
	)		const [inline]

Parameters:

[in]	pointIdx	Index of grid point at beginning of interval.
[in]	_time	Time point to be checked.

Returns:

BT_TRUE iff time within interval,
BT_FALSE otherwise

References ACADOERROR, acadoIsSmaller(), acadoIsStrictlyGreater(), BT_FALSE, BT_TRUE, getLastIndex(), getNumPoints(), getTime(), RET_INDEX_OUT_OF_BOUNDS, times, and uint.

Referenced by getFloorIndex().

BooleanType Grid::isLast

(

uint

pointIdx

)

const [inline]

Parameters:

[in]

pointIdx

Index of grid point.

Returns:

BT_TRUE iff given index is the last one,
BT_FALSE otherwise

References BT_FALSE, BT_TRUE, and getLastIndex().

returnValue Grid::merge	(	const Grid &	arg,
		MergeMethod	_mergeMethod = MM_DUPLICATE,
		BooleanType	keepOverlap = BT_TRUE
	)

A merge method defines the way duplicate entries are handled. Moreover, it can be specified whether an overlap in time of both grids shall be kept or if only the entries of one of them shall be kept according to the merge method.

Parameters:

[in]	arg	Grid to append.
[in]	_mergeMethod	Merge method, see documentation of MergeMethod for details.
[in]	keepOverlap	Flag indicating whether overlap shall be kept.

Returns:

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

References ACADOERROR, acadoIsEqual(), acadoIsStrictlyGreater(), acadoIsStrictlySmaller(), addTime(), BT_FALSE, BT_TRUE, getLastTime(), getNumPoints(), getTime(), isInInterval(), MM_DUPLICATE, MM_KEEP, MM_REPLACE, RET_INVALID_ARGUMENTS, SUCCESSFUL_RETURN, and uint.

Referenced by Sensor::addSensorNoise(), Sensor::getDelayedOutputGrid(), and operator&().

BooleanType Grid::operator!=

(

const Grid &

arg

)

const [inline]

Parameters:

[in]

rhs

Object of comparison.

Returns:

BT_TRUE iff both objects are not equal (in the above-mentioned sense),
BT_FALSE otherwise

References BT_FALSE, and BT_TRUE.

Grid & Grid::operator&

(

const Grid &

arg

)

Parameters:

[in]

arg

Right-hand side object.

Returns:

Set union of two grids

References BT_TRUE, merge(), and MM_KEEP.

BooleanType Grid::operator<

(

const Grid &

arg

)

const [inline]

if each the rhs grid contains all time points of the lhs (but is not equal).

Parameters:

[in]

rhs

Object of comparison.

Returns:

BT_TRUE iff left object is a strict subset of the right one,
BT_FALSE otherwise

References BT_FALSE, BT_TRUE, findTime(), getNumPoints(), times, and uint.

BooleanType Grid::operator<=

(

const Grid &

arg

)

const [inline]

if each the rhs grid contains all time points of the lhs.

Parameters:

[in]

rhs

Object of comparison.

Returns:

BT_TRUE iff left object is a subset of the right one,
BT_FALSE otherwise

References BT_FALSE, and BT_TRUE.

Grid & Grid::operator=

(

const Grid &

rhs

)

Parameters:

[in]

rhs

Right-hand side object.

References nPoints, times, and uint.

Referenced by init().

BEGIN_NAMESPACE_ACADO BooleanType Grid::operator==

(

const Grid &

arg

)

const [inline]

if number of grid points AND time values at all grid points are equal.

Parameters:

[in]

rhs

Object of comparison.

Returns:

BT_TRUE iff both objects are equal,
BT_FALSE otherwise

References acadoIsEqual(), BT_FALSE, BT_TRUE, getNumPoints(), getTime(), and uint.

BooleanType Grid::operator>

(

const Grid &

arg

)

const [inline]

if each the lhs grid contains all time points of the rhs (but is not equal).

Parameters:

[in]

rhs

Object of comparison.

Returns:

BT_TRUE iff right object is a strict subset of the left one,
BT_FALSE otherwise

References BT_FALSE, BT_TRUE, findTime(), getNumPoints(), times, and uint.

BooleanType Grid::operator>=

(

const Grid &

arg

)

const [inline]

if each the lhs grid contains all time points of the rhs.

Parameters:

[in]

rhs

Object of comparison.

Returns:

BT_TRUE iff right object is a subset of the left one,
BT_FALSE otherwise

References BT_FALSE, and BT_TRUE.

returnValue Grid::print

(

)

const

Returns:

SUCCESSFUL_RETURN

References acadoPrintf(), getNumPoints(), getTime(), SUCCESSFUL_RETURN, and uint.

returnValue Grid::refineGrid

(

uint

factor

)

Parameters:

[in]

factor

Refinement factor.

Returns:

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

References ACADOERROR, getIntervalLength(), getLastTime(), getNumIntervals(), getTime(), nPoints, RET_INVALID_ARGUMENTS, SUCCESSFUL_RETURN, times, and uint.

returnValue Grid::scaleTimes

(

double

scaling

)

Parameters:

[in]

scaling

Positive scaling factor.

Returns:

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

References acadoIsStrictlyGreater(), ACADOWARNING, BT_FALSE, nPoints, RET_INVALID_ARGUMENTS, SUCCESSFUL_RETURN, times, and uint.

Referenced by ShootingMethod::rescale().

returnValue Grid::setTime

(

double

_time

)

Parameters:

[in]

_time

New time point.

Returns:

SUCCESSFUL_RETURN,
RET_GRIDPOINT_SETUP_FAILED,
RET_GRIDPOINT_HAS_INVALID_TIME

References ACADOERROR, acadoIsStrictlyGreater(), BT_TRUE, findNextIndex(), RET_GRIDPOINT_HAS_INVALID_TIME, RET_GRIDPOINT_SETUP_FAILED, SUCCESSFUL_RETURN, and times.

Referenced by Actuator::delayActuatorInput(), Sensor::delaySensorOutput(), StaticReferenceTrajectory::getReference(), getSubGrid(), TransferDevice::init(), Process::init(), MatrixVariablesGrid::operator=(), SimulationEnvironment::step(), and VariablesGrid::VariablesGrid().

returnValue Grid::setTime	(	uint	pointIdx,
		double	_time
	)

Parameters:

[in]	pointIdx	Index of grid point.
[in]	_time	New time.

Returns:

SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS

References ACADOERROR, getNumPoints(), RET_INDEX_OUT_OF_BOUNDS, SUCCESSFUL_RETURN, and times.

returnValue Grid::setupEquidistant	(	double	_firstTime,
		double	_lastTime
	)		[protected]

Parameters:

[in]	_firstTime	Time of first grid point.
[in]	_lastTime	Time of last grid point.

References ACADOERROR, getNumPoints(), nPoints, RET_INVALID_ARGUMENTS, SUCCESSFUL_RETURN, times, and uint.

Referenced by init().

Grid & Grid::shiftTimes

(

double

timeShift

)

Parameters:

[in]

timeShift

Time offset for shifting.

Returns:

Reference to object with shifted times

Reimplemented in MatrixVariablesGrid, and VariablesGrid.

References nPoints, times, and uint.

Referenced by TransferDevice::generateNoise(), Actuator::getDelayedInputGrids(), and Sensor::getDelayedOutputGrid().

---

Member Data Documentation

uint Grid::nPoints [protected]

Referenced by MatrixVariablesGrid::addMatrix(), addTime(), MatrixVariablesGrid::clearValues(), getIntervalLength(), getLastTime(), getNumIntervals(), getNumPoints(), Grid(), init(), MatrixVariablesGrid::init(), MatrixVariablesGrid::initMatrixVariables(), isEmpty(), MatrixVariablesGrid::MatrixVariablesGrid(), operator=(), MatrixVariablesGrid::operator=(), refineGrid(), scaleTimes(), MatrixVariablesGrid::setLowerBounds(), setupEquidistant(), and shiftTimes().

double* Grid::times [protected]

Referenced by addTime(), findFirstTime(), findLastTime(), findNextIndex(), getFirstTime(), MatrixVariablesGrid::getGrid(), getIntervalLength(), getLastTime(), getTime(), Grid(), init(), isInInterval(), isInLowerHalfOpenInterval(), isInUpperHalfOpenInterval(), operator<(), operator=(), operator>(), refineGrid(), scaleTimes(), setTime(), setupEquidistant(), shiftTimes(), MatrixVariablesGrid::sprintf(), and ~Grid().

---

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

• grid.hpp
• grid.ipp
• grid.cpp