Stores and evaluates Mayer terms within optimal control problems. More...

#include <mayer_term.hpp>

Inheritance diagram for MayerTerm:

Public Member Functions
	MayerTerm ()
	Default constructor.
	MayerTerm (const Grid &grid_, const Expression &arg)
	Default constructor.
	MayerTerm (const Grid &grid_, const Function &arg)
	Default constructor.
	MayerTerm (const MayerTerm &rhs)
	Copy constructor (deep copy).
virtual	~MayerTerm ()
	Destructor.
MayerTerm &	operator= (const MayerTerm &rhs)
	Assignment operator (deep copy).
returnValue	init (const Grid &grid_, const Expression &arg)
returnValue	evaluate (const OCPiterate &x)
returnValue	evaluateSensitivities (BlockMatrix *hessian)
	Evaluates the objective gradient contribution from this term and computes the corresponding exact hessian if hessian != 0 .
returnValue	setGrid (const Grid &grid_)
	Sets the discretization grid.
returnValue	init (const OCPiterate &x)
	Initializes the Objective Element: The dimensions and index lists.
virtual returnValue	setForwardSeed (BlockMatrix xSeed_, BlockMatrix xaSeed_, BlockMatrix pSeed_, BlockMatrix uSeed_, BlockMatrix *wSeed_, int order)
	Define a forward seed in form of a block matrix.
virtual returnValue	setBackwardSeed (BlockMatrix *seed, int order)
	Define a backward seed in form of a block matrix.
virtual returnValue	getObjectiveValue (double &objectiveValue)
	Returns the result for the residuum.
virtual returnValue	getForwardSensitivities (BlockMatrix *D, int order)
	Returns the result for the forward sensitivities in BlockMatrix form.
virtual returnValue	getBackwardSensitivities (BlockMatrix *D, int order)
	Returns the result for the backward sensitivities in BlockMatrix form.
int	getNX () const
	Returns the number of differential states .
int	getNXA () const
	Returns the number of algebraic states .
int	getNP () const
	Returns the number of parameters .
int	getNU () const
	Returns the number of controls .
int	getNW () const
	Returns the number of disturbances .
returnValue	getFunction (Function &_function)
	Returns the element's function .
Protected Member Functions
Grid	getGrid () const
	returns the constraint grid
Protected Attributes
Grid	grid
	the objective grid
Function	fcn
	the function
EvaluationPoint	z
	the evaluation point
EvaluationPoint	JJ
int *	y_index
	index lists
int	t_index
	time index
int	nx
	number of diff.
int	na
	number of alg.
int	nu
	number of controls
int	np
	number of parameters
int	nw
	number of disturbances
int	ny
	:= nx+na+nu+np+nw
BlockMatrix *	xSeed
	the 1st order forward seed in x-direction
BlockMatrix *	xaSeed
	the 1st order forward seed in x-direction
BlockMatrix *	pSeed
	the 1st order forward seed in p-direction
BlockMatrix *	uSeed
	the 1st order forward seed in u-direction
BlockMatrix *	wSeed
	the 1st order forward seed in w-direction
BlockMatrix *	bSeed
	the 1st order backward seed
BlockMatrix *	xSeed2
	the 2nd order forward seed in x-direction
BlockMatrix *	xaSeed2
	the 2nd order forward seed in x-direction
BlockMatrix *	pSeed2
	the 2nd order forward seed in p-direction
BlockMatrix *	uSeed2
	the 2nd order forward seed in u-direction
BlockMatrix *	wSeed2
	the 2nd order forward seed in w-direction
BlockMatrix *	bSeed2
	the 2nd order backward seed
double	obj
	the objective value
BlockMatrix	dForward
	the first order forward derivatives
BlockMatrix	dBackward
	the first order backward derivatives

Detailed Description

The class MayerTerm allows to manage and evaluate Mayer terms within optimal control problems.

Author:: Boris Houska, Hans Joachim Ferreau

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO MayerTerm::MayerTerm ( )

MayerTerm::MayerTerm	(	const Grid &	grid_,
		const Expression &	arg
	)

References ObjectiveElement::fcn.

MayerTerm::MayerTerm	(	const Grid &	grid_,
		const Function &	arg
	)

References ObjectiveElement::fcn.

MayerTerm::MayerTerm ( const MayerTerm & rhs )

MayerTerm::~MayerTerm ( ) [virtual]

Member Function Documentation

returnValue MayerTerm::evaluate ( const OCPiterate & x )

References Function::evaluate(), ObjectiveElement::fcn, Grid::getLastIndex(), ObjectiveElement::grid, init(), ObjectiveElement::obj, EvaluationPoint::setZ(), SUCCESSFUL_RETURN, and ObjectiveElement::z.

returnValue MayerTerm::evaluateSensitivities ( BlockMatrix * hessian )

returnValue ObjectiveElement::getBackwardSensitivities	(	BlockMatrix *	D,
		int	order
	)		`[virtual, inherited]`

Returns:: SUCCESSFUL_RETURN
RET_INPUT_OUT_OF_RANGE

Parameters:

D	the result for the forward sensitivi- ties
order	the order

References ACADOERROR, ACADOWARNING, ASSERT, ObjectiveElement::dBackward, RET_INPUT_OUT_OF_RANGE, RET_NOT_IMPLEMENTED_YET, and SUCCESSFUL_RETURN.

Referenced by Objective::getBackwardSensitivities().

returnValue ObjectiveElement::getForwardSensitivities	(	BlockMatrix *	D,
		int	order
	)		`[virtual, inherited]`

Returns:: SUCCESSFUL_RETURN
RET_INPUT_OUT_OF_RANGE

Parameters:

D	the result for the forward sensitivi- ties
order	the order

References ACADOERROR, ACADOWARNING, ASSERT, ObjectiveElement::dForward, RET_INPUT_OUT_OF_RANGE, RET_NOT_IMPLEMENTED_YET, and SUCCESSFUL_RETURN.

Referenced by Objective::getForwardSensitivities().

returnValue ObjectiveElement::getFunction ( Function & _function ) [inline, inherited]

Returns:: SUCCESSFUL_RETURN.

References ObjectiveElement::fcn, and SUCCESSFUL_RETURN.

Grid ObjectiveElement::getGrid ( ) const [inline, protected, inherited]

References ObjectiveElement::grid.

int ObjectiveElement::getNP ( ) const [inline, inherited]

Returns:: The requested number of parameters.

References ObjectiveElement::fcn, and Function::getNP().

int ObjectiveElement::getNU ( ) const [inline, inherited]

Returns:: The requested number of controls.

References ObjectiveElement::fcn, and Function::getNU().

int ObjectiveElement::getNW ( ) const [inline, inherited]

Returns:: The requested number of disturbances.

References ObjectiveElement::fcn, and Function::getNW().

int ObjectiveElement::getNX ( ) const [inline, inherited]

Returns:: The requested number of differential states.

References ObjectiveElement::fcn, and Function::getNX().

int ObjectiveElement::getNXA ( ) const [inline, inherited]

Returns:: The requested number of algebraic states.

References ObjectiveElement::fcn, and Function::getNXA().

returnValue ObjectiveElement::getObjectiveValue ( double & objectiveValue ) [virtual, inherited]

Returns:: SUCCESSFUL_RETURN

Parameters:

objectiveValue the objective value

References ObjectiveElement::obj, and SUCCESSFUL_RETURN.

Referenced by Objective::getObjectiveValue().

BEGIN_NAMESPACE_ACADO returnValue MayerTerm::init	(	const Grid &	grid_,
		const Expression &	arg
	)		`[inline]`

References ObjectiveElement::fcn, ObjectiveElement::grid, and SUCCESSFUL_RETURN.

Referenced by evaluate().

returnValue ObjectiveElement::init ( const OCPiterate & x ) [inherited]

MayerTerm & MayerTerm::operator= ( const MayerTerm & rhs )

returnValue ObjectiveElement::setBackwardSeed	(	BlockMatrix *	seed,
		int	order
	)		`[virtual, inherited]`

Returns:: SUCCESFUL_RETURN
RET_INPUT_OUT_OF_RANGE

Parameters:

seed	the seed matrix
order	the order of the seed.

References ACADOWARNING, ObjectiveElement::bSeed, ObjectiveElement::bSeed2, RET_INPUT_OUT_OF_RANGE, and SUCCESSFUL_RETURN.

Referenced by Objective::setBackwardSeed().

returnValue ObjectiveElement::setForwardSeed	(	BlockMatrix *	xSeed_,
		BlockMatrix *	xaSeed_,
		BlockMatrix *	pSeed_,
		BlockMatrix *	uSeed_,
		BlockMatrix *	wSeed_,
		int	order
	)		`[virtual, inherited]`

Returns:: SUCCESFUL RETURN
RET_INPUT_OUT_OF_RANGE

Parameters:

xSeed_	the seed in x -direction
xaSeed_	the seed in xa-direction
pSeed_	the seed in p -direction
uSeed_	the seed in u -direction
wSeed_	the seed in w -direction
order	the order of the seed.