VariablesGrid Class Reference

Provides a time grid consisting of vector-valued optimization variables at each grid point. More...

#include <variables_grid.hpp>

Inheritance diagram for VariablesGrid:

List of all members.

Public Member Functions
	VariablesGrid ()
	Default constructor.
	VariablesGrid (uint _dim, const Grid &_grid, VariableType _type=VT_UNKNOWN, const char **const _names=0, const char **const _units=0, const VectorspaceElement *const _scaling=0, const VectorspaceElement *const _lb=0, const VectorspaceElement *const _ub=0, const BooleanType *const _autoInit=0)
	Constructor that takes the dimension of each vector-valued MatrixVariable as well as the grid on which they are defined.
	VariablesGrid (uint _dim, uint _nPoints, VariableType _type=VT_UNKNOWN, const char **const _names=0, const char **const _units=0, const VectorspaceElement *const _scaling=0, const VectorspaceElement *const _lb=0, const VectorspaceElement *const _ub=0, const BooleanType *const _autoInit=0)
	Constructor that takes the dimension of each vector-valued MatrixVariable as well as the number of grid points on which they are defined.
	VariablesGrid (uint _dim, double _firstTime, double _lastTime, uint _nPoints, VariableType _type=VT_UNKNOWN, const char **const _names=0, const char **const _units=0, const VectorspaceElement *const _scaling=0, const VectorspaceElement *const _lb=0, const VectorspaceElement *const _ub=0, const BooleanType *const _autoInit=0)
	Constructor that takes the dimensions of each vector-valued MatrixVariable as well as the number of grid points on which they are defined.
	VariablesGrid (const Vector &arg, const Grid &_grid=trivialGrid, VariableType _type=VT_UNKNOWN)
	Constructor that creates a VariablesGrid on a given grid with given type.
	VariablesGrid (const Matrix &arg, VariableType _type=VT_UNKNOWN)
	Constructor which reads data from a matrix.
	VariablesGrid (FILE *file)
	Constructor which reads data from a file.
	VariablesGrid (const VariablesGrid &rhs)
	Copy constructor (deep copy).
	VariablesGrid (const MatrixVariablesGrid &rhs)
	Copy constructor (deep copy).
	~VariablesGrid ()
	Destructor.
VariablesGrid &	operator= (const VariablesGrid &rhs)
	Assignment operator (deep copy).
VariablesGrid &	operator= (const MatrixVariablesGrid &rhs)
	Assignment operator (deep copy).
VariablesGrid &	operator= (FILE *rhs)
	Assignment operator which reads data from a file.
VariablesGrid &	operator= (const Matrix &rhs)
	Assignment operator which reads data from a matrix.
BooleanType	operator== (const VariablesGrid &arg) const
	Tests for equality,.
double &	operator() (uint pointIdx, uint rowIdx)
	Returns the value of a certain component at a certain grid point.
double	operator() (uint pointIdx, uint rowIdx) const
	Returns the value of a certain component at a certain grid point.
VariablesGrid	operator() (const uint rowIdx) const
	Returns a VariablesGrid consisting only of the given row.
VariablesGrid	operator[] (const uint pointIdx) const
	Returns a VariablesGrid consisting only of the values at given grid point.
VariablesGrid	operator+ (const VariablesGrid &arg) const
	Adds (element-wise) two VariablesGrid into a temporary object.
VariablesGrid &	operator+= (const VariablesGrid &arg)
	Adds (element-wise) a VariablesGrid to object.
VariablesGrid	operator- (const VariablesGrid &arg) const
	Subtracts (element-wise) a VariablesGrid from the object and stores result into a temporary object.
VariablesGrid &	operator-= (const VariablesGrid &arg)
	Subtracts (element-wise) a VariablesGrid from the object.
returnValue	init ()
	Initializes an empty VariablesGrid.
returnValue	init (uint _dim, const Grid &_grid, VariableType _type=VT_UNKNOWN, const char **const _names=0, const char **const _units=0, const VectorspaceElement *const _scaling=0, const VectorspaceElement *const _lb=0, const VectorspaceElement *const _ub=0, const BooleanType *const _autoInit=0)
	Initializes the VariablesGrid on a given grid with given dimension of each vector-valued MatrixVariable.
returnValue	init (uint _dim, uint _nPoints, VariableType _type=VT_UNKNOWN, const char **const _names=0, const char **const _units=0, const VectorspaceElement *const _scaling=0, const VectorspaceElement *const _lb=0, const VectorspaceElement *const _ub=0, const BooleanType *const _autoInit=0)
	Initializes the VariablesGrid taking the dimension of each vector-valued MatrixVariable as well as the number of grid points on which they are defined.
returnValue	init (uint _dim, double _firstTime, double _lastTime, uint _nPoints, VariableType _type=VT_UNKNOWN, const char **const _names=0, const char **const _units=0, const VectorspaceElement *const _scaling=0, const VectorspaceElement *const _lb=0, const VectorspaceElement *const _ub=0, const BooleanType *const _autoInit=0)
	Initializes the MatrixVariablesGrid taking the dimension of each vector-valued MatrixVariable as well as the number of grid points on which they are defined.
returnValue	init (const Vector &arg, const Grid &_grid=trivialGrid, VariableType _type=VT_UNKNOWN)
	Initializes the VariablesGrid on a given grid with given type.
returnValue	addVector (const Vector &newVector, double newTime=-INFTY)
	Adds a new grid point with given vector and time to grid.
returnValue	setVector (uint pointIdx, const Vector &_values)
	Assigns new vector to grid point with given index.
returnValue	setAllVectors (const Vector &_values)
	Assigns new vector to all grid points.
Vector	getVector (uint pointIdx) const
	Returns vector at grid point with given index.
Vector	getFirstVector () const
	Returns vector at first grid point.
Vector	getLastVector () const
	Returns vector at first grid point.
returnValue	appendTimes (const VariablesGrid &arg, MergeMethod _mergeMethod=MM_DUPLICATE)
	Appends grid point of given grid to object.
returnValue	appendTimes (const Matrix &arg, MergeMethod _mergeMethod=MM_DUPLICATE)
	Appends grid point of given grid to object.
returnValue	appendValues (const VariablesGrid &arg)
	Appends values at all grid points of given grid to object.
returnValue	merge (const VariablesGrid &arg, MergeMethod _mergeMethod=MM_DUPLICATE, BooleanType keepOverlap=BT_TRUE)
	Constructs the set union in time of current and given grid.
VariablesGrid	getTimeSubGrid (uint startIdx, uint endIdx) const
	Returns the sub grid in time starting and ending at given indices.
VariablesGrid	getTimeSubGrid (double startTime, double endTime) const
	Returns the sub grid in time starting and ending at given times.
VariablesGrid	getValuesSubGrid (uint startIdx, uint endIdx) const
	Returns the sub grid of values.
VariablesGrid &	shiftTimes (double timeShift)
	Shifts times at all grid points by a given offset.
VariablesGrid &	shiftBackwards (Vector lastValue=emptyVector)
	Shifts all grid points backwards by one grid point, deleting the first one and doubling the value at last grid point.
returnValue	getSum (Vector &sum) const
	Returns the component-wise sum over all vectors at all grid points.
returnValue	getIntegral (InterpolationMode mode, Vector &value) const
	Returns a component-wise approximation of the integral over all vectors at all grid points.
double &	operator() (uint pointIdx, uint rowIdx, uint colIdx)
	Returns the value of a certain component at a certain grid point.
double	operator() (uint pointIdx, uint rowIdx, uint colIdx) const
	Returns the value of a certain component at a certain grid point (const variant).
MatrixVariablesGrid	operator+ (const MatrixVariablesGrid &arg) const
	Adds (element-wise) two MatrixVariablesGrid into a temporary object.
MatrixVariablesGrid &	operator+= (const MatrixVariablesGrid &arg)
	Adds (element-wise) a MatrixVariablesGrid to object.
MatrixVariablesGrid	operator- (const MatrixVariablesGrid &arg) const
	Subtracts (element-wise) a MatrixVariablesGrid from the object and stores result into a temporary object.
MatrixVariablesGrid &	operator-= (const MatrixVariablesGrid &arg)
	Subtracts (element-wise) a MatrixVariablesGrid from the object.
returnValue	init (uint _nRows, uint _nCols, const Grid &_grid, VariableType _type=VT_UNKNOWN, const char **const _names=0, const char **const _units=0, const VectorspaceElement *const _scaling=0, const VectorspaceElement *const _lb=0, const VectorspaceElement *const _ub=0, const BooleanType *const _autoInit=0)
	Initializes the MatrixVariablesGrid on a given grid with given dimensions of each MatrixVariable.
returnValue	init (uint _nRows, uint _nCols, uint _nPoints, VariableType _type=VT_UNKNOWN, const char **const _names=0, const char **const _units=0, const VectorspaceElement *const _scaling=0, const VectorspaceElement *const _lb=0, const VectorspaceElement *const _ub=0, const BooleanType *const _autoInit=0)
	Initializes the MatrixVariablesGrid taking the dimensions of each MatrixVariable as well as the number of grid points on which they are defined.
returnValue	init (uint _nRows, uint _nCols, double _firstTime, double _lastTime, uint _nPoints, VariableType _type=VT_UNKNOWN, const char **const _names=0, const char **const _units=0, const VectorspaceElement *const _scaling=0, const VectorspaceElement *const _lb=0, const VectorspaceElement *const _ub=0, const BooleanType *const _autoInit=0)
	Initializes the MatrixVariablesGrid taking the dimensions of each MatrixVariable as well as the number of grid points on which they are defined.
returnValue	init (const Matrix &arg, const Grid &_grid=trivialGrid, VariableType _type=VT_UNKNOWN)
	Initializes the MatrixVariablesGrid on a given grid with given type.
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.
returnValue	addMatrix (const Matrix &newMatrix, double newTime=-INFTY)
	Adds a new grid point with given matrix and time to grid.
returnValue	setMatrix (uint pointIdx, const Matrix &_value) const
	Assigns new matrix to grid point with given index.
returnValue	setAllMatrices (const Matrix &_values)
	Assigns new matrix to all grid points.
Matrix	getMatrix (uint pointIdx) const
	Returns matrix at grid point with given index.
Matrix	getFirstMatrix () const
	Returns matrix at first grid point.
Matrix	getLastMatrix () const
	Returns matrix at last grid point.
uint	getDim () const
	Returns total dimension of MatrixVariablesGrid, i.e.
uint	getNumRows () const
	Returns number of rows of matrix at first grid point.
uint	getNumRows (uint pointIdx) const
	Returns number of rows of matrix at grid point with given index.
uint	getNumCols () const
	Returns number of columns of matrix at first grid point.
uint	getNumCols (uint pointIdx) const
	Returns number of columns of matrix at grid point with given index.
uint	getNumValues () const
	Returns number of values of matrix at first grid point.
uint	getNumValues (uint pointIdx) const
	Returns number of values of matrix at grid point with given index.
VariableType	getType () const
	Returns variable type of MatrixVariable at first grid point.
VariableType	getType (uint pointIdx) const
	Returns variable type of MatrixVariable at grid point with given index.
returnValue	setType (VariableType _type)
	Assigns new variable type at all grid points.
returnValue	setType (uint pointIdx, VariableType _type)
	Assigns new variable type to MatrixVariable at grid point with given index.
returnValue	getName (uint pointIdx, uint idx, char *const _name) const
	Returns name label of given component of MatrixVariable at grid point with given index.
returnValue	setName (uint pointIdx, uint idx, const char *const _name)
	Assigns new name label to given component of MatrixVariable at grid point with given index.
returnValue	getUnit (uint pointIdx, uint idx, char *const _unit) const
	Returns current unit label of given component of MatrixVariable at grid point with given index.
returnValue	setUnit (uint pointIdx, uint idx, const char *const _unit)
	Assigns new name label to given component of MatrixVariable at grid point with given index.
VectorspaceElement	getScaling (uint pointIdx) const
	Returns scaling of MatrixVariable at grid point with given index.
double	getScaling (uint pointIdx, uint valueIdx) const
	Returns scaling of given component of MatrixVariable at grid point with given index.
returnValue	setScaling (uint pointIdx, const VectorspaceElement &_scaling)
	Assigns new scaling to MatrixVariable at grid point with given index.
returnValue	setScaling (uint pointIdx, uint valueIdx, double _scaling)
	Assigns new scaling to given component of MatrixVariable at grid point with given index.
VectorspaceElement	getLowerBounds (uint pointIdx) const
	Returns lower bounds of MatrixVariable at grid point with given index.
returnValue	setLowerBounds (uint pointIdx, const VectorspaceElement &_lb)
	Assigns new lower bounds to MatrixVariable at grid point with given index.
double	getLowerBound (uint pointIdx, uint valueIdx) const
	Returns lower bound of given component of MatrixVariable at grid point with given index.
returnValue	setLowerBound (uint pointIdx, uint valueIdx, double _lb)
	Assigns new lower bound to given component of MatrixVariable at grid point with given index.
VectorspaceElement	getUpperBounds (uint pointIdx) const
	Returns upper bounds of MatrixVariable at grid point with given index.
returnValue	setUpperBounds (uint pointIdx, const VectorspaceElement &_ub)
	Assigns new upper bounds to MatrixVariable at grid point with given index.
double	getUpperBound (uint pointIdx, uint valueIdx) const
	Returns upper bound of given component of MatrixVariable at grid point with given index.
returnValue	setUpperBound (uint pointIdx, uint valueIdx, double _ub)
	Assigns new upper bound to given component of MatrixVariable at grid point with given index.
BooleanType	getAutoInit (uint pointIdx) const
	Returns whether MatrixVariable at grid point with given index will be automatically initialized.
returnValue	setAutoInit (uint pointIdx, BooleanType _autoInit)
	Assigns new auto initialization flag to MatrixVariable at grid point with given index.
returnValue	disableAutoInit ()
	Enables auto initialization at all grid points.
returnValue	enableAutoInit ()
	Disables auto initialization at all grid points.
BooleanType	hasNames () const
	Returns whether MatrixVariablesGrid comprises (non-empty) name labels (at at least one of its grid points).
BooleanType	hasUnits () const
	Returns whether MatrixVariablesGrid comprises (non-empty) unit labels (at at least one of its grid points).
BooleanType	hasScaling () const
	Returns whether scaling is set (at at least one grid point).
BooleanType	hasLowerBounds () const
	Returns whether MatrixVariablesGrid comprises lower bounds (at at least one of its grid points).
BooleanType	hasUpperBounds () const
	Returns whether MatrixVariablesGrid comprises upper bounds (at at least one of its grid points).
double	getMax () const
	Returns maximum value over all matrices at all grid points.
double	getMin () const
	Returns minimum value over all matrices at all grid points.
double	getMean () const
	Returns mean value over all matrices at all grid points.
returnValue	setZero ()
	Assigns zero to all components of all matrices at all grid points.
returnValue	setAll (double _value)
	Assigns given value to all components of all matrices at all grid points.
returnValue	appendTimes (const MatrixVariablesGrid &arg, MergeMethod _mergeMethod=MM_DUPLICATE)
	Appends grid point of given grid to object.
returnValue	appendValues (const MatrixVariablesGrid &arg)
	Appends values at all grid points of given grid to object.
returnValue	merge (const MatrixVariablesGrid &arg, MergeMethod _mergeMethod=MM_DUPLICATE, BooleanType keepOverlap=BT_TRUE)
	Constructs the set union in time of current and given 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.
returnValue	getGrid (Grid &_grid) const
	Returns the time grid of MatrixVariablesGrid.
Grid	getTimePoints () const
	Returns (deep-copy of) time grid of MatrixVariablesGrid.
returnValue	refineGrid (const Grid &arg, InterpolationMode mode=IM_CONSTANT)
	Refines the grid by adding all grid points of given grid that are not not yet included.
returnValue	refineGrid (uint factor)
	Refines grid by a given factor by adding equally spaced additional time points in between existing ones.
returnValue	coarsenGrid (const Grid &arg)
	Coarsens the grid by removing all grid points of current grid that are not included in given grid.
returnValue	coarsenGrid (uint factor)
	Coarsens grid by a given factor by equally leaving out time points from the existing ones.
MatrixVariablesGrid	getRefinedGrid (const Grid &arg, InterpolationMode mode=IM_CONSTANT) const
	Returns a refined grid by adding all grid points of given grid that are not yet included.
MatrixVariablesGrid	getCoarsenedGrid (const Grid &arg) const
	Returns a coarsened grid by removing all grid points of current grid that are not included in given grid.
MatrixVariablesGrid &	shiftBackwards (Matrix lastValue=emptyMatrix)
	Shifts all grid points backwards by one grid point, deleting the first one and doubling the value at last grid point.
Vector	linearInterpolation (double time) const
	Returns a vector with interpolated values of the MatrixVariablesGrid at given time.
returnValue	print (const char *const name=DEFAULT_LABEL, const char *const startString=DEFAULT_START_STRING, const char *const endString=DEFAULT_END_STRING, uint width=DEFAULT_WIDTH, uint precision=DEFAULT_PRECISION, const char *const colSeparator=DEFAULT_COL_SEPARATOR, const char *const rowSeparator=DEFAULT_ROW_SEPARATOR) const
	Prints object to standard ouput stream.
returnValue	print (const char *const name, PrintScheme printScheme) const
	Prints object to standard ouput stream.
returnValue	print () const
	Prints times of all grid points to screen.
returnValue	printToFile (const char *const filename, const char *const name=DEFAULT_LABEL, const char *const startString=DEFAULT_START_STRING, const char *const endString=DEFAULT_END_STRING, uint width=DEFAULT_WIDTH, uint precision=DEFAULT_PRECISION, const char *const colSeparator=DEFAULT_COL_SEPARATOR, const char *const rowSeparator=DEFAULT_ROW_SEPARATOR) const
	Prints object to file with given name.
returnValue	printToFile (FILE *file, const char *const name=DEFAULT_LABEL, const char *const startString=DEFAULT_START_STRING, const char *const endString=DEFAULT_END_STRING, uint width=DEFAULT_WIDTH, uint precision=DEFAULT_PRECISION, const char *const colSeparator=DEFAULT_COL_SEPARATOR, const char *const rowSeparator=DEFAULT_ROW_SEPARATOR) const
	Prints object to given file.
returnValue	printToFile (const char *const filename, const char *const name, PrintScheme printScheme) const
	Prints object to file with given name.
returnValue	printToFile (FILE *file, const char *const name, PrintScheme printScheme) const
	Prints object to given file.
virtual returnValue	printToString (char **string, const char *const name=DEFAULT_LABEL, const char *const startString=DEFAULT_START_STRING, const char *const endString=DEFAULT_END_STRING, uint width=DEFAULT_WIDTH, uint precision=DEFAULT_PRECISION, const char *const colSeparator=DEFAULT_COL_SEPARATOR, const char *const rowSeparator=DEFAULT_ROW_SEPARATOR) const
	Prints object to given string.
virtual returnValue	printToString (char **string, const char *const name, PrintScheme printScheme) const
	Prints object to given string.
virtual uint	determineStringLength (const char *const name, const char *const startString, const char *const endString, uint width, uint precision, const char *const colSeparator, const char *const rowSeparator) const
	Determines length of string required for printing object with given settings defining its output format.
int	sprintf (char *buffer)
	Prints MatrixVariablesGrid into a char*.
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.
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.
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.
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.
Protected Member Functions
returnValue	initializeFromBounds ()
	Initializes the grid vector by taking average between upper and lower bound.
returnValue	addMatrix (const MatrixVariable &newMatrix, double newTime=-INFTY)
	Adds a new grid point with given MatrixVariable and time to grid.
returnValue	clearValues ()
	Clears all MatrixVariables on the grid.
returnValue	initMatrixVariables (uint _nRows, uint _nCols, VariableType _type=VT_UNKNOWN, const char **const _names=0, const char **const _units=0, const VectorspaceElement *const _scaling=0, const VectorspaceElement *const _lb=0, const VectorspaceElement *const _ub=0, const BooleanType *const _autoInit=0)
	Initializes array of MatrixVariables with given information.
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
MatrixVariable **	values
	Matrix-valued optimization variable at all grid points.
uint	nPoints
	Number of grid points.
double *	times
	Time values at grid points.
Friends
class	OptimizationAlgorithmBase
class	OptimizationAlgorithm
class	RealTimeAlgorithm
returnValue	operator<< (FILE *file, VariablesGrid &arg)
	Prints the MatrixVariablesGrid into a file.
returnValue	operator<< (FILE *file, MatrixVariablesGrid &arg)
	Prints the MatrixVariablesGrid into a file.

---

Detailed Description

The class VariablesGrid provides a time grid consisting of vector-valued optimization variables at each grid point, as they usually occur when discretizing optimal control problems.

The class specalizes the MatrixVariablesGrid class to vectors represented internally as matrices with exactly one column.

Author:

Hans Joachim Ferreau, Boris Houska

---

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO VariablesGrid::VariablesGrid

(

)

Referenced by operator()(), and operator[]().

VariablesGrid::VariablesGrid	(	uint	_dim,
		const Grid &	_grid,
		VariableType	_type = VT_UNKNOWN,
		const char **const	_names = 0,
		const char **const	_units = 0,
		const VectorspaceElement *const	_scaling = 0,
		const VectorspaceElement *const	_lb = 0,
		const VectorspaceElement *const	_ub = 0,
		const BooleanType *const	_autoInit = 0
	)

Further information can optionally be specified.

Parameters:

[in]	_dim	Dimension of each vector.
[in]	_grid	Grid on which the vector-valued MatrixVariable(s) are defined.
[in]	_type	Type of the variable(s).
[in]	_names	Array containing names (labels) for each component of the variable(s).
[in]	_units	Array containing units for each component of the variable(s).
[in]	_scaling	Array containing the scaling for each component of the variable(s).
[in]	_lb	Array containing lower bounds for each component of the variable(s).
[in]	_ub	Array containing upper bounds for each component of the variable(s).
[in]	_autoInit	Array defining if each component of the variable(s) is to be automatically initialized.

VariablesGrid::VariablesGrid	(	uint	_dim,
		uint	_nPoints,
		VariableType	_type = VT_UNKNOWN,
		const char **const	_names = 0,
		const char **const	_units = 0,
		const VectorspaceElement *const	_scaling = 0,
		const VectorspaceElement *const	_lb = 0,
		const VectorspaceElement *const	_ub = 0,
		const BooleanType *const	_autoInit = 0
	)

Further information can optionally be specified.

Parameters:

[in]	_dim	Dimension of each vector.
[in]	_nPoints	Number of grid points on which the vector-valued MatrixVariable(s) are defined.
[in]	_type	Type of the variable(s).
[in]	_names	Array containing names (labels) for each component of the variable(s).
[in]	_units	Array containing units for each component of the variable(s).
[in]	_scaling	Array containing the scaling for each component of the variable(s).
[in]	_lb	Array containing lower bounds for each component of the variable(s).
[in]	_ub	Array containing upper bounds for each component of the variable(s).
[in]	_autoInit	Array defining if each component of the variable(s) is to be automatically initialized.

VariablesGrid::VariablesGrid	(	uint	_dim,
		double	_firstTime,
		double	_lastTime,
		uint	_nPoints,
		VariableType	_type = VT_UNKNOWN,
		const char **const	_names = 0,
		const char **const	_units = 0,
		const VectorspaceElement *const	_scaling = 0,
		const VectorspaceElement *const	_lb = 0,
		const VectorspaceElement *const	_ub = 0,
		const BooleanType *const	_autoInit = 0
	)

Moreover, it takes the time of the first and the last grid point; all intermediate grid points are setup to form a equidistant grid of time points. Further information can optionally be specified.

Parameters:

[in]	_dim	Dimension of each vector.
[in]	_firstTime	Time of first grid point.
[in]	_lastTime	Time of last grid point.
[in]	_nPoints	Number of grid points on which the vector-valued MatrixVariable(s) are defined.
[in]	_type	Type of the variable(s).
[in]	_names	Array containing names (labels) for each component of the variable(s).
[in]	_units	Array containing units for each component of the variable(s).
[in]	_scaling	Array containing the scaling for each component of the variable(s).
[in]	_lb	Array containing lower bounds for each component of the variable(s).
[in]	_ub	Array containing upper bounds for each component of the variable(s).
[in]	_autoInit	Array defining if each component of the variable(s) is to be automatically initialized.

VariablesGrid::VariablesGrid	(	const Vector &	arg,
		const Grid &	_grid = trivialGrid,
		VariableType	_type = VT_UNKNOWN
	)

At each grid point, the vector-valued MatrixVariable is constructed from the vector passed.

Parameters:

[in]	arg	Vector to be assign at each point of the grid.
[in]	_grid	Grid on which the vector-valued MatrixVariable(s) are defined.
[in]	_type	Type of the variable(s).

VariablesGrid::VariablesGrid	(	const Matrix &	arg,
		VariableType	_type = VT_UNKNOWN
	)

The data is expected to be in matrix format and is interpreted as follows: the first entry of each row is taken as time of the grid point to be added, all remaining entries of each row are taken as numerical values of a vector-valued MatrixVariable with exactly one column. In effect, a MatrixVariablesGrid consisting of <number of columns - 1>-by-1 MatrixVariables defined on <number of="" rows>=""> grid points is setup. Note that all rows are expected to have equal number of columns.

Parameters:

[in]

file

File to be read.

Note:

The file is closed at the end of routine.

References Matrix::getNumCols(), Matrix::getNumRows(), Grid::setTime(), and uint.

VariablesGrid::VariablesGrid

(

FILE *

file

)

The data is interpreted as follows: the first entry of each row is taken as time of the grid point to be added, all remaining entries of each row are taken as numerical values of a vector-valued MatrixVariable with exactly one column. In effect, a MatrixVariablesGrid consisting of <number of columns - 1>-by-1 MatrixVariables defined on <number of="" rows>=""> grid points is setup. Note that all rows are expected to have equal number of columns.

Parameters:

[in]

file

File to be read.

Note:

The file is closed at the end of routine.

VariablesGrid::VariablesGrid

(

const VariablesGrid &

rhs

)

Parameters:

[in]

rhs

Right-hand side object.

VariablesGrid::VariablesGrid

(

const MatrixVariablesGrid &

rhs

)

Parameters:

[in]

rhs

Right-hand side object.

References ASSERT, and MatrixVariablesGrid::getNumCols().

VariablesGrid::~VariablesGrid

(

)

---

Member Function Documentation

returnValue MatrixVariablesGrid::addMatrix	(	const Matrix &	newMatrix,
		double	newTime = -INFTY
	)		[inherited]

Parameters:

[in]	newMatrix	Matrix of grid point to be added.
[in]	newTime	Time of grid point to be added.

Returns:

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Referenced by addVector(), appendTimes(), MatrixVariablesGrid::appendTimes(), MatrixVariablesGrid::getCoarsenedGrid(), MatrixVariablesGrid::getRefinedGrid(), getTimeSubGrid(), MatrixVariablesGrid::getTimeSubGrid(), getValuesSubGrid(), MatrixVariablesGrid::getValuesSubGrid(), merge(), MatrixVariablesGrid::merge(), MatrixVariablesGrid::operator[](), operator[](), LogRecordItem::setAllValues(), and LogRecordItem::setValue().

returnValue MatrixVariablesGrid::addMatrix	(	const MatrixVariable &	newMatrix,
		double	newTime = -INFTY
	)		[protected, inherited]

Parameters:

[in]	newMatrix	MatrixVariable of grid point to be added.
[in]	newTime	Time of grid point to be added.

Returns:

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

References Grid::addTime(), BT_TRUE, Grid::getLastTime(), Grid::getNumPoints(), isInfty(), Grid::nPoints, RET_INVALID_ARGUMENTS, SUCCESSFUL_RETURN, and MatrixVariablesGrid::values.

returnValue Grid::addTime

(

double

_time

)

[inherited]

Parameters:

[in]

_time

Time point to be added.

Returns:

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

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

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

returnValue VariablesGrid::addVector	(	const Vector &	newVector,
		double	newTime = -INFTY
	)

Parameters:

[in]	newVector	Vector of grid point to be added.
[in]	newTime	Time of grid point to be added.

Returns:

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

References MatrixVariablesGrid::addMatrix().

Referenced by PlotWindow::getDataGrids().

returnValue VariablesGrid::appendTimes	(	const VariablesGrid &	arg,
		MergeMethod	_mergeMethod = MM_DUPLICATE
	)

A merge method defines the way duplicate entries are handled.

Parameters:

[in]	arg	Grid to append.
[in]	_mergeMethod	Merge method, see documentation of MergeMethod for details.

Returns:

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

References ACADOERROR, acadoIsEqual(), acadoIsGreater(), MatrixVariablesGrid::addMatrix(), BT_FALSE, Grid::getFirstTime(), getFirstVector(), Grid::getLastIndex(), Grid::getLastTime(), Grid::getNumPoints(), Grid::getTime(), MM_DUPLICATE, MM_KEEP, MM_REPLACE, RET_INVALID_ARGUMENTS, setVector(), SUCCESSFUL_RETURN, uint, and MatrixVariablesGrid::values.

Referenced by appendTimes(), SimulationEnvironment::getProcessAlgebraicStates(), SimulationEnvironment::getProcessDifferentialStates(), SimulationEnvironment::getProcessIntermediateStates(), PeriodicReferenceTrajectory::getReference(), ShootingMethod::logTrajectory(), and merge().

returnValue VariablesGrid::appendTimes	(	const Matrix &	arg,
		MergeMethod	_mergeMethod = MM_DUPLICATE
	)

A merge method defines the way duplicate entries are handled.

Parameters:

[in]	arg	Grid to append in matrix form.
[in]	_mergeMethod	Merge method, see documentation of MergeMethod for details.

Returns:

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

References appendTimes().

returnValue MatrixVariablesGrid::appendTimes	(	const MatrixVariablesGrid &	arg,
		MergeMethod	_mergeMethod = MM_DUPLICATE
	)		[inherited]

A merge method defines the way duplicate entries are handled.

Parameters:

[in]	arg	Grid to append.
[in]	_mergeMethod	Merge method, see documentation of MergeMethod for details.

Returns:

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

References ACADOERROR, acadoIsEqual(), acadoIsGreater(), MatrixVariablesGrid::addMatrix(), BT_FALSE, BT_TRUE, MatrixVariablesGrid::getFirstMatrix(), Grid::getFirstTime(), Grid::getLastIndex(), Grid::getLastTime(), Grid::getNumPoints(), Grid::getTime(), MM_DUPLICATE, MM_KEEP, MM_REPLACE, RET_INVALID_ARGUMENTS, MatrixVariablesGrid::setMatrix(), SUCCESSFUL_RETURN, uint, and MatrixVariablesGrid::values.

Referenced by MatrixVariablesGrid::merge().

returnValue VariablesGrid::appendValues

(

const VariablesGrid &

arg

)

Both grids need to be defined over identical grid points.

Parameters:

[in]

arg

Grid whose values are to appended.

Returns:

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

References ACADOERROR, Matrix::appendRows(), VariableSettings::appendSettings(), Grid::getNumPoints(), RET_INVALID_ARGUMENTS, SUCCESSFUL_RETURN, uint, and MatrixVariablesGrid::values.

Referenced by Actuator::delayActuatorInput(), Actuator::getDelayedInputGrids(), Sensor::getDelayedOutputGrid(), and GnuplotWindow::sendDataToGnuplot().

returnValue MatrixVariablesGrid::appendValues

(

const MatrixVariablesGrid &

arg

)

[inherited]

Both grids need to be defined over identical grid points.

Parameters:

[in]

arg

Grid whose values are to appended.

Returns:

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

References ACADOERROR, Matrix::appendRows(), VariableSettings::appendSettings(), Grid::getNumPoints(), RET_INVALID_ARGUMENTS, SUCCESSFUL_RETURN, uint, and MatrixVariablesGrid::values.

returnValue MatrixVariablesGrid::clearValues

(

)

[protected, inherited]

Note that the grid itself is not cleared.

Returns:

SUCCESSFUL_RETURN

References Grid::nPoints, SUCCESSFUL_RETURN, uint, and MatrixVariablesGrid::values.

Referenced by MatrixVariablesGrid::init(), MatrixVariablesGrid::operator=(), and MatrixVariablesGrid::~MatrixVariablesGrid().

returnValue Grid::coarsenGrid

(

uint

factor

)

[inherited]

Parameters:

[in]

factor

Coarsening factor.

Returns:

RET_NOT_YET_IMPLEMENTED,
RET_INVALID_ARGUMENTS

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

returnValue MatrixVariablesGrid::coarsenGrid

(

const Grid &

arg

)

[inherited]

For doing so, the given grid has to be a subset of the current grid.

Parameters:

[in]

arg

Grid to be used for coarsening.

Returns:

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

References ACADOERROR, BT_TRUE, MatrixVariablesGrid::getCoarsenedGrid(), Grid::isEmpty(), RET_INVALID_ARGUMENTS, and SUCCESSFUL_RETURN.

uint MatrixVariablesGrid::determineStringLength	(	const char *const	name,
		const char *const	startString,
		const char *const	endString,
		uint	width,
		uint	precision,
		const char *const	colSeparator,
		const char *const	rowSeparator
	)		const [virtual, inherited]

Parameters:

[in]	name	Name label to be printed before the numerical values.
[in]	startString	Prefix before printing the numerical values.
[in]	endString	Suffix after printing the numerical values.
[in]	width	Total number of digits per single numerical value.
[in]	precision	Number of decimals per single numerical value.
[in]	colSeparator	Separator between the columns of the numerical values.
[in]	rowSeparator	Separator between the rows of the numerical values.

Returns:

Length of string required for printing object

References Grid::getNumPoints(), getStringLength(), uint, and MatrixVariablesGrid::values.

Referenced by MatrixVariablesGrid::printToString().

returnValue MatrixVariablesGrid::disableAutoInit

(

)

[inline, inherited]

Returns:

SUCCESSFUL_RETURN

References BT_FALSE, Grid::getNumPoints(), MatrixVariablesGrid::setAutoInit(), SUCCESSFUL_RETURN, uint, and MatrixVariablesGrid::values.

Referenced by OCPiterate::enableSimulationMode(), OptimizationAlgorithmBase::init(), OptimizationAlgorithmBase::initializeAlgebraicStates(), OptimizationAlgorithmBase::initializeDifferentialStates(), and SCPmethod::setup().

returnValue MatrixVariablesGrid::enableAutoInit

(

)

[inline, inherited]

Returns:

SUCCESSFUL_RETURN

References BT_TRUE, Grid::getNumPoints(), MatrixVariablesGrid::setAutoInit(), SUCCESSFUL_RETURN, uint, and MatrixVariablesGrid::values.

Referenced by OCPiterate::enableSimulationMode(), OptimizationAlgorithmBase::initializeAlgebraicStates(), OptimizationAlgorithmBase::initializeDifferentialStates(), and OptimizationAlgorithmBase::simulateStatesForInitialization().

returnValue Grid::equalizeGrids

(

Grid &

arg

)

[inherited]

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 [inherited]

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, Grid::getNumPoints(), Grid::times, and uint.

Referenced by Grid::findTime().

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

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, Grid::getNumPoints(), Grid::times, and uint.

Referenced by MatrixVariablesGrid::getCoarsenedGrid().

int Grid::findNextIndex

(

)

const [protected, inherited]

Returns:

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

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

Referenced by Grid::setTime().

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

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 Grid::findFirstTime().

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

BooleanType MatrixVariablesGrid::getAutoInit

(

uint

pointIdx

)

const [inline, inherited]

Parameters:

[in]

pointIdx

Index of grid point.

Returns:

BT_TRUE iff MatrixVariable at given grid point will be automatically initialized,
BT_FALSE otherwise

References ACADOERROR, defaultAutoInit, VariableSettings::getAutoInit(), Grid::getNumPoints(), RET_INDEX_OUT_OF_BOUNDS, and MatrixVariablesGrid::values.

Referenced by OptimizationAlgorithmBase::initializeOCPiterate(), and OCPiterate::update().

uint Grid::getCeilIndex

(

double

time

)

const [inherited]

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, Grid::getLastIndex(), Grid::getTime(), Grid::isInLowerHalfOpenInterval(), and uint.

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

MatrixVariablesGrid MatrixVariablesGrid::getCoarsenedGrid

(

const Grid &

arg

)

const [inherited]

For doing so, the given grid has to be a subset of the current grid.

Parameters:

[in]

arg

Grid to be used for coarsening.

Returns:

Coarsened grid

References MatrixVariablesGrid::addMatrix(), BT_FALSE, BT_TRUE, Grid::findLastTime(), Grid::getNumPoints(), Grid::getTime(), MatrixVariablesGrid::init(), Grid::isEmpty(), uint, and MatrixVariablesGrid::values.

Referenced by MatrixVariablesGrid::coarsenGrid(), and Process::simulate().

uint MatrixVariablesGrid::getDim

(

)

const [inline, inherited]

the sum of dimensions of matrices at all grid point.

Returns:

Total dimension of MatrixVariablesGrid

References Grid::getNumPoints(), uint, and MatrixVariablesGrid::values.

Referenced by LogRecordItem::getNumDoubles(), MatrixVariablesGrid::setLowerBound(), MatrixVariablesGrid::setScaling(), and MatrixVariablesGrid::setUpperBound().

Matrix MatrixVariablesGrid::getFirstMatrix

(

)

const [inherited]

Returns:

Matrix at first grid point

References emptyMatrix, MatrixVariablesGrid::getMatrix(), and Grid::getNumPoints().

Referenced by MatrixVariablesGrid::appendTimes(), and LogRecordItem::setAllValues().

double Grid::getFirstTime

(

)

const [inline, inherited]

Returns:

Time of first grid point

References ASSERT, and Grid::times.

Referenced by Actuator::addActuatorNoise(), Sensor::addSensorNoise(), 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(), 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().

Vector VariablesGrid::getFirstVector

(

)

const

Returns:

Vector at first grid point

References emptyVector, Grid::getNumPoints(), and getVector().

Referenced by appendTimes(), Controller::getCurrentReference(), and Process::run().

uint Grid::getFloorIndex

(

double

time

)

const [inherited]

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, Grid::getLastIndex(), Grid::getTime(), Grid::isInUpperHalfOpenInterval(), and uint.

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

returnValue MatrixVariablesGrid::getGrid

(

Grid &

_grid

)

const [inline, inherited]

Parameters:

[out]

grid_

Time grid.

Returns:

SUCCESSFUL_RETURN

References Grid::getNumPoints(), Grid::init(), and Grid::times.

Referenced by Actuator::addActuatorNoise(), Sensor::addSensorNoise(), Process::calculateOutput(), PlotWindow::getExpressionDataGrids(), MatrixVariablesGrid::getTimePoints(), OCPiterate::getUnionGrid(), PlotWindow::getVariableDataGrids(), MatrixVariablesGrid::operator()(), operator()(), Process::simulate(), and Process::step().

returnValue VariablesGrid::getIntegral	(	InterpolationMode	mode,
		Vector &	value
	)		const

Parameters:

[in]	mode	Specifies how the vector-values are interpolated for approximating the integral, see documentation of InterpolationMode for details.
[out]	value	Component-wise approximation of the integral over all vectors at all grid points.

Returns:

SUCCESSFUL_RETURN

References ACADOERROR, Grid::getIntervalLength(), Grid::getNumIntervals(), MatrixVariablesGrid::getNumValues(), IM_CONSTANT, IM_LINEAR, operator()(), RET_NOT_YET_IMPLEMENTED, VectorspaceElement::setZero(), SUCCESSFUL_RETURN, and uint.

Referenced by LSQTerm::evaluate().

double Grid::getIntervalLength

(

)

const [inline, inherited]

Returns:

Total interval length of grid

References Grid::nPoints, and Grid::times.

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

double Grid::getIntervalLength

(

uint

pointIdx

)

const [inline, inherited]

Parameters:

[in]

pointIdx

Index of grid point at beginning of interval.

Returns:

Interval length between given grid point and next one

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

uint Grid::getLastIndex

(

)

const [inline, inherited]

Returns:

Largest index of grid.

References Grid::getNumPoints().

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

Matrix MatrixVariablesGrid::getLastMatrix

(

)

const [inherited]

Returns:

Matrix at last grid point

References emptyMatrix, MatrixVariablesGrid::getMatrix(), and Grid::getNumPoints().

Referenced by LogRecordItem::setAllValues().

double Grid::getLastTime

(

)

const [inline, inherited]

Returns:

Time of last grid point

References ASSERT, Grid::nPoints, and Grid::times.

Referenced by Curve::add(), Actuator::addActuatorNoise(), MatrixVariablesGrid::addMatrix(), Sensor::addSensorNoise(), Grid::addTime(), 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(), Grid::getTime(), Curve::getTimeDomain(), Integrator::integrate(), Curve::isInTimeDomain(), ShootingMethod::logTrajectory(), Grid::merge(), merge(), MatrixVariablesGrid::merge(), DiagonallyImplicitRKExport::prepareInputSystem(), ImplicitRungeKuttaExport::prepareOutputEvaluation(), DiagonallyImplicitRKExport::prepareOutputSystem(), Grid::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().

Vector VariablesGrid::getLastVector

(

)

const

Returns:

Vector at first grid point

References emptyVector, Grid::getNumPoints(), and getVector().

Referenced by Actuator::delayActuatorInput(), Sensor::delaySensorOutput(), ShootingMethod::evaluate(), PlotWindow::getDataGrids(), StaticReferenceTrajectory::getReference(), IntegrationAlgorithm::getX(), IntegrationAlgorithm::getXA(), Objective::setReference(), and Process::simulate().

double MatrixVariablesGrid::getLowerBound	(	uint	pointIdx,
		uint	valueIdx
	)		const [inline, inherited]

Parameters:

[in]	pointIdx	Index of grid point.
[in]	valueIdx	Index of component.

Returns:

< INFTY: Lower bound of given component of MatrixVariable at given grid point,
INFTY: Index out of bounds

References VariableSettings::getLowerBound(), Grid::getNumPoints(), INFTY, and MatrixVariablesGrid::values.

Referenced by initializeFromBounds(), ExportGaussNewtonCN2::setupConstraintsEvaluation(), and ExportGaussNewtonCondensed::setupConstraintsEvaluation().

VectorspaceElement MatrixVariablesGrid::getLowerBounds

(

uint

pointIdx

)

const [inline, inherited]

Parameters:

[in]

pointIdx

Index of grid point.

Returns:

Lower bounds of MatrixVariable at given grid point

References emptyVectorspaceElement, VariableSettings::getLowerBounds(), Grid::getNumPoints(), and MatrixVariablesGrid::values.

Referenced by ExportNLPSolver::setConstraints(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), ExportGaussNewtonForces::setupConstraintsEvaluation(), and OCPiterate::update().

Matrix MatrixVariablesGrid::getMatrix

(

uint

pointIdx

)

const [inherited]

Parameters:

[in]

pointIdx

Index of grid point.

Returns:

Matrix at grid point with given index (empty if index is out of bounds)

References ASSERT, emptyMatrix, MatrixVariable::getMatrix(), Grid::getNumPoints(), and MatrixVariablesGrid::values.

Referenced by Objective::addLSQ(), LogRecordItem::determineStringLength(), ShootingMethod::evaluateSensitivitiesLifted(), MatrixVariablesGrid::getFirstMatrix(), MatrixVariablesGrid::getLastMatrix(), SimulationEnvironment::getProcessAlgebraicStates(), SimulationEnvironment::getProcessDifferentialStates(), SimulationEnvironment::getProcessIntermediateStates(), SimulationEnvironment::getSampledProcessOutput(), LogRecordItem::getValue(), LogRecordItem::getValueString(), LSQTerm::getWeigthingtMatrix(), operator==(), and LSQTerm::setGrid().

double MatrixVariablesGrid::getMax

(

)

const [inline, inherited]

Returns:

Maximum value over all matrices at all grid points

References Grid::getNumPoints(), INFTY, uint, and MatrixVariablesGrid::values.

Referenced by PlotWindow::getAutoScaleYLimits().

double MatrixVariablesGrid::getMean

(

)

const [inline, inherited]

Returns:

Mean value over all matrices at all grid points

References Grid::getNumPoints(), uint, and MatrixVariablesGrid::values.

Referenced by PlotWindow::getAutoScaleYLimits().

double MatrixVariablesGrid::getMin

(

)

const [inline, inherited]

Returns:

Minimum value over all matrices at all grid points

References Grid::getNumPoints(), INFTY, uint, and MatrixVariablesGrid::values.

Referenced by PlotWindow::getAutoScaleYLimits().

returnValue MatrixVariablesGrid::getName	(	uint	pointIdx,
		uint	idx,
		char *const	_name
	)		const [inline, inherited]

Parameters:

[in]	pointIdx	Index of grid point.
[in]	idx	Index of component.
[out]	_name	Name label of given component at given grid point.

Returns:

SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS,
RET_MEMBER_NOT_INITIALISED

References ACADOERROR, VariableSettings::getName(), Grid::getNumPoints(), RET_INDEX_OUT_OF_BOUNDS, and MatrixVariablesGrid::values.

uint MatrixVariablesGrid::getNumCols

(

)

const [inline, inherited]

Returns:

Number of columns of matrix at first grid point

References MatrixVariablesGrid::values.

Referenced by operator=(), MatrixVariablesGrid::sprintf(), and VariablesGrid().

uint MatrixVariablesGrid::getNumCols

(

uint

pointIdx

)

const [inline, inherited]

Parameters:

[in]

pointIdx

Index of grid point.

Returns:

Number of columns of matrix at grid point with given index

References ASSERT, Matrix::getNumCols(), Grid::getNumPoints(), and MatrixVariablesGrid::values.

uint Grid::getNumIntervals

(

)

const [inline, inherited]

Returns:

Number of grid intervals

References Grid::getLastIndex(), and Grid::nPoints.

Referenced by ModelData::addOutput(), ShootingMethod::addStage(), Grid::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(), getIntegral(), IntegratorExport::getIntegrationInterval(), DynamicDiscretization::getNumEvaluationPoints(), Curve::getTimeDomain(), Grid::isEquidistant(), OCP::OCP(), DiagonallyImplicitRKExport::prepareInputSystem(), ImplicitRungeKuttaExport::prepareOutputEvaluation(), DiagonallyImplicitRKExport::prepareOutputSystem(), Grid::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, inherited]

Returns:

Number of grid points

References Grid::nPoints.

Referenced by acadoPlot(), CoupledPathConstraint::add(), PathConstraint::add(), Curve::add(), Constraint::add(), MatrixVariablesGrid::addMatrix(), Grid::addTime(), appendTimes(), MatrixVariablesGrid::appendTimes(), 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(), Grid::findFirstTime(), Grid::findLastTime(), Grid::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(), getFirstVector(), Constraint::getForwardSensitivities(), MatrixVariablesGrid::getGrid(), Grid::getIntervalLength(), Grid::getLastIndex(), MatrixVariablesGrid::getLastMatrix(), 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(), Grid::getSubGrid(), getSum(), Grid::getTime(), getTimeSubGrid(), MatrixVariablesGrid::getTimeSubGrid(), MatrixVariablesGrid::getType(), MatrixVariablesGrid::getUnit(), MatrixVariablesGrid::getUpperBound(), MatrixVariablesGrid::getUpperBounds(), getValuesSubGrid(), MatrixVariablesGrid::getValuesSubGrid(), getVector(), Integrator::getX(), Integrator::getXA(), MatrixVariablesGrid::hasLowerBounds(), MatrixVariablesGrid::hasNames(), MatrixVariablesGrid::hasScaling(), MatrixVariablesGrid::hasUnits(), MatrixVariablesGrid::hasUpperBounds(), BoxConstraint::init(), Constraint::init(), PIDcontroller::init(), initializeFromBounds(), OptimizationAlgorithmBase::initializeOCPiterate(), Constraint::isAffine(), Constraint::isBoxConstraint(), Grid::isInInterval(), Grid::isInLowerHalfOpenInterval(), Grid::isInUpperHalfOpenInterval(), MatrixVariablesGrid::linearInterpolation(), ShootingMethod::logTrajectory(), LSQTerm::LSQTerm(), Matrix::Matrix(), Grid::merge(), merge(), MatrixVariablesGrid::merge(), OCP::OCP(), MatrixVariablesGrid::operator()(), operator()(), MatrixVariablesGrid::operator+(), MatrixVariablesGrid::operator+=(), MatrixVariablesGrid::operator-(), MatrixVariablesGrid::operator-=(), Grid::operator<(), BoxConstraint::operator=(), LSQTerm::operator=(), Constraint::operator=(), Grid::operator==(), operator==(), Grid::operator>(), MatrixVariablesGrid::operator[](), operator[](), Grid::print(), MatrixVariablesGrid::printToString(), Process::projectToComponents(), Process::run(), GnuplotWindow::sendDataToGnuplot(), MatrixVariablesGrid::setAll(), MatrixVariablesGrid::setAllMatrices(), LogRecordItem::setAllValues(), setAllVectors(), MatrixVariablesGrid::setAutoInit(), ExportNLPSolver::setConstraints(), Constraint::setForwardSeed(), LSQTerm::setGrid(), MatrixVariablesGrid::setLowerBound(), MatrixVariablesGrid::setMatrix(), MatrixVariablesGrid::setName(), LSQTerm::setReference(), MatrixVariablesGrid::setScaling(), Grid::setTime(), MatrixVariablesGrid::setType(), MatrixVariablesGrid::setUnit(), Constraint::setUnitBackwardSeed(), Constraint::setUnitForwardSeed(), ExportGaussNewtonForces::setupConstraintsEvaluation(), OptimizationAlgorithmBase::setupDifferentialEquation(), Grid::setupEquidistant(), MatrixVariablesGrid::setUpperBound(), MatrixVariablesGrid::setUpperBounds(), 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().

uint MatrixVariablesGrid::getNumRows

(

)

const [inline, inherited]

Returns:

Number of rows of matrix at first grid point

References MatrixVariablesGrid::values.

Referenced by Curve::add(), Actuator::checkInputConsistency(), Process::checkInputConsistency(), MatrixVariablesGrid::operator()(), operator()(), setVector(), MatrixVariablesGrid::sprintf(), and Sensor::step().

uint MatrixVariablesGrid::getNumRows

(

uint

pointIdx

)

const [inline, inherited]

Parameters:

[in]

pointIdx

Index of grid point.

Returns:

Number of rows of matrix at grid point with given index

References ASSERT, Grid::getNumPoints(), Matrix::getNumRows(), and MatrixVariablesGrid::values.

uint MatrixVariablesGrid::getNumValues

(

)

const [inline, inherited]

Returns:

Number of values of matrix at first grid point

References MatrixVariablesGrid::values.

Referenced by acadoPlot(), ClippingFunctionality::clipSignals(), BoxConstraint::evaluateBounds(), TransferDevice::getDim(), Noise::getDim(), StaticReferenceTrajectory::getDim(), OCPiterate::getDim(), getIntegral(), ParameterEstimationAlgorithm::getParameterVarianceCovariance(), DynamicDiscretization::getResiduum(), getValuesSubGrid(), MatrixVariablesGrid::getValuesSubGrid(), Integrator::getX(), Integrator::getXA(), ConstraintElement::init(), ObjectiveElement::init(), PIDcontroller::init(), initializeFromBounds(), Matrix::Matrix(), GnuplotWindow::sendDataToGnuplot(), ConstraintComponent::setLB(), ConstraintComponent::setUB(), Process::simulate(), MatrixVariablesGrid::sprintf(), LinearStateFeedback::step(), PIDcontroller::step(), UniformNoise::step(), and GaussianNoise::step().

uint MatrixVariablesGrid::getNumValues

(

uint

pointIdx

)

const [inline, inherited]

Parameters:

[in]

pointIdx

Index of grid point.

Returns:

Number of values of matrix at grid point with given index

References ASSERT, VectorspaceElement::getDim(), Grid::getNumPoints(), and MatrixVariablesGrid::values.

MatrixVariablesGrid MatrixVariablesGrid::getRefinedGrid	(	const Grid &	arg,
		InterpolationMode	mode = IM_CONSTANT
	)		const [inherited]

For doing so, the given grid has to be a superset of the current grid. Values at newly added grid points are obtained by the (optionally) specified interpolation mode.

Parameters:

[in]	arg	Grid to be used for refinement.
[in]	mode	Interpolation mode, see documentation of InterpolationMode.

Returns:

Refined grid

References acadoMin(), MatrixVariablesGrid::addMatrix(), BT_TRUE, Grid::getNumPoints(), Grid::getTime(), Grid::hasTime(), IM_CONSTANT, Grid::isEmpty(), uint, and MatrixVariablesGrid::values.

Referenced by Process::calculateOutput(), and MatrixVariablesGrid::refineGrid().

VectorspaceElement MatrixVariablesGrid::getScaling

(

uint

pointIdx

)

const [inline, inherited]

Parameters:

[in]

pointIdx

Index of grid point.

Returns:

Scaling of MatrixVariable at given grid point

References emptyVectorspaceElement, Grid::getNumPoints(), VariableSettings::getScaling(), and MatrixVariablesGrid::values.

double MatrixVariablesGrid::getScaling	(	uint	pointIdx,
		uint	valueIdx
	)		const [inline, inherited]

Parameters:

[in]	pointIdx	Index of grid point.
[in]	valueIdx	Index of component.

Returns:

> 0.0: Scaling of given component of MatrixVariable at given grid point,
-1.0: Index out of bounds

References Grid::getNumPoints(), VariableSettings::getScaling(), and MatrixVariablesGrid::values.

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

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, Grid::getNumPoints(), Grid::getTime(), Grid::hasTime(), Grid::init(), Grid::isInInterval(), RET_INVALID_ARGUMENTS, Grid::setTime(), SUCCESSFUL_RETURN, and uint.

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

returnValue VariablesGrid::getSum

(

Vector &

sum

)

const

Parameters:

[out]

sum

Component-wise sum over all vectors at all grid points.

Returns:

SUCCESSFUL_RETURN

References Grid::getNumPoints(), getVector(), VectorspaceElement::setZero(), SUCCESSFUL_RETURN, and uint.

double Grid::getTime

(

uint

pointIdx

)

const [inline, inherited]

Parameters:

[in]

pointIdx

Index of grid point.

Returns:

Time of grid point with given index

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

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

Grid MatrixVariablesGrid::getTimePoints

(

)

const [inline, inherited]

Note:

This routine is only introduced for user-convenience and should not be used by developers aiming for maximum efficiency. Use routine getGrid() instead if efficiency is crucial.

Returns:

SUCCESSFUL_RETURN

References MatrixVariablesGrid::getGrid().

Referenced by Actuator::getDelayedInputGrids(), Sensor::getDelayedOutputGrid(), OCPiterate::getGrid(), Integrator::getX(), Integrator::getXA(), and Process::simulate().

VariablesGrid VariablesGrid::getTimeSubGrid	(	uint	startIdx,
		uint	endIdx
	)		const

Parameters:

[in]	startIdx	Index of first grid point to be included in sub grid.
[in]	endIdx	Index of last grid point to be included in sub grid.

Returns:

Sub grid in time

Reimplemented from MatrixVariablesGrid.

References MatrixVariablesGrid::addMatrix(), Grid::getNumPoints(), Grid::getTime(), uint, and MatrixVariablesGrid::values.

Referenced by Actuator::delayActuatorInput(), Sensor::delaySensorOutput(), PeriodicReferenceTrajectory::getReference(), StaticReferenceTrajectory::getReference(), and GnuplotWindow::sendDataToGnuplot().

VariablesGrid VariablesGrid::getTimeSubGrid	(	double	startTime,
		double	endTime
	)		const

Parameters:

[in]	startTime	Time of first grid point to be included in sub grid.
[in]	endTime	Time of last grid point to be included in sub grid.

Returns:

Sub grid in time

References MatrixVariablesGrid::addMatrix(), BT_FALSE, Grid::getCeilIndex(), Grid::getFloorIndex(), Grid::getNumPoints(), Grid::getTime(), Grid::hasTime(), Grid::isInInterval(), uint, and MatrixVariablesGrid::values.

VariableType MatrixVariablesGrid::getType

(

)

const [inline, inherited]

Returns:

Variable type of MatrixVariable at first grid point

References Grid::getNumPoints(), and VT_UNKNOWN.

Referenced by PlotWindow::getDataGrids(), PlotWindowSubplot::getYVariableType(), MatrixVariablesGrid::operator()(), operator()(), and MatrixVariablesGrid::operator=().

VariableType MatrixVariablesGrid::getType

(

uint

pointIdx

)

const [inline, inherited]

Parameters:

[in]

pointIdx

Index of grid point.

Returns:

Variable type of MatrixVariable at grid point with given index

References Grid::getNumPoints(), VariableSettings::getType(), MatrixVariablesGrid::values, and VT_UNKNOWN.

returnValue MatrixVariablesGrid::getUnit	(	uint	pointIdx,
		uint	idx,
		char *const	_unit
	)		const [inline, inherited]

Parameters:

[in]	pointIdx	Index of grid point.
[in]	idx	Index of component.
[out]	_unit	Unit label of given component at given grid point.

Returns:

SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS,
RET_MEMBER_NOT_INITIALISED

References ACADOERROR, Grid::getNumPoints(), VariableSettings::getUnit(), RET_INDEX_OUT_OF_BOUNDS, and MatrixVariablesGrid::values.

double MatrixVariablesGrid::getUpperBound	(	uint	pointIdx,
		uint	valueIdx
	)		const [inline, inherited]

Parameters:

[in]	pointIdx	Index of grid point.
[in]	valueIdx	Index of component.

Returns:

> -INFTY: Upper bound of given component of MatrixVariable at given grid point,
-INFTY: Index out of bounds

References Grid::getNumPoints(), VariableSettings::getUpperBound(), INFTY, and MatrixVariablesGrid::values.

Referenced by initializeFromBounds(), ExportGaussNewtonCN2::setupConstraintsEvaluation(), and ExportGaussNewtonCondensed::setupConstraintsEvaluation().

VectorspaceElement MatrixVariablesGrid::getUpperBounds

(

uint

pointIdx

)

const [inline, inherited]

Parameters:

[in]

pointIdx

Index of grid point.

Returns:

Upper bounds of MatrixVariable at given grid point

References emptyVectorspaceElement, Grid::getNumPoints(), VariableSettings::getUpperBounds(), and MatrixVariablesGrid::values.

Referenced by ExportNLPSolver::setConstraints(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), ExportGaussNewtonForces::setupConstraintsEvaluation(), and OCPiterate::update().

VariablesGrid VariablesGrid::getValuesSubGrid	(	uint	startIdx,
		uint	endIdx
	)		const

It comprises all grid points of the object, but comprises at each grid point only the compenents starting and ending at given indices.

Parameters:

[in]	startIdx	Index of first compenent to be included in sub grid.
[in]	endIdx	Index of last compenent to be included in sub grid.

Note:

This function implicitly assumes that vectors at all grid points have same number of components (or at least more than 'endIdx').

Returns:

Sub grid of values

Reimplemented from MatrixVariablesGrid.

References MatrixVariablesGrid::addMatrix(), Grid::getNumPoints(), MatrixVariablesGrid::getNumValues(), MatrixVariable::getRows(), Grid::getTime(), uint, and MatrixVariablesGrid::values.

Referenced by Actuator::addActuatorNoise(), and Sensor::addSensorNoise().

Vector VariablesGrid::getVector

(

uint

pointIdx

)

const

Parameters:

[in]

pointIdx

Index of grid point.

Returns:

Vector at grid point with given index (empty if index is out of bounds)

References emptyVector, Matrix::getCol(), Grid::getNumPoints(), and MatrixVariablesGrid::values.

Referenced by OCPiterate::copy(), ShootingMethod::evaluate(), PlotWindow::getDataGrids(), SCPmethod::getFirstControl(), getFirstVector(), OCPiterate::getInitialData(), getLastVector(), OptimizationAlgorithmBase::getParameters(), SCPmethod::getParameters(), getSum(), PIDcontroller::init(), SimulationEnvironment::init(), SimulationEnvironment::initializeAlgebraicStates(), Controller::initializeAlgebraicStates(), OptimizationAlgorithmBase::initializeOCPiterate(), ShootingMethod::logTrajectory(), LSQTerm::setGrid(), LSQTerm::setReference(), SCPmethod::setupRealTimeParameters(), Process::simulate(), LinearStateFeedback::step(), PIDcontroller::step(), UniformNoise::step(), GaussianNoise::step(), and OCPiterate::update().

BooleanType MatrixVariablesGrid::hasLowerBounds

(

)

const [inline, inherited]

Returns:

BT_TRUE iff MatrixVariablesGrid comprises lower bounds,
BT_FALSE otherwise

References BT_FALSE, BT_TRUE, Grid::getNumPoints(), uint, and MatrixVariablesGrid::values.

Referenced by OCPiterate::update().

BooleanType MatrixVariablesGrid::hasNames

(

)

const [inline, inherited]

Returns:

BT_TRUE iff MatrixVariablesGrid comprises name labels,
BT_FALSE otherwise

References BT_FALSE, BT_TRUE, Grid::getNumPoints(), uint, and MatrixVariablesGrid::values.

BooleanType MatrixVariablesGrid::hasScaling

(

)

const [inline, inherited]

Returns:

BT_TRUE iff scaling is set,
BT_FALSE otherwise

References BT_FALSE, BT_TRUE, Grid::getNumPoints(), uint, and MatrixVariablesGrid::values.

BooleanType Grid::hasTime

(

double

_time

)

const [inherited]

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 Grid::findTime().

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

BooleanType MatrixVariablesGrid::hasUnits

(

)

const [inline, inherited]

Returns:

BT_TRUE iff MatrixVariablesGrid comprises unit labels,
BT_FALSE otherwise

References BT_FALSE, BT_TRUE, Grid::getNumPoints(), uint, and MatrixVariablesGrid::values.

BooleanType MatrixVariablesGrid::hasUpperBounds

(

)

const [inline, inherited]

Returns:

BT_TRUE iff MatrixVariablesGrid comprises upper bounds,
BT_FALSE otherwise

References BT_FALSE, BT_TRUE, Grid::getNumPoints(), uint, and MatrixVariablesGrid::values.

Referenced by OCPiterate::update().

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

Parameters:

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

Returns:

SUCCESSFUL_RETURN

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

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

returnValue Grid::init

(

const Vector &

times_

)

[inherited]

Parameters:

[in]

times

Initialization of times.

Returns:

SUCCESSFUL_RETURN

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

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

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 Grid::nPoints, Grid::setupEquidistant(), and Grid::times.

returnValue Grid::init

(

const Grid &

rhs

)

[inherited]

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 Grid::operator=(), and SUCCESSFUL_RETURN.

returnValue VariablesGrid::init

(

)

Returns:

SUCCESSFUL_RETURN

Reimplemented from MatrixVariablesGrid.

Referenced by Process::calculateOutput(), UniformNoise::clone(), GaussianNoise::clone(), Actuator::delayActuatorInput(), Sensor::delaySensorOutput(), Curve::discretize(), OutputFcn::evaluate(), IntegratorBDF::evaluate(), IntegratorRK::evaluate(), IntegratorLYAPUNOV::evaluate(), IntegratorLYAPUNOV::evaluateSensitivities(), IntegratorBDF::evaluateSensitivities(), IntegratorRK::evaluateSensitivities(), GaussianNoise::GaussianNoise(), TransferDevice::generateNoise(), Controller::getCurrentReference(), PlotWindow::getDataGrids(), Actuator::getDelayedInputGrids(), Sensor::getDelayedOutputGrid(), MultiObjectiveAlgorithm::getParetoFront(), MultiObjectiveAlgorithm::getParetoFrontWithFilter(), SimulationEnvironment::getProcessAlgebraicStates(), SimulationEnvironment::getProcessDifferentialStates(), SimulationEnvironment::getProcessIntermediateStates(), StaticReferenceTrajectory::getReference(), Integrator::getX(), Integrator::getXA(), TransferDevice::init(), Process::init(), init(), ShootingMethod::logTrajectory(), ExportNLPSolver::setConstraints(), Process::setDynamicSystem(), LSQTerm::setGrid(), UniformNoise::step(), GaussianNoise::step(), TransferDevice::TransferDevice(), and UniformNoise::UniformNoise().

returnValue MatrixVariablesGrid::init	(	uint	_nRows,
		uint	_nCols,
		const Grid &	_grid,
		VariableType	_type = VT_UNKNOWN,
		const char **const	_names = 0,
		const char **const	_units = 0,
		const VectorspaceElement *const	_scaling = 0,
		const VectorspaceElement *const	_lb = 0,
		const VectorspaceElement *const	_ub = 0,
		const BooleanType *const	_autoInit = 0
	)		[inherited]

Further information can optionally be specified.

Parameters:

[in]	_nRows	Number of rows of each matrix.
[in]	_nCols	Number of columns of each matrix.
[in]	_grid	Grid on which the MatrixVariable(s) are defined.
[in]	_type	Type of the variable(s).
[in]	_names	Array containing name labels for each component of the variable(s).
[in]	_units	Array containing unit labels for each component of the variable(s).
[in]	_scaling	Array containing the scaling for each component of the variable(s).
[in]	_lb	Array containing lower bounds for each component of the variable(s).
[in]	_ub	Array containing upper bounds for each component of the variable(s).
[in]	_autoInit	Array defining if each component of the variable(s) is to be automatically initialized.

Returns:

SUCCESSFUL_RETURN

References MatrixVariablesGrid::clearValues(), MatrixVariablesGrid::init(), MatrixVariablesGrid::initMatrixVariables(), Grid::nPoints, and MatrixVariablesGrid::values.

returnValue VariablesGrid::init	(	uint	_dim,
		const Grid &	_grid,
		VariableType	_type = VT_UNKNOWN,
		const char **const	_names = 0,
		const char **const	_units = 0,
		const VectorspaceElement *const	_scaling = 0,
		const VectorspaceElement *const	_lb = 0,
		const VectorspaceElement *const	_ub = 0,
		const BooleanType *const	_autoInit = 0
	)

Further information can optionally be specified.

Parameters:

[in]	_dim	Dimension of each vector.
[in]	_grid	Grid on which the vector-valued MatrixVariable(s) are defined.
[in]	_type	Type of the variable(s).
[in]	_names	Array containing names (labels) for each component of the variable(s).
[in]	_units	Array containing units for each component of the variable(s).
[in]	_scaling	Array containing the scaling for each component of the variable(s).
[in]	_lb	Array containing lower bounds for each component of the variable(s).
[in]	_ub	Array containing upper bounds for each component of the variable(s).
[in]	_autoInit	Array defining if each component of the variable(s) is to be automatically initialized.

Returns:

SUCCESSFUL_RETURN

References init().

returnValue MatrixVariablesGrid::init	(	uint	_nRows,
		uint	_nCols,
		uint	_nPoints,
		VariableType	_type = VT_UNKNOWN,
		const char **const	_names = 0,
		const char **const	_units = 0,
		const VectorspaceElement *const	_scaling = 0,
		const VectorspaceElement *const	_lb = 0,
		const VectorspaceElement *const	_ub = 0,
		const BooleanType *const	_autoInit = 0
	)		[inherited]

Further information can optionally be specified.

Parameters:

[in]	_nRows	Number of rows of each matrix.
[in]	_nCols	Number of columns of each matrix.
[in]	_nPoints	Number of grid points on which the MatrixVariable(s) are defined.
[in]	_type	Type of the variable(s).
[in]	_names	Array containing name labels for each component of the variable(s).
[in]	_units	Array containing unit labels for each component of the variable(s).
[in]	_scaling	Array containing the scaling for each component of the variable(s).
[in]	_lb	Array containing lower bounds for each component of the variable(s).
[in]	_ub	Array containing upper bounds for each component of the variable(s).
[in]	_autoInit	Array defining if each component of the variable(s) is to be automatically initialized.

Returns:

SUCCESSFUL_RETURN

References MatrixVariablesGrid::clearValues(), MatrixVariablesGrid::init(), MatrixVariablesGrid::initMatrixVariables(), Grid::nPoints, and MatrixVariablesGrid::values.

returnValue VariablesGrid::init	(	uint	_dim,
		uint	_nPoints,
		VariableType	_type = VT_UNKNOWN,
		const char **const	_names = 0,
		const char **const	_units = 0,
		const VectorspaceElement *const	_scaling = 0,
		const VectorspaceElement *const	_lb = 0,
		const VectorspaceElement *const	_ub = 0,
		const BooleanType *const	_autoInit = 0
	)

Further information can optionally be specified.

Parameters:

[in]	_dim	Dimension of each vector.
[in]	_nPoints	Number of grid points on which the vector-valued MatrixVariable(s) are defined.
[in]	_type	Type of the variable(s).
[in]	_names	Array containing names (labels) for each component of the variable(s).
[in]	_units	Array containing units for each component of the variable(s).
[in]	_scaling	Array containing the scaling for each component of the variable(s).
[in]	_lb	Array containing lower bounds for each component of the variable(s).
[in]	_ub	Array containing upper bounds for each component of the variable(s).
[in]	_autoInit	Array defining if each component of the variable(s) is to be automatically initialized.

Returns:

SUCCESSFUL_RETURN

References init().

returnValue MatrixVariablesGrid::init	(	uint	_nRows,
		uint	_nCols,
		double	_firstTime,
		double	_lastTime,
		uint	_nPoints,
		VariableType	_type = VT_UNKNOWN,
		const char **const	_names = 0,
		const char **const	_units = 0,
		const VectorspaceElement *const	_scaling = 0,
		const VectorspaceElement *const	_lb = 0,
		const VectorspaceElement *const	_ub = 0,
		const BooleanType *const	_autoInit = 0
	)		[inherited]

Moreover, it takes the time of the first and the last grid point; all intermediate grid points are setup to form a equidistant grid of time points. Further information can optionally be specified.

Parameters:

[in]	_nRows	Number of rows of each matrix.
[in]	_nCols	Number of columns of each matrix.
[in]	_firstTime	Time of first grid point.
[in]	_lastTime	Time of last grid point.
[in]	_nPoints	Number of grid points on which the MatrixVariable(s) are defined.
[in]	_type	Type of the variable(s).
[in]	_names	Array containing name labels for each component of the variable(s).
[in]	_units	Array containing unit labels for each component of the variable(s).
[in]	_scaling	Array containing the scaling for each component of the variable(s).
[in]	_lb	Array containing lower bounds for each component of the variable(s).
[in]	_ub	Array containing upper bounds for each component of the variable(s).
[in]	_autoInit	Array defining if each component of the variable(s) is to be automatically initialized.

Returns:

SUCCESSFUL_RETURN

References MatrixVariablesGrid::clearValues(), MatrixVariablesGrid::init(), MatrixVariablesGrid::initMatrixVariables(), Grid::nPoints, and MatrixVariablesGrid::values.

returnValue VariablesGrid::init	(	uint	_dim,
		double	_firstTime,
		double	_lastTime,
		uint	_nPoints,
		VariableType	_type = VT_UNKNOWN,
		const char **const	_names = 0,
		const char **const	_units = 0,
		const VectorspaceElement *const	_scaling = 0,
		const VectorspaceElement *const	_lb = 0,
		const VectorspaceElement *const	_ub = 0,
		const BooleanType *const	_autoInit = 0
	)

Moreover, it takes the time of the first and the last grid point; all intermediate grid points are setup to form a equidistant grid of time points. Further information can optionally be specified.

Parameters:

[in]	_dim	Dimension of each vector.
[in]	_firstTime	Time of first grid point.
[in]	_lastTime	Time of last grid point.
[in]	_nPoints	Number of grid points on which the vector-valued MatrixVariable(s) are defined.
[in]	_type	Type of the variable(s).
[in]	_names	Array containing names (labels) for each component of the variable(s).
[in]	_units	Array containing units for each component of the variable(s).
[in]	_scaling	Array containing the scaling for each component of the variable(s).
[in]	_lb	Array containing lower bounds for each component of the variable(s).
[in]	_ub	Array containing upper bounds for each component of the variable(s).
[in]	_autoInit	Array defining if each component of the variable(s) is to be automatically initialized.

Returns:

SUCCESSFUL_RETURN

References init().

returnValue MatrixVariablesGrid::init	(	const Matrix &	arg,
		const Grid &	_grid = trivialGrid,
		VariableType	_type = VT_UNKNOWN
	)		[inherited]

At each grid point, the MatrixVariable is constructed from the matrix passed.

Parameters:

[in]	arg	Matrix to be assign at each point of the grid.
[in]	_grid	Grid on which the MatrixVariable(s) are defined.
[in]	_type	Type of the variable(s).

Returns:

SUCCESSFUL_RETURN

References MatrixVariablesGrid::clearValues(), Grid::nPoints, MatrixVariablesGrid::operator=(), SUCCESSFUL_RETURN, uint, and MatrixVariablesGrid::values.

returnValue VariablesGrid::init	(	const Vector &	arg,
		const Grid &	_grid = trivialGrid,
		VariableType	_type = VT_UNKNOWN
	)

At each grid point, the vector-valued MatrixVariable is constructed from the matrix passed.

Parameters:

[in]	arg	Vector to be assign at each point of the grid.
[in]	_grid	Grid on which the vector-valued MatrixVariable(s) are defined.
[in]	_type	Type of the variable(s).

Returns:

SUCCESSFUL_RETURN

References init().

returnValue VariablesGrid::initializeFromBounds

(

)

[protected]

If one of these bounds is infinity it is initialized with the bound. If both bounds are infinity it is initialized with 0. This routine is only for internal use by the OptimizationAlgorithm, that is a friend of this class.

Returns:

SUCCESSFUL_RETURN

References fabs(), MatrixVariablesGrid::getLowerBound(), Grid::getNumPoints(), MatrixVariablesGrid::getNumValues(), MatrixVariablesGrid::getUpperBound(), INFTY, operator()(), SUCCESSFUL_RETURN, and uint.

Referenced by OptimizationAlgorithmBase::initializeOCPiterate().

returnValue MatrixVariablesGrid::initMatrixVariables	(	uint	_nRows,
		uint	_nCols,
		VariableType	_type = VT_UNKNOWN,
		const char **const	_names = 0,
		const char **const	_units = 0,
		const VectorspaceElement *const	_scaling = 0,
		const VectorspaceElement *const	_lb = 0,
		const VectorspaceElement *const	_ub = 0,
		const BooleanType *const	_autoInit = 0
	)		[protected, inherited]

Note that this function assumes that the grid has already been setup.

Parameters:

[in]	_nRows	Number of rows of each matrix.
[in]	_nCols	Number of columns of each matrix.
[in]	_type	Type of the variable(s).
[in]	_names	Array containing names (labels) for each component of the variable(s).
[in]	_units	Array containing units for each component of the variable(s).
[in]	_scaling	Array containing the scaling for each component of the variable(s).
[in]	_lb	Array containing lower bounds for each component of the variable(s).
[in]	_ub	Array containing upper bounds for each component of the variable(s).
[in]	_autoInit	Array defining if each component of the variable(s) is to be automatically initialized.

Returns:

SUCCESSFUL_RETURN

References VectorspaceElement::init(), Grid::nPoints, SUCCESSFUL_RETURN, uint, and MatrixVariablesGrid::values.

Referenced by MatrixVariablesGrid::init().

BooleanType Grid::isEmpty

(

)

const [inline, inherited]

no grid points) or not.

Returns:

BT_TRUE iff grid is empty,
BT_FALSE otherwise

References BT_FALSE, BT_TRUE, and Grid::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, inherited]

Returns:

BT_TRUE iff grid is equidistant,
BT_FALSE otherwise

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

Referenced by ModelData::setIntegrationGrid().

BooleanType Grid::isInInterval

(

double

_time

)

const [inline, inherited]

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, Grid::getLastIndex(), Grid::getTime(), and Grid::times.

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

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

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, Grid::getLastIndex(), Grid::getNumPoints(), Grid::getTime(), RET_INDEX_OUT_OF_BOUNDS, Grid::times, and uint.

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

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, Grid::getNumPoints(), Grid::getTime(), RET_INDEX_OUT_OF_BOUNDS, Grid::times, and uint.

Referenced by Grid::getCeilIndex().

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

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, Grid::getLastIndex(), Grid::getNumPoints(), Grid::getTime(), RET_INDEX_OUT_OF_BOUNDS, Grid::times, and uint.

Referenced by Grid::getFloorIndex().

BooleanType Grid::isLast

(

uint

pointIdx

)

const [inline, inherited]

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 Grid::getLastIndex().

Vector MatrixVariablesGrid::linearInterpolation

(

double

time

)

const [inherited]

If given time lies in between two grid points, the value of the vector will be determined by linear interpolation between these grid points. If given time is smaller than the smallest time of the grid, the value of the first grid point will be returned. Analoguosly, if given time is larger than the largest time of the grid, the vector at the last grid point will be returned.

Parameters:

[in]

time

Time for evaluation.

Returns:

Vector with interpolated values at given time

References ASSERT, fabs(), Grid::getCeilIndex(), Grid::getFloorIndex(), Grid::getNumPoints(), Grid::getTime(), SQRT_EPS, uint, and MatrixVariablesGrid::values.

Referenced by Constraint::add(), and OptimizationAlgorithmBase::initializeOCPiterate().

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

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(), Grid::addTime(), BT_FALSE, BT_TRUE, Grid::getLastTime(), Grid::getNumPoints(), Grid::getTime(), Grid::isInInterval(), MM_DUPLICATE, MM_KEEP, MM_REPLACE, RET_INVALID_ARGUMENTS, SUCCESSFUL_RETURN, and uint.

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

returnValue VariablesGrid::merge	(	const VariablesGrid &	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(), acadoIsSmaller(), acadoIsStrictlyGreater(), acadoIsStrictlySmaller(), MatrixVariablesGrid::addMatrix(), appendTimes(), BT_FALSE, BT_TRUE, Grid::getFirstTime(), Grid::getLastTime(), Grid::getNumPoints(), Grid::getTime(), Grid::isInInterval(), MM_DUPLICATE, MM_KEEP, MM_REPLACE, RET_INVALID_ARGUMENTS, SUCCESSFUL_RETURN, uint, and MatrixVariablesGrid::values.

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

returnValue MatrixVariablesGrid::merge	(	const MatrixVariablesGrid &	arg,
		MergeMethod	_mergeMethod = MM_DUPLICATE,
		BooleanType	keepOverlap = BT_TRUE
	)		[inherited]

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(), acadoIsSmaller(), acadoIsStrictlyGreater(), acadoIsStrictlySmaller(), MatrixVariablesGrid::addMatrix(), MatrixVariablesGrid::appendTimes(), BT_FALSE, BT_TRUE, Grid::getFirstTime(), Grid::getLastTime(), Grid::getNumPoints(), Grid::getTime(), Grid::isInInterval(), MM_DUPLICATE, MM_KEEP, MM_REPLACE, RET_INVALID_ARGUMENTS, SUCCESSFUL_RETURN, uint, and MatrixVariablesGrid::values.

BooleanType Grid::operator!=

(

const Grid &

arg

)

const [inline, inherited]

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

)

[inherited]

Parameters:

[in]

arg

Right-hand side object.

Returns:

Set union of two grids

References BT_TRUE, Grid::merge(), and MM_KEEP.

BEGIN_NAMESPACE_ACADO double & MatrixVariablesGrid::operator()	(	uint	pointIdx,
		uint	rowIdx,
		uint	colIdx
	)		[inline, inherited]

Parameters:

[in]	pointIdx	Index of grid point.
[in]	rowIdx	Row index of the component to be returned.
[in]	colIdx	Column index of the component to be returned.

Returns:

Value of component 'valueIdx' at grid point 'pointIdx'

References ASSERT, Grid::getNumPoints(), and MatrixVariablesGrid::values.

Referenced by MatrixVariablesGrid::sprintf().

BEGIN_NAMESPACE_ACADO double & VariablesGrid::operator()	(	uint	pointIdx,
		uint	rowIdx
	)		[inline]

Parameters:

[in]	pointIdx	Index of grid point.
[in]	rowIdx	Row index of the component to be returned.

Returns:

Value of component 'rowIdx' at grid point 'pointIdx'

Referenced by getIntegral(), initializeFromBounds(), and operator()().

double MatrixVariablesGrid::operator()	(	uint	pointIdx,
		uint	rowIdx,
		uint	colIdx
	)		const [inline, inherited]

Parameters:

[in]	pointIdx	Index of grid point.
[in]	rowIdx	Row index of the component to be returned.
[in]	colIdx	Column index of the component to be returned.

Returns:

Value of component 'valueIdx' at grid point 'pointIdx'

References ASSERT, Grid::getNumPoints(), and MatrixVariablesGrid::values.

double VariablesGrid::operator()	(	uint	pointIdx,
		uint	rowIdx
	)		const [inline]

Parameters:

[in]	pointIdx	Index of grid point.
[in]	rowIdx	Row index of the component to be returned.

Returns:

Value of component 'rowIdx' at grid point 'pointIdx'

References operator()().

VariablesGrid VariablesGrid::operator()

(

const uint

rowIdx

)

const

Parameters:

[in]

rowIdx

Row index of the component to be returned.

Returns:

VariablesGrid consisting only of the given row

Reimplemented from MatrixVariablesGrid.

References ACADOERROR, ASSERT, MatrixVariablesGrid::getGrid(), Grid::getNumPoints(), MatrixVariablesGrid::getNumRows(), MatrixVariablesGrid::getType(), RET_INDEX_OUT_OF_BOUNDS, uint, MatrixVariablesGrid::values, and VariablesGrid().

MatrixVariablesGrid MatrixVariablesGrid::operator+

(

const MatrixVariablesGrid &

arg

)

const [inline, inherited]

Parameters:

[in]

arg

Second summand.

Returns:

Temporary object containing sum of MatrixVariablesGrids.

References ASSERT, Grid::getNumPoints(), uint, and MatrixVariablesGrid::values.

VariablesGrid VariablesGrid::operator+

(

const VariablesGrid &

arg

)

const [inline]

Parameters:

[in]

arg

Second summand.

Returns:

Temporary object containing sum of VariablesGrids.

MatrixVariablesGrid & MatrixVariablesGrid::operator+=

(

const MatrixVariablesGrid &

arg

)

[inline, inherited]

Parameters:

[in]

arg

Second summand.

Returns:

Reference to object after addition

References ASSERT, Grid::getNumPoints(), uint, and MatrixVariablesGrid::values.

VariablesGrid & VariablesGrid::operator+=

(

const VariablesGrid &

arg

)

[inline]

Parameters:

[in]

arg

Second summand.

Returns:

Reference to object after addition

MatrixVariablesGrid MatrixVariablesGrid::operator-

(

const MatrixVariablesGrid &

arg

)

const [inline, inherited]

Parameters:

[in]

arg

Subtrahend.

Returns:

Temporary object containing the difference of the MatrixVariablesGrids

References ASSERT, Grid::getNumPoints(), uint, and MatrixVariablesGrid::values.

VariablesGrid VariablesGrid::operator-

(

const VariablesGrid &

arg

)

const [inline]

Parameters:

[in]

arg

Subtrahend.

Returns:

Temporary object containing the difference of the VariablesGrids

MatrixVariablesGrid & MatrixVariablesGrid::operator-=

(

const MatrixVariablesGrid &

arg

)

[inline, inherited]

Parameters:

[in]

arg

Subtrahend.

Returns:

Reference to object after subtraction

References ASSERT, Grid::getNumPoints(), uint, and MatrixVariablesGrid::values.

VariablesGrid & VariablesGrid::operator-=

(

const VariablesGrid &

arg

)

[inline]

Parameters:

[in]

arg

Subtrahend.

Returns:

Reference to object after subtraction

BooleanType Grid::operator<

(

const Grid &

arg

)

const [inline, inherited]

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, Grid::findTime(), Grid::getNumPoints(), Grid::times, and uint.

BooleanType Grid::operator<=

(

const Grid &

arg

)

const [inline, inherited]

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.

VariablesGrid & VariablesGrid::operator=

(

const VariablesGrid &

rhs

)

Parameters:

[in]

rhs

Right-hand side object.

Referenced by operator=().

VariablesGrid & VariablesGrid::operator=

(

const MatrixVariablesGrid &

rhs

)

Parameters:

[in]

rhs

Right-hand side object.

Reimplemented from MatrixVariablesGrid.

References ASSERT, MatrixVariablesGrid::getNumCols(), and operator=().

VariablesGrid & VariablesGrid::operator=

(

FILE *

rhs

)

The data is expected to be in matrix format and is interpreted as follows: the first entry of each row is taken as time of the grid point to be added, all remaining entries of each row are taken as numerical values of a vector-valued MatrixVariable with exactly one column. In effect, a MatrixVariablesGrid consisting of <number of columns - 1>-by-1 MatrixVariables defined on <number of="" rows>=""> grid points is setup. Note that all rows are expected to have equal number of columns.

Parameters:

[in]

rhs

File to be read.

Note:

The file is closed at the end of routine.

Reimplemented from MatrixVariablesGrid.

References operator=().

VariablesGrid & VariablesGrid::operator=

(

const Matrix &

rhs

)

The data is interpreted as follows: the first entry of each row is taken as time of the grid point to be added, all remaining entries of each row are taken as numerical values of a vector-valued MatrixVariable with exactly one column. In effect, a MatrixVariablesGrid consisting of <number of columns - 1>-by-1 MatrixVariables defined on <number of="" rows>=""> grid points is setup.

Parameters:

[in]

rhs

Matrix to be read.

Note:

The file is closed at the end of routine.

Reimplemented from MatrixVariablesGrid.

References operator=().

BEGIN_NAMESPACE_ACADO BooleanType Grid::operator==

(

const Grid &

arg

)

const [inline, inherited]

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, Grid::getNumPoints(), Grid::getTime(), and uint.

BooleanType VariablesGrid::operator==

(

const VariablesGrid &

arg

)

const [inline]

Parameters:

[in]

rhs

Object of comparison.

Returns:

BT_TRUE iff both objects are equal,
BT_FALSE otherwise

References BT_FALSE, BT_TRUE, MatrixVariablesGrid::getMatrix(), Grid::getNumPoints(), and uint.

BooleanType Grid::operator>

(

const Grid &

arg

)

const [inline, inherited]

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, Grid::findTime(), Grid::getNumPoints(), Grid::times, and uint.

BooleanType Grid::operator>=

(

const Grid &

arg

)

const [inline, inherited]

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.

VariablesGrid VariablesGrid::operator[]

(

const uint

pointIdx

)

const

Parameters:

[in]

pointIdx

Index of grid point.

Returns:

VariablesGrid consisting only of the values at given grid point

Reimplemented from MatrixVariablesGrid.

References ACADOERROR, MatrixVariablesGrid::addMatrix(), ASSERT, Grid::getNumPoints(), Grid::getTime(), RET_INVALID_ARGUMENTS, MatrixVariablesGrid::values, and VariablesGrid().

returnValue Grid::print

(

)

const [inherited]

Returns:

SUCCESSFUL_RETURN

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

returnValue MatrixVariablesGrid::print	(	const char *const	name = DEFAULT_LABEL,
		const char *const	startString = DEFAULT_START_STRING,
		const char *const	endString = DEFAULT_END_STRING,
		uint	width = DEFAULT_WIDTH,
		uint	precision = DEFAULT_PRECISION,
		const char *const	colSeparator = DEFAULT_COL_SEPARATOR,
		const char *const	rowSeparator = DEFAULT_ROW_SEPARATOR
	)		const [inherited]

Various settings can be specified defining its output format.

Parameters:

[in]	name	Name label to be printed before the numerical values.
[in]	startString	Prefix before printing the numerical values.
[in]	endString	Suffix after printing the numerical values.
[in]	width	Total number of digits per single numerical value.
[in]	precision	Number of decimals per single numerical value.
[in]	colSeparator	Separator between the columns of the numerical values.
[in]	rowSeparator	Separator between the rows of the numerical values.

Returns:

SUCCESSFUL_RETURN,
RET_UNKNOWN_BUG

References acadoPrintf(), MatrixVariablesGrid::printToString(), and SUCCESSFUL_RETURN.

Referenced by Controller::feedbackStep(), Controller::init(), Controller::preparationStep(), and OCPiterate::print().

returnValue MatrixVariablesGrid::print	(	const char *const	name,
		PrintScheme	printScheme
	)		const [inherited]

Various settings can be specified defining its output format.

Parameters:

[in]	name	Name label to be printed before the numerical values.
[in]	printScheme	Print scheme defining the output format of the information.

Returns:

SUCCESSFUL_RETURN,
RET_UNKNOWN_BUG

References acadoPrintf(), MatrixVariablesGrid::printToString(), and SUCCESSFUL_RETURN.

returnValue MatrixVariablesGrid::printToFile	(	const char *const	filename,
		const char *const	name = DEFAULT_LABEL,
		const char *const	startString = DEFAULT_START_STRING,
		const char *const	endString = DEFAULT_END_STRING,
		uint	width = DEFAULT_WIDTH,
		uint	precision = DEFAULT_PRECISION,
		const char *const	colSeparator = DEFAULT_COL_SEPARATOR,
		const char *const	rowSeparator = DEFAULT_ROW_SEPARATOR
	)		const [inherited]

Various settings can be specified defining its output format.

Parameters:

[in]	filename	Filename for printing.
[in]	name	Name label to be printed before the numerical values.
[in]	startString	Prefix before printing the numerical values.
[in]	endString	Suffix after printing the numerical values.
[in]	width	Total number of digits per single numerical value.
[in]	precision	Number of decimals per single numerical value.
[in]	colSeparator	Separator between the columns of the numerical values.
[in]	rowSeparator	Separator between the rows of the numerical values.

Returns:

SUCCESSFUL_RETURN,
RET_UNKNOWN_BUG

References ACADOERROR, RET_FILE_CAN_NOT_BE_OPENED, and SUCCESSFUL_RETURN.

Referenced by operator<<(), and MatrixVariablesGrid::printToFile().

returnValue MatrixVariablesGrid::printToFile	(	FILE *	file,
		const char *const	name = DEFAULT_LABEL,
		const char *const	startString = DEFAULT_START_STRING,
		const char *const	endString = DEFAULT_END_STRING,
		uint	width = DEFAULT_WIDTH,
		uint	precision = DEFAULT_PRECISION,
		const char *const	colSeparator = DEFAULT_COL_SEPARATOR,
		const char *const	rowSeparator = DEFAULT_ROW_SEPARATOR
	)		const [inherited]

Various settings can be specified defining its output format.

Parameters:

[in]	file	File for printing.
[in]	name	Name label to be printed before the numerical values.
[in]	startString	Prefix before printing the numerical values.
[in]	endString	Suffix after printing the numerical values.
[in]	width	Total number of digits per single numerical value.
[in]	precision	Number of decimals per single numerical value.
[in]	colSeparator	Separator between the columns of the numerical values.
[in]	rowSeparator	Separator between the rows of the numerical values.

Returns:

SUCCESSFUL_RETURN,
RET_FILE_CAN_NOT_BE_OPENED,
RET_UNKNOWN_BUG

References acadoFPrintf(), MatrixVariablesGrid::printToString(), and SUCCESSFUL_RETURN.

returnValue MatrixVariablesGrid::printToFile	(	const char *const	filename,
		const char *const	name,
		PrintScheme	printScheme
	)		const [inherited]

Various settings can be specified defining its output format.

Parameters:

[in]	filename	Filename for printing.
[in]	name	Name label to be printed before the numerical values.
[in]	printScheme	Print scheme defining the output format of the information.

Returns:

SUCCESSFUL_RETURN,
RET_FILE_CAN_NOT_BE_OPENED,
RET_UNKNOWN_BUG

References ACADOERROR, MatFile::close(), MatFile::open(), MatrixVariablesGrid::printToFile(), PS_MATLAB_BINARY, RET_FILE_CAN_NOT_BE_OPENED, SUCCESSFUL_RETURN, and MatFile::write().

returnValue MatrixVariablesGrid::printToFile	(	FILE *	file,
		const char *const	name,
		PrintScheme	printScheme
	)		const [inherited]

Various settings can be specified defining its output format.

Parameters:

[in]	filen	File for printing.
[in]	name	Name label to be printed before the numerical values.
[in]	printScheme	Print scheme defining the output format of the information.

Returns:

SUCCESSFUL_RETURN,
RET_FILE_CAN_NOT_BE_OPENED,
RET_UNKNOWN_BUG

References acadoFPrintf(), MatrixVariablesGrid::printToString(), and SUCCESSFUL_RETURN.

returnValue MatrixVariablesGrid::printToString	(	char **	string,
		const char *const	name = DEFAULT_LABEL,
		const char *const	startString = DEFAULT_START_STRING,
		const char *const	endString = DEFAULT_END_STRING,
		uint	width = DEFAULT_WIDTH,
		uint	precision = DEFAULT_PRECISION,
		const char *const	colSeparator = DEFAULT_COL_SEPARATOR,
		const char *const	rowSeparator = DEFAULT_ROW_SEPARATOR
	)		const [virtual, inherited]

Various settings can be specified defining its output format.

Parameters:

[in,out]	string	File for printing.
[in]	name	Name label to be printed before the numerical values.
[in]	startString	Prefix before printing the numerical values.
[in]	endString	Suffix after printing the numerical values.
[in]	width	Total number of digits per single numerical value.
[in]	precision	Number of decimals per single numerical value.
[in]	colSeparator	Separator between the columns of the numerical values.
[in]	rowSeparator	Separator between the rows of the numerical values.

Note:

It is assumed that no memory is allocated to the 'string' pointer when calling.

Returns:

SUCCESSFUL_RETURN,
RET_FILE_CAN_NOT_BE_OPENED,
RET_INVALID_ARGUMENTS,
RET_UNKNOWN_BUG

References ACADOERROR, MatrixVariablesGrid::determineStringLength(), Grid::getNumPoints(), getStringLength(), Grid::getTime(), Matrix::printToString(), RET_INVALID_ARGUMENTS, RET_UNKNOWN_BUG, MatrixVariablesGrid::sprintf(), SUCCESSFUL_RETURN, uint, and MatrixVariablesGrid::values.

Referenced by MatrixVariablesGrid::print(), MatrixVariablesGrid::printToFile(), and MatrixVariablesGrid::printToString().

returnValue MatrixVariablesGrid::printToString	(	char **	string,
		const char *const	name,
		PrintScheme	printScheme
	)		const [virtual, inherited]

Various settings can be specified defining its output format.

Parameters:

[in,out]	string	File for printing.
[in]	name	Name label to be printed before the numerical values.
[in]	printScheme	Print scheme defining the output format of the information.

Note:

It is assumed that no memory is allocated to the 'string' pointer when calling.

Returns:

SUCCESSFUL_RETURN,
RET_FILE_CAN_NOT_BE_OPENED,
RET_INVALID_ARGUMENTS,
RET_UNKNOWN_BUG

Parameters:

string

Output: String

References getGlobalStringDefinitions(), MatrixVariablesGrid::printToString(), SUCCESSFUL_RETURN, and uint.

returnValue Grid::refineGrid

(

uint

factor

)

[inherited]

Parameters:

[in]

factor

Refinement factor.

Returns:

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

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

returnValue MatrixVariablesGrid::refineGrid	(	const Grid &	arg,
		InterpolationMode	mode = IM_CONSTANT
	)		[inherited]

For doing so, the given grid has to be a superset of the current grid. Values at newly added grid points are obtained by the (optionally) specified interpolation mode.

Parameters:

[in]	arg	Grid to be used for refinement.
[in]	mode	Interpolation mode, see documentation of InterpolationMode.

Returns:

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

References ACADOERROR, BT_TRUE, MatrixVariablesGrid::getRefinedGrid(), Grid::isEmpty(), RET_INVALID_ARGUMENTS, and SUCCESSFUL_RETURN.

Referenced by Actuator::addActuatorNoise(), Sensor::addSensorNoise(), Actuator::getDelayedInputGrids(), Sensor::getDelayedOutputGrid(), PlotWindow::getExpressionDataGrids(), and Process::step().

returnValue Grid::scaleTimes

(

double

scaling

)

[inherited]

Parameters:

[in]

scaling

Positive scaling factor.

Returns:

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

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

Referenced by ShootingMethod::rescale().

returnValue MatrixVariablesGrid::setAll

(

double

_value

)

[inline, inherited]

Parameters:

[in]

_value

New value.

Returns:

SUCCESSFUL_RETURN

References Grid::getNumPoints(), SUCCESSFUL_RETURN, uint, and MatrixVariablesGrid::values.

Referenced by ShootingMethod::evaluate(), Expression::operator<=(), and Expression::operator>=().

returnValue MatrixVariablesGrid::setAllMatrices

(

const Matrix &

_values

)

[inherited]

Parameters:

[in]

_value

New matrix.

Returns:

SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS

References ACADO_TRY, Grid::getNumPoints(), MatrixVariablesGrid::setMatrix(), SUCCESSFUL_RETURN, and uint.

returnValue VariablesGrid::setAllVectors

(

const Vector &

_values

)

Parameters:

[in]

_value

New vector.

Returns:

SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS,
RET_VECTOR_DIMENSION_MISMATCH

References ACADO_TRY, Grid::getNumPoints(), setVector(), SUCCESSFUL_RETURN, and uint.

Referenced by RealTimeAlgorithm::initializeNlpSolver(), OptimizationAlgorithmBase::initializeOCPiterate(), and ShootingMethod::logTrajectory().

returnValue MatrixVariablesGrid::setAutoInit	(	uint	pointIdx,
		BooleanType	_autoInit
	)		[inline, inherited]

Parameters:

[in]	pointIdx	Index of grid point.
[in]	_autoInit	New auto initialization flag.

Returns:

SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS

References ACADOERROR, Grid::getNumPoints(), RET_INDEX_OUT_OF_BOUNDS, VariableSettings::setAutoInit(), and MatrixVariablesGrid::values.

Referenced by MatrixVariablesGrid::disableAutoInit(), MatrixVariablesGrid::enableAutoInit(), and OptimizationAlgorithmBase::initializeOCPiterate().

returnValue MatrixVariablesGrid::setLowerBound	(	uint	pointIdx,
		uint	valueIdx,
		double	_lb
	)		[inline, inherited]

Parameters:

[in]	pointIdx	Index of grid point.
[in]	valueIdx	Index of component.
[in]	_lb	New lower bound.

Returns:

SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS

References ACADOERROR, MatrixVariablesGrid::getDim(), Grid::getNumPoints(), RET_INDEX_OUT_OF_BOUNDS, VariableSettings::setLowerBound(), SUCCESSFUL_RETURN, and MatrixVariablesGrid::values.

Referenced by BoxConstraint::getBounds(), and PointConstraint::getBounds().

returnValue MatrixVariablesGrid::setLowerBounds	(	uint	pointIdx,
		const VectorspaceElement &	_lb
	)		[inline, inherited]

Parameters:

[in]	pointIdx	Index of grid point.
[in]	_lb	New lower bounds.

Returns:

SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS

References ACADOERROR, Grid::nPoints, RET_INDEX_OUT_OF_BOUNDS, VariableSettings::setLowerBounds(), and MatrixVariablesGrid::values.

returnValue MatrixVariablesGrid::setMatrix	(	uint	pointIdx,
		const Matrix &	_value
	)		const [inherited]

Parameters:

[in]	pointIdx	Index of grid point.
[in]	_value	New matrix.

Returns:

SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS

References ACADOERROR, ASSERT, Grid::getNumPoints(), RET_INDEX_OUT_OF_BOUNDS, SUCCESSFUL_RETURN, and MatrixVariablesGrid::values.

Referenced by MatrixVariablesGrid::appendTimes(), and MatrixVariablesGrid::setAllMatrices().

returnValue MatrixVariablesGrid::setName	(	uint	pointIdx,
		uint	idx,
		const char *const	_name
	)		[inline, inherited]

Parameters:

[in]	pointIdx	Index of grid point.
[in]	idx	Index of component.
[in]	_name	New name label of given component at given grid point.

Returns:

SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS,
RET_MEMBER_NOT_INITIALISED

References ACADOERROR, Grid::getNumPoints(), RET_INDEX_OUT_OF_BOUNDS, VariableSettings::setName(), and MatrixVariablesGrid::values.

returnValue MatrixVariablesGrid::setScaling	(	uint	pointIdx,
		const VectorspaceElement &	_scaling
	)		[inline, inherited]

Parameters:

[in]	pointIdx	Index of grid point.
[in]	_scaling	New scaling.

Returns:

SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS,
RET_INVALID_ARGUMENTS

References ACADOERROR, Grid::getNumPoints(), RET_INDEX_OUT_OF_BOUNDS, VariableSettings::setScaling(), and MatrixVariablesGrid::values.

returnValue MatrixVariablesGrid::setScaling	(	uint	pointIdx,
		uint	valueIdx,
		double	_scaling
	)		[inline, inherited]

Parameters:

[in]	pointIdx	Index of grid point.
[in]	valueIdx	Index of component.
[in]	_scaling	New scaling.

Returns:

SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS,
RET_INVALID_ARGUMENTS

References ACADOERROR, MatrixVariablesGrid::getDim(), Grid::getNumPoints(), RET_INDEX_OUT_OF_BOUNDS, VariableSettings::setScaling(), SUCCESSFUL_RETURN, and MatrixVariablesGrid::values.

returnValue Grid::setTime

(

double

_time

)

[inherited]

Parameters:

[in]

_time

New time point.

Returns:

SUCCESSFUL_RETURN,
RET_GRIDPOINT_SETUP_FAILED,
RET_GRIDPOINT_HAS_INVALID_TIME

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

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

returnValue Grid::setTime	(	uint	pointIdx,
		double	_time
	)		[inherited]

Parameters:

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

Returns:

SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS

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

returnValue MatrixVariablesGrid::setType

(

VariableType

_type

)

[inline, inherited]

Parameters:

[in]

_type

Type of the variable(s).

Returns:

SUCCESSFUL_RETURN

References Grid::getNumPoints(), SUCCESSFUL_RETURN, and uint.

Referenced by PlotWindow::getDataGrids(), SimulationEnvironment::getFeedbackControl(), SimulationEnvironment::getFeedbackParameter(), SimulationEnvironment::getProcessAlgebraicStates(), SimulationEnvironment::getProcessDifferentialStates(), SimulationEnvironment::getProcessIntermediateStates(), and SimulationEnvironment::getSampledProcessOutput().

returnValue MatrixVariablesGrid::setType	(	uint	pointIdx,
		VariableType	_type
	)		[inline, inherited]

Parameters:

[in]	pointIdx	Index of grid point.
[in]	_type	New type of the variable(s).

Returns:

SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS

References ACADOERROR, Grid::getNumPoints(), RET_INDEX_OUT_OF_BOUNDS, VariableSettings::setType(), and MatrixVariablesGrid::values.

returnValue MatrixVariablesGrid::setUnit	(	uint	pointIdx,
		uint	idx,
		const char *const	_unit
	)		[inline, inherited]

Parameters:

[in]	pointIdx	Index of grid point.
[in]	idx	Index of component.
[in]	_unit	New unit label of given component at given grid point.

Returns:

SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS,
RET_MEMBER_NOT_INITIALISED

References ACADOERROR, Grid::getNumPoints(), RET_INDEX_OUT_OF_BOUNDS, VariableSettings::setUnit(), and MatrixVariablesGrid::values.

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

Parameters:

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

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

Referenced by Grid::init().

returnValue MatrixVariablesGrid::setUpperBound	(	uint	pointIdx,
		uint	valueIdx,
		double	_ub
	)		[inline, inherited]

Parameters:

[in]	pointIdx	Index of grid point.
[in]	valueIdx	Index of component.
[in]	_ub	New upper bound.

Returns:

SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS

References ACADOERROR, MatrixVariablesGrid::getDim(), Grid::getNumPoints(), RET_INDEX_OUT_OF_BOUNDS, VariableSettings::setUpperBound(), SUCCESSFUL_RETURN, and MatrixVariablesGrid::values.

Referenced by BoxConstraint::getBounds(), and PointConstraint::getBounds().

returnValue MatrixVariablesGrid::setUpperBounds	(	uint	pointIdx,
		const VectorspaceElement &	_ub
	)		[inline, inherited]

Parameters:

[in]	pointIdx	Index of grid point.
[in]	_ub	New upper bounds.

Returns:

SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS

References ACADOERROR, Grid::getNumPoints(), RET_INDEX_OUT_OF_BOUNDS, VariableSettings::setUpperBounds(), and MatrixVariablesGrid::values.

returnValue VariablesGrid::setVector	(	uint	pointIdx,
		const Vector &	_values
	)

Parameters:

[in]	pointIdx	Index of grid point.
[in]	_value	New vector.

Returns:

SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS,
RET_VECTOR_DIMENSION_MISMATCH

Parameters:

pointIdx	Index of the grid point.
_values	New values of the sub-vector.

References ACADOERROR, VectorspaceElement::getDim(), Grid::getNumPoints(), MatrixVariablesGrid::getNumRows(), RET_INDEX_OUT_OF_BOUNDS, RET_VECTOR_DIMENSION_MISMATCH, SUCCESSFUL_RETURN, and uint.

Referenced by appendTimes(), Curve::discretize(), OutputFcn::evaluate(), ShootingMethod::evaluate(), TransferDevice::init(), Process::init(), RealTimeAlgorithm::initializeNlpSolver(), Process::run(), setAllVectors(), Process::simulate(), SimulationEnvironment::step(), Process::step(), and OCPiterate::update().

returnValue MatrixVariablesGrid::setZero

(

)

[inline, inherited]

Returns:

SUCCESSFUL_RETURN

References Grid::getNumPoints(), SUCCESSFUL_RETURN, uint, and MatrixVariablesGrid::values.

Referenced by TransferDevice::generateNoise(), ColoredNoise::init(), and Process::setDynamicSystem().

VariablesGrid & VariablesGrid::shiftBackwards

(

Vector

lastValue = emptyVector

)

Returns:

Reference to object with shifted points

References BT_FALSE, VectorspaceElement::getDim(), VectorspaceElement::isEmpty(), and Matrix::setCol().

Referenced by OCPiterate::shift().

MatrixVariablesGrid & MatrixVariablesGrid::shiftBackwards

(

Matrix

lastValue = emptyMatrix

)

[inherited]

Returns:

Reference to object with shifted points

References BT_FALSE, Grid::getNumIntervals(), Grid::getNumPoints(), VectorspaceElement::isEmpty(), uint, and MatrixVariablesGrid::values.

VariablesGrid & VariablesGrid::shiftTimes

(

double

timeShift

)

Parameters:

[in]

timeShift

Time offset for shifting.

Returns:

Reference to object with shifted times

Reimplemented from MatrixVariablesGrid.

Referenced by PeriodicReferenceTrajectory::getReference(), and ShootingMethod::rescale().

int MatrixVariablesGrid::sprintf

(

char *

buffer

)

[inherited]

If the char* buffer is equal to zero the length of the requested printing data will be returned (can be used to allocate memory exactly the same way how it would be done with standard C library).

Parameters:

[in,out]

buffer

Buffer for printing.

Returns:

>= 0: number of written characters,
-1: an error occured

References ACADOERROR, MatrixVariablesGrid::getNumCols(), Grid::getNumPoints(), MatrixVariablesGrid::getNumRows(), MatrixVariablesGrid::getNumValues(), Grid::getTime(), MatrixVariablesGrid::operator()(), RET_MEMBER_NOT_INITIALISED, Grid::times, uint, and writeDoublePointerToString().

Referenced by GnuplotWindow::obtainPlotDataString(), and MatrixVariablesGrid::printToString().

---

Friends And Related Function Documentation

returnValue operator<<	(	FILE *	file,
		VariablesGrid &	arg
	)		[friend]

Parameters:

[in]	file	File to print to.
[in]	arg	VariablesGrid to print.

Returns:

SUCCESSFUL_RETURN
RET_CAN_NOT_WRITE_INTO_FILE

returnValue operator<<	(	FILE *	file,
		MatrixVariablesGrid &	arg
	)		[friend, inherited]

Parameters:

[in]	file	File to print to.
[in]	arg	MatrixVariablesGrid to print.

Returns:

SUCCESSFUL_RETURN
RET_CAN_NOT_WRITE_INTO_FILE

friend class OptimizationAlgorithm [friend]

friend class OptimizationAlgorithmBase [friend]

friend class RealTimeAlgorithm [friend]

---

Member Data Documentation

uint Grid::nPoints [protected, inherited]

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

double* Grid::times [protected, inherited]

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

MatrixVariable** MatrixVariablesGrid::values [protected, inherited]

Referenced by MatrixVariablesGrid::addMatrix(), appendTimes(), MatrixVariablesGrid::appendTimes(), appendValues(), MatrixVariablesGrid::appendValues(), MatrixVariablesGrid::clearValues(), MatrixVariablesGrid::determineStringLength(), MatrixVariablesGrid::disableAutoInit(), MatrixVariablesGrid::enableAutoInit(), MatrixVariablesGrid::getAutoInit(), MatrixVariablesGrid::getCoarsenedGrid(), MatrixVariablesGrid::getDim(), MatrixVariablesGrid::getLowerBound(), MatrixVariablesGrid::getLowerBounds(), MatrixVariablesGrid::getMatrix(), MatrixVariablesGrid::getMax(), MatrixVariablesGrid::getMean(), MatrixVariablesGrid::getMin(), MatrixVariablesGrid::getName(), MatrixVariablesGrid::getNumCols(), MatrixVariablesGrid::getNumRows(), MatrixVariablesGrid::getNumValues(), MatrixVariablesGrid::getRefinedGrid(), MatrixVariablesGrid::getScaling(), getTimeSubGrid(), MatrixVariablesGrid::getTimeSubGrid(), MatrixVariablesGrid::getType(), MatrixVariablesGrid::getUnit(), MatrixVariablesGrid::getUpperBound(), MatrixVariablesGrid::getUpperBounds(), getValuesSubGrid(), MatrixVariablesGrid::getValuesSubGrid(), getVector(), MatrixVariablesGrid::hasLowerBounds(), MatrixVariablesGrid::hasNames(), MatrixVariablesGrid::hasScaling(), MatrixVariablesGrid::hasUnits(), MatrixVariablesGrid::hasUpperBounds(), MatrixVariablesGrid::init(), MatrixVariablesGrid::initMatrixVariables(), MatrixVariablesGrid::linearInterpolation(), MatrixVariablesGrid::MatrixVariablesGrid(), merge(), MatrixVariablesGrid::merge(), MatrixVariablesGrid::operator()(), operator()(), MatrixVariablesGrid::operator+(), MatrixVariablesGrid::operator+=(), MatrixVariablesGrid::operator-(), MatrixVariablesGrid::operator-=(), MatrixVariablesGrid::operator=(), MatrixVariablesGrid::operator[](), operator[](), MatrixVariablesGrid::printToString(), MatrixVariablesGrid::setAll(), MatrixVariablesGrid::setAutoInit(), MatrixVariablesGrid::setLowerBound(), MatrixVariablesGrid::setLowerBounds(), MatrixVariablesGrid::setMatrix(), MatrixVariablesGrid::setName(), MatrixVariablesGrid::setScaling(), MatrixVariablesGrid::setType(), MatrixVariablesGrid::setUnit(), MatrixVariablesGrid::setUpperBound(), MatrixVariablesGrid::setUpperBounds(), MatrixVariablesGrid::setZero(), and MatrixVariablesGrid::shiftBackwards().

---

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

• variables_grid.hpp
• variables_grid.ipp
• variables_grid.cpp