User-interface to formulate and solve model predictive control problems. More...

#include <real_time_algorithm.hpp>

Inheritance diagram for RealTimeAlgorithm:

Public Member Functions
	RealTimeAlgorithm ()
	Default constructor.
	RealTimeAlgorithm (const OCP &ocp_, double _samplingTime=DEFAULT_SAMPLING_TIME)
	Constructor which takes the optimal control problem to be solved online together with the sampling time.
	RealTimeAlgorithm (const RealTimeAlgorithm &rhs)
	Copy constructor (deep copy).
virtual	~RealTimeAlgorithm ()
	Destructor.
RealTimeAlgorithm &	operator= (const RealTimeAlgorithm &rhs)
	Assignment operator (deep copy).
virtual ControlLaw *	clone () const
	Clone constructor (deep copy).
virtual returnValue	initializeAlgebraicStates (const VariablesGrid &_xa_init)
	Initializes algebraic states of the control law.
virtual returnValue	initializeAlgebraicStates (const char *fileName)
	Initializes algebraic states of the control law from data file.
virtual returnValue	initializeControls (const VariablesGrid &_u_init)
	Initializes controls of the control law.
virtual returnValue	initializeControls (const char *fileName)
	Initializes controls of the control law from data file.
virtual returnValue	init ()
	Initializes the (internal) optimization algorithm part of the RealTimeAlgorithm.
virtual returnValue	init (double startTime, const Vector &_x=emptyConstVector, const Vector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)
	Initializes the control law with given start values and performs a number of consistency checks.
virtual returnValue	step (double currentTime, const Vector &_x, const Vector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)
	Performs next step of the control law based on given inputs.
virtual returnValue	feedbackStep (double currentTime, const Vector &_x, const Vector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)
	Performs next feedback step of the control law based on given inputs.
virtual returnValue	preparationStep (double nextTime=0.0, const VariablesGrid &_yRef=emptyConstVariablesGrid)
	Performs next preparation step of the control law based on given inputs.
virtual returnValue	solve (double startTime, const Vector &_x, const Vector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)
	(not yet documented).
virtual returnValue	shift (double timeShift=-1.0)
	Shifts the data for preparating the next real-time step.
virtual returnValue	setReference (const VariablesGrid &ref)
	Assigns new reference trajectory for the next real-time step.
virtual uint	getNX () const
	Returns number of (estimated) differential states.
virtual uint	getNXA () const
	Returns number of (estimated) algebraic states.
virtual uint	getNU () const
	Returns number of controls.
virtual uint	getNP () const
	Returns number of parameters.
virtual uint	getNW () const
	Returns number of (estimated) disturbances.
virtual uint	getNY () const
	Returns number of process outputs.
virtual double	getLengthPredictionHorizon () const
	Returns length of the prediction horizon (for the case a predictive control law is used).
virtual double	getLengthControlHorizon () const
	Returns length of the control horizon (for the case a predictive control law is used).
virtual BooleanType	isDynamic () const
	Returns whether the control law is based on dynamic optimization or a static one.
virtual BooleanType	isStatic () const
	Returns whether the control law is a static one or based on dynamic optimization.
virtual BooleanType	isInRealTimeMode () const
	Returns whether the control law is working in real-time mode.
returnValue	initializeDifferentialStates (const char *fileName, BooleanType autoinit=BT_FALSE)
	Initialization of the optimization variables.
returnValue	initializeDifferentialStates (const VariablesGrid &xd_init_, BooleanType autoinit=BT_FALSE)
returnValue	initializeAlgebraicStates (const char *fileName, BooleanType autoinit=BT_FALSE)
returnValue	initializeAlgebraicStates (const VariablesGrid &xa_init_, BooleanType autoinit=BT_FALSE)
returnValue	initializeParameters (const char *fileName)
returnValue	initializeParameters (const VariablesGrid &u_init_)
returnValue	initializeDisturbances (const char *fileName)
returnValue	initializeDisturbances (const VariablesGrid &w_init_)
returnValue	simulateStatesForInitialization ()
	Use this call to overwrite all states by a single shooting initialization.
returnValue	getDifferentialStates (VariablesGrid &xd_) const
returnValue	getDifferentialStates (const char *fileName) const
returnValue	getAlgebraicStates (VariablesGrid &xa_) const
returnValue	getAlgebraicStates (const char *fileName) const
returnValue	getParameters (VariablesGrid &u_) const
returnValue	getParameters (Vector &u_) const
returnValue	getParameters (const char *fileName) const
returnValue	getControls (VariablesGrid &p_) const
returnValue	getControls (const char *fileName) const
returnValue	getDisturbances (VariablesGrid &w_) const
returnValue	getDisturbances (const char *fileName) const
double	getObjectiveValue (const char *fileName) const
double	getObjectiveValue () const
returnValue	getSensitivitiesX (BlockMatrix &_sens) const
returnValue	getSensitivitiesXA (BlockMatrix &_sens) const
returnValue	getSensitivitiesP (BlockMatrix &_sens) const
returnValue	getSensitivitiesU (BlockMatrix &_sens) const
returnValue	getSensitivitiesW (BlockMatrix &_sens) const
double	getStartTime () const
double	getEndTime () const
virtual returnValue	step (const Vector &_x, const Vector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)
	Performs next step of the control law based on given inputs.
returnValue	getU (Vector &_u) const
	Returns control signal as determined by the control law.
returnValue	getP (Vector &_p) const
	Returns parameter signal as determined by the control law.
BooleanType	isDefined () const
	Returns whether the block has been defined (i.e.
BlockName	getName () const
	Returns name of the block.
double	getSamplingTime () const
	Returns sampling time of the block.
returnValue	setName (BlockName _name)
	Assigns new name to the block.
returnValue	setSamplingTime (double _samplingTime)
	Assigns new sampling time to the block.
virtual int	operator<< (PlotWindow &_window)
	Adds a window to the plot collection.
virtual int	operator<< (LogRecord &_record)
	Adds a record to the log collection.
virtual int	addPlotWindow (PlotWindow &_window)
	Adds a window to the plot collection.
returnValue	addOptionsList ()
	Adds an additional OptionsList to internal array.
returnValue	get (OptionsName name, int &value) const
	Returns value of an existing option item of integer type.
returnValue	get (OptionsName name, double &value) const
	Returns value of an existing option item of double type.
returnValue	get (uint idx, OptionsName name, int &value) const
	Returns value of an existing option item of integer type within the option list of given index.
returnValue	get (uint idx, OptionsName name, double &value) const
	Returns value of an existing option item of double type within the option list of given index.
returnValue	set (OptionsName name, int value)
	Sets value of an existing option item of integer type to a given value.
returnValue	set (OptionsName name, double value)
	Sets value of an existing option item of double type to a given value.
returnValue	set (uint idx, OptionsName name, int value)
	Sets value of an existing option item of integer type within the option list of given index to a given value.
returnValue	set (uint idx, OptionsName name, double value)
	Sets value of an existing option item of double type within the option list of given index to a given value.
returnValue	setOptions (const Options &arg)
	Assigns a given Options object to this object.
returnValue	setOptions (uint idx, const Options &arg)
	Assigns the option list with given index of a given Options object to option list with given index of this object.
Options	getOptions (uint idx) const
	Returns an Options object containing exactly the option list with given index.
uint	getNumOptionsLists () const
	Returns total number of option lists.
returnValue	printOptionsList () const
	Prints a list of all available options of all option lists.
returnValue	printOptionsList (uint idx) const
	Prints a list of all available options of option list with given index.
int	addLogRecord (LogRecord &record)
	Adds a record to the log collection.
returnValue	getLogRecord (uint idx, LogRecord &_record) const
	Returns the record with given index from the log collection.
returnValue	getLogRecord (LogRecord &_record) const
	Returns the record with certain index from the log collection.
returnValue	updateLogRecord (LogRecord &_record) const
	Updates all items with the record given as argument.
returnValue	getAll (LogName _name, MatrixVariablesGrid &values) const
	Gets all numerical values at all time instants of the item with given name.
returnValue	getFirst (LogName _name, Matrix &firstValue) const
	Gets numerical value at first time instant of the item with given name.
returnValue	getFirst (LogName _name, VariablesGrid &firstValue) const
	Gets numerical value at first time instant of the item with given name (converts internally used Matrix into VariablesGrid).
returnValue	getLast (LogName _name, Matrix &lastValue) const
	Gets numerical value at last time instant of the item with given name.
returnValue	getLast (LogName _name, VariablesGrid &lastValue) const
	Gets numerical value at last time instant of the item with given name (converts internally used Matrix into VariablesGrid).
uint	getNumLogRecords () const
	Returns number of records contained in the log collection.
returnValue	printLoggingInfo () const
	Prints information on all records and their items on screen.
returnValue	printNumDoubles () const
returnValue	getPlotWindow (uint idx, PlotWindow &_window) const
	Returns the window with given index from the plot collection.
returnValue	getPlotWindow (PlotWindow &_window) const
	Returns the window with certain index from the plot collection.
virtual returnValue	plot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)
	Plots all windows of the plot collection, each one into a new figure.
virtual returnValue	replot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)
	Plots all windows of the plot collection, each one into the corresponding existing figure, if possible.
uint	getNumPlotWindows () const
	Returns number of windows contained in the plot collection.
Protected Member Functions
virtual returnValue	setupOptions ()
	Sets-up default options.
virtual returnValue	setupLogging ()
	Sets-up default logging information.
returnValue	clear ()
	Frees memory of all members of the real time parameters.
virtual returnValue	allocateNlpSolver (Objective F, DynamicDiscretization G, Constraint *H)
	(not yet documented).
virtual returnValue	initializeNlpSolver (const OCPiterate &userInit)
	(not yet documented).
virtual returnValue	initializeObjective (Objective *F)
	(not yet documented).
returnValue	performFeedbackStep (double currentTime, const Vector &_x, const Vector &_p=emptyConstVector)
	(not yet documented).
returnValue	performPreparationStep (const VariablesGrid &_yRef=emptyConstVariablesGrid, BooleanType isLastIteration=BT_TRUE)
	(not yet documented).
returnValue	init (UserInteraction *_userIteraction)
	Initializes everything.
BooleanType	isLinearQuadratic (Objective F, DynamicDiscretization G, Constraint *H) const
virtual returnValue	extractOCPdata (Objective objective, DifferentialEquation differentialEquation, Constraint *constraint, Grid &unionGrid)
virtual returnValue	setupObjective (Objective objective, DifferentialEquation differentialEquation, Constraint constraint, Grid unionGrid)
virtual returnValue	setupDifferentialEquation (Objective objective, DifferentialEquation differentialEquation, Constraint constraint, Grid unionGrid)
virtual returnValue	setupDynamicDiscretization (UserInteraction _userIteraction, Objective objective, DifferentialEquation *differentialEquation, Constraint constraint, Grid unionGrid, DynamicDiscretization **dynamicDiscretization)
virtual returnValue	determineDimensions (Objective const _objective, DifferentialEquation const _differentialEquation, Constraint const _constraint, uint &_nx, uint &_nxa, uint &_np, uint &_nu, uint &_nw) const
virtual returnValue	initializeOCPiterate (Constraint *const _constraint, const Grid &_unionGrid, uint nx, uint nxa, uint np, uint nu, uint nw)
virtual returnValue	getPlotDataFromMemberLoggings (PlotWindow &_window) const
	Copies all collected logging information required to plot a given window.
BlockStatus	getStatus () const
	Gets current status of user interface.
returnValue	setStatus (BlockStatus _status)
	Sets status of user interface.
returnValue	clearOptionsList ()
	Clears all option lists from array.
BooleanType	haveOptionsChanged () const
	Determines whether options of at least one option list have been modified.
BooleanType	haveOptionsChanged (uint idx) const
	Determines whether options of option list with given index have been modified.
returnValue	declareOptionsUnchanged ()
	Declares all options of all option lists to be unchanged.
returnValue	declareOptionsUnchanged (uint idx)
	Declares all options of option list with given index to be unchanged.
returnValue	addOption (OptionsName name, int value)
	Add an option item with a given integer default value to the all option lists.
returnValue	addOption (OptionsName name, double value)
	Add an option item with a given double default value to the all option lists.
returnValue	addOption (uint idx, OptionsName name, int value)
	Add an option item with a given integer default value to option list with given index.
returnValue	addOption (uint idx, OptionsName name, double value)
	Add an option item with a given double default value to option list with given index.
Protected Attributes
Vector *	x0
	Deep copy of the most recent initial value of differential states.
Vector *	p0
	Deep copy of the most recent parameter.
VariablesGrid *	reference
	Deep copy of the most recent reference.
NLPsolver *	nlpSolver
OCP *	ocp
OCPiterate	iter
OCPiterate	userInit
Vector	u
	First piece of time-varying control signals as determined by the control law.
Vector	p
	Time-constant parameter signals as determined by the control law.
BlockName	name
	Name of the block, see documentation of BlockName for details.
double	samplingTime
	Sampling time of the block.
RealClock	realClock
	Clock for real time measurements to be optionally used in derived classes.
BlockStatus	status
	Current status of the user interface, see documentation of BlockStatus for details.
OptionsList **	optionsList
	Array consisting of OptionsLists.
uint	nOptionsList
	Total number of OptionsLists.
LogCollection	logCollection
	Log collection containing a singly-linked list of log records.
int	logIdx
	Index of a certain log record to be optionally used within derived classes.
PlotCollection	plotCollection
	Plot collection containing a singly-linked list of plot windows.

Detailed Description

The class RealTimeAlgorithm serves as a user-interface to formulate and solve model predictive control problems.

Author:: Hans Joachim Ferreau, Boris Houska

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO RealTimeAlgorithm::RealTimeAlgorithm ( )

References BS_NOT_INITIALIZED, BT_FALSE, BT_TRUE, GAUSS_NEWTON, GLOBALIZATION_STRATEGY, GS_FULLSTEP, HESSIAN_APPROXIMATION, MAX_NUM_ITERATIONS, p0, reference, UserInteraction::setStatus(), setupLogging(), setupOptions(), TERMINATE_AT_CONVERGENCE, USE_REALTIME_ITERATIONS, and x0.

Referenced by clone().

RealTimeAlgorithm::RealTimeAlgorithm	(	const OCP &	ocp_,
		double	_samplingTime = `DEFAULT_SAMPLING_TIME`
	)

Parameters:

[in]	ocp_	Optimal control problem to be solved online.
[in]	_samplingTime	Sampling time.

References BS_NOT_INITIALIZED, BT_FALSE, BT_TRUE, GAUSS_NEWTON, GLOBALIZATION_STRATEGY, GS_FULLSTEP, HESSIAN_APPROXIMATION, MAX_NUM_ITERATIONS, p0, reference, UserInteraction::setStatus(), setupLogging(), setupOptions(), TERMINATE_AT_CONVERGENCE, USE_REALTIME_ITERATIONS, and x0.

RealTimeAlgorithm::RealTimeAlgorithm ( const RealTimeAlgorithm & rhs )

Parameters:

[in] rhs Right-hand side object.

References p0, reference, and x0.

RealTimeAlgorithm::~RealTimeAlgorithm ( ) [virtual]

References clear().

Member Function Documentation

int Logging::addLogRecord ( LogRecord & record ) [inherited]

Parameters:

[in] record Record to be added.

Returns:: >= 0: index of added record,
-RET_LOG_COLLECTION_CORRUPTED

References LogCollection::addLogRecord(), and Logging::logCollection.

Referenced by AlgorithmicBase::addLogRecord(), UserInteraction::addPlotWindow(), Logging::operator<<(), IntegrationAlgorithm::setupLogging(), Controller::setupLogging(), and Process::setupLogging().

returnValue Options::addOption	(	OptionsName	name,
		int	value
	)		`[protected, inherited]`

Parameters:

[in]	name	Name of new option item.
[in]	value	Default value of new option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_ALREADY_EXISTS,
RET_OPTIONS_LIST_CORRUPTED

References OptionsList::add(), Options::getNumOptionsLists(), Options::optionsList, SUCCESSFUL_RETURN, and uint.

Referenced by AlgorithmicBase::addOption(), OptimizationAlgorithm::setupOptions(), ExportModule::setupOptions(), MultiObjectiveAlgorithm::setupOptions(), setupOptions(), SimulationEnvironment::setupOptions(), IntegrationAlgorithm::setupOptions(), Controller::setupOptions(), and Process::setupOptions().

returnValue Options::addOption	(	OptionsName	name,
		double	value
	)		`[protected, inherited]`

Parameters:

[in]	name	Name of new option item.
[in]	value	Default value of new option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_ALREADY_EXISTS,
RET_OPTIONS_LIST_CORRUPTED

References OptionsList::add(), Options::getNumOptionsLists(), Options::optionsList, SUCCESSFUL_RETURN, and uint.

returnValue Options::addOption	(	uint	idx,
		OptionsName	name,
		int	value
	)		`[protected, inherited]`

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of new option item.
[in]	value	Default value of new option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_ALREADY_EXISTS,
RET_OPTIONS_LIST_CORRUPTED,
RET_INDEX_OUT_OF_BOUNDS

References ACADOERROR, OptionsList::add(), Options::getNumOptionsLists(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.

returnValue Options::addOption	(	uint	idx,
		OptionsName	name,
		double	value
	)		`[protected, inherited]`

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of new option item.
[in]	value	Default value of new option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_ALREADY_EXISTS,
RET_OPTIONS_LIST_CORRUPTED,
RET_INDEX_OUT_OF_BOUNDS

References ACADOERROR, OptionsList::add(), Options::getNumOptionsLists(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.

returnValue Options::addOptionsList ( ) [inherited]

Returns:: SUCCESSFUL_RETURN

References Options::nOptionsList, Options::optionsList, and SUCCESSFUL_RETURN.

Referenced by AlgorithmicBase::addOptionsList().

int UserInteraction::addPlotWindow ( PlotWindow & _window ) [virtual, inherited]

This function is overloaded here in order to add the plotDataRecord required to plot the window to the log collection.

Parameters:

[in] _window Window to be added.

Returns:: >= 0: index of added record,
-RET_PLOT_COLLECTION_CORRUPTED

Reimplemented from Plotting.

References Logging::addLogRecord(), PlotWindow::getPlotDataRecord(), and PlotWindow::setPlotDataRecord().

Referenced by UserInteraction::operator<<().

returnValue RealTimeAlgorithm::allocateNlpSolver	(	Objective *	F,
		DynamicDiscretization *	G,
		Constraint *	H
	)		`[protected, virtual]`

Parameters:

[in] . .

Returns:: SUCCESSFUL_RETURN

Implements OptimizationAlgorithmBase.

References OptimizationAlgorithmBase::isLinearQuadratic(), OptimizationAlgorithmBase::nlpSolver, and SUCCESSFUL_RETURN.

returnValue RealTimeAlgorithm::clear ( ) [protected]

Returns:: SUCCESSFUL_RETURN

Reimplemented from OptimizationAlgorithmBase.

References p0, reference, SUCCESSFUL_RETURN, and x0.

Referenced by init(), operator=(), and ~RealTimeAlgorithm().

returnValue Options::clearOptionsList ( ) [protected, inherited]

Returns:: SUCCESSFUL_RETURN

References Options::getNumOptionsLists(), Options::optionsList, SUCCESSFUL_RETURN, and uint.

Referenced by Options::operator=(), and Options::~Options().

ControlLaw * RealTimeAlgorithm::clone ( ) const [virtual]

Returns:: Pointer to deep copy of base class type

Implements ControlLaw.

References RealTimeAlgorithm().

returnValue Options::declareOptionsUnchanged ( ) [protected, inherited]

Returns:: SUCCESSFUL_RETURN

References OptionsList::declareOptionsUnchanged(), Options::getNumOptionsLists(), Options::optionsList, SUCCESSFUL_RETURN, and uint.

Referenced by OptimizationAlgorithm::init(), and init().

returnValue Options::declareOptionsUnchanged ( uint idx ) [protected, inherited]

Parameters:

[in] idx Index of option list.

Returns:: SUCCESSFUL_RETURN

References ACADOERROR, OptionsList::declareOptionsUnchanged(), Options::getNumOptionsLists(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.

returnValue OptimizationAlgorithmBase::determineDimensions	(	Objective *const	_objective,
		DifferentialEquation **const	_differentialEquation,
		Constraint *const	_constraint,
		uint &	_nx,
		uint &	_nxa,
		uint &	_np,
		uint &	_nu,
		uint &	_nw
	)		const `[protected, virtual, inherited]`

returnValue OptimizationAlgorithmBase::extractOCPdata	(	Objective **	objective,
		DifferentialEquation ***	differentialEquation,
		Constraint **	constraint,
		Grid &	unionGrid
	)		`[protected, virtual, inherited]`

References ACADOERROR, BT_TRUE, OCP::getConstraint(), OCP::getGrid(), ModelContainer::getModel(), OCP::getObjective(), OCP::hasConstraint(), ModelContainer::hasDifferentialEquation(), OCP::hasObjective(), Constraint::init(), OptimizationAlgorithmBase::initializeObjective(), OptimizationAlgorithmBase::ocp, RET_NO_VALID_OBJECTIVE, and SUCCESSFUL_RETURN.

Referenced by OptimizationAlgorithmBase::init().

returnValue RealTimeAlgorithm::feedbackStep	(	double	currentTime,
		const Vector &	_x,
		const Vector &	_p = `emptyConstVector`,
		const VariablesGrid &	_yRef = `emptyConstVariablesGrid`
	)		`[virtual]`

Parameters:

[in]	currentTime	Current time.
[in]	_x	Most recent value for differential states.
[in]	_p	Most recent value for parameters.
[in]	_yRef	Current piece of reference trajectory (if not specified during previous preparationStep).

Note:: If a non-empty reference trajectory is provided, this one is used instead of the possibly set-up build-in one.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ControlLaw.

References ACADOERROR, BS_READY, BT_FALSE, BT_TRUE, CONVERGENCE_ACHIEVED, CONVERGENCE_NOT_YET_ACHIEVED, VectorspaceElement::getDim(), getNP(), NLPsolver::getNumberOfSteps(), getNX(), UserInteraction::getStatus(), VectorspaceElement::isEmpty(), isInRealTimeMode(), MAX_NUM_ITERATIONS, OptimizationAlgorithmBase::nlpSolver, p0, performFeedbackStep(), performPreparationStep(), NLPsolver::resetNumberOfSteps(), RET_BLOCK_NOT_READY, RET_CONTROLLAW_STEP_FAILED, RET_INVALID_ARGUMENTS, RET_NLP_SOLUTION_FAILED, SUCCESSFUL_RETURN, TERMINATE_AT_CONVERGENCE, and x0.

Referenced by step().

returnValue Options::get	(	OptionsName	name,
		int &	value
	)		const `[inherited]`

Parameters:

[in]	name	Name of option item.
[out]	value	Value of option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS

References OptionsList::get(), and Options::optionsList.

Referenced by createDiagonallyImplicitRKExport(), createImplicitRungeKuttaExport(), AlgorithmicBase::get(), ExplicitRungeKuttaExport::getCode(), ExplicitRungeKuttaExport::getFunctionDeclarations(), ExplicitRungeKuttaExport::setDifferentialEquation(), ExportHouseholderQR::setup(), ExportGaussElim::setup(), ImplicitRungeKuttaExport::setup(), and OptimizationAlgorithmBase::setupDynamicDiscretization().

returnValue Options::get	(	OptionsName	name,
		double &	value
	)		const `[inherited]`

Parameters:

[in]	name	Name of option item.
[out]	value	Value of option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS

References OptionsList::get(), and Options::optionsList.

returnValue Options::get	(	uint	idx,
		OptionsName	name,
		int &	value
	)		const `[inherited]`

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of option item.
[out]	value	Value of option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_INDEX_OUT_OF_BOUNDS

References ACADOERROR, OptionsList::get(), Options::getNumOptionsLists(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.

returnValue Options::get	(	uint	idx,
		OptionsName	name,
		double &	value
	)		const `[inherited]`

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of option item.
[out]	value	Value of option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_INDEX_OUT_OF_BOUNDS

References ACADOERROR, OptionsList::get(), Options::getNumOptionsLists(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.

returnValue OptimizationAlgorithmBase::getAlgebraicStates ( VariablesGrid & xa_ ) const [inherited]

References ACADOWARNING, NLPsolver::getAlgebraicStates(), OptimizationAlgorithmBase::nlpSolver, and RET_MEMBER_NOT_INITIALISED.

Referenced by MultiObjectiveAlgorithm::solve(), and MultiObjectiveAlgorithm::solveSingleObjective().

returnValue OptimizationAlgorithmBase::getAlgebraicStates ( const char * fileName ) const [inherited]

References ACADOWARNING, NLPsolver::getAlgebraicStates(), OptimizationAlgorithmBase::nlpSolver, RET_MEMBER_NOT_INITIALISED, and SUCCESSFUL_RETURN.

BEGIN_NAMESPACE_ACADO returnValue Logging::getAll	(	LogName	_name,
		MatrixVariablesGrid &	values
	)		const `[inline, inherited]`

If this item exists in more than one record, the first one is choosen as they are expected to have identical values anyhow.

Parameters:

[in]	_name	Internal name of item.
[out]	values	All numerical values at all time instants of given item.

Returns:: SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

References ACADOERROR, BT_TRUE, LogCollection::getAll(), LogCollection::hasNonEmptyItem(), Logging::logCollection, and RET_LOG_ENTRY_DOESNT_EXIST.

Referenced by AlgorithmicBase::getAll(), SimulationEnvironment::getProcessAlgebraicStates(), SimulationEnvironment::getProcessDifferentialStates(), and SimulationEnvironment::getProcessIntermediateStates().

returnValue OptimizationAlgorithmBase::getControls ( VariablesGrid & p_ ) const [inherited]

References ACADOWARNING, NLPsolver::getControls(), OptimizationAlgorithmBase::nlpSolver, and RET_MEMBER_NOT_INITIALISED.

Referenced by MultiObjectiveAlgorithm::solve(), and MultiObjectiveAlgorithm::solveSingleObjective().

returnValue OptimizationAlgorithmBase::getControls ( const char * fileName ) const [inherited]

References ACADOWARNING, NLPsolver::getControls(), OptimizationAlgorithmBase::nlpSolver, RET_MEMBER_NOT_INITIALISED, and SUCCESSFUL_RETURN.

returnValue OptimizationAlgorithmBase::getDifferentialStates ( VariablesGrid & xd_ ) const [inherited]

References ACADOWARNING, NLPsolver::getDifferentialStates(), OptimizationAlgorithmBase::nlpSolver, and RET_MEMBER_NOT_INITIALISED.

Referenced by MultiObjectiveAlgorithm::solve(), and MultiObjectiveAlgorithm::solveSingleObjective().

returnValue OptimizationAlgorithmBase::getDifferentialStates ( const char * fileName ) const [inherited]

References ACADOWARNING, NLPsolver::getDifferentialStates(), OptimizationAlgorithmBase::nlpSolver, RET_MEMBER_NOT_INITIALISED, and SUCCESSFUL_RETURN.

returnValue OptimizationAlgorithmBase::getDisturbances ( VariablesGrid & w_ ) const [inherited]

References ACADOWARNING, NLPsolver::getDisturbances(), OptimizationAlgorithmBase::nlpSolver, and RET_MEMBER_NOT_INITIALISED.

Referenced by MultiObjectiveAlgorithm::solve(), and MultiObjectiveAlgorithm::solveSingleObjective().

returnValue OptimizationAlgorithmBase::getDisturbances ( const char * fileName ) const [inherited]

References ACADOWARNING, NLPsolver::getDisturbances(), OptimizationAlgorithmBase::nlpSolver, RET_MEMBER_NOT_INITIALISED, and SUCCESSFUL_RETURN.

double OptimizationAlgorithmBase::getEndTime ( ) const [inherited]

References OCP::getEndTime(), INFTY, and OptimizationAlgorithmBase::ocp.

Referenced by getLengthPredictionHorizon().

returnValue Logging::getFirst	(	LogName	_name,
		Matrix &	firstValue
	)		const `[inline, inherited]`

If this item exists in more than one record, the first one is choosen as they are expected to have identical values anyhow.

Parameters:

[in]	_name	Internal name of item.
[out]	firstValue	Numerical value at first time instant of given item.

Returns:: SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

References ACADOERROR, BT_TRUE, LogCollection::getFirst(), LogCollection::hasNonEmptyItem(), Logging::logCollection, and RET_LOG_ENTRY_DOESNT_EXIST.

Referenced by AlgorithmicBase::getFirst().

returnValue Logging::getFirst	(	LogName	_name,
		VariablesGrid &	firstValue
	)		const `[inline, inherited]`

If this item exists in more than one record, the first one is choosen as they are expected to have identical values anyhow.

Parameters:

[in]	_name	Internal name of item.
[out]	firstValue	Numerical value at first time instant of given item.

Returns:: SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

References ACADOERROR, BT_TRUE, LogCollection::getFirst(), LogCollection::hasNonEmptyItem(), Logging::logCollection, and RET_LOG_ENTRY_DOESNT_EXIST.

returnValue Logging::getLast	(	LogName	_name,
		Matrix &	lastValue
	)		const `[inline, inherited]`

If this item exists in more than one record, the first one is choosen as they are expected to have identical values anyhow.

Parameters:

[in]	_name	Internal name of item.
[out]	lastValue	Numerical value at last time instant of given item.

Returns:: SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

References ACADOERROR, BT_TRUE, LogCollection::getLast(), LogCollection::hasNonEmptyItem(), Logging::logCollection, and RET_LOG_ENTRY_DOESNT_EXIST.

Referenced by AlgorithmicBase::getLast().

returnValue Logging::getLast	(	LogName	_name,
		VariablesGrid &	lastValue
	)		const `[inline, inherited]`

If this item exists in more than one record, the first one is choosen as they are expected to have identical values anyhow.

Parameters:

[in]	_name	Internal name of item.
[out]	lastValue	Numerical value at last time instant of given item.

Returns:: SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

References ACADOERROR, BT_TRUE, LogCollection::getLast(), LogCollection::hasNonEmptyItem(), Logging::logCollection, and RET_LOG_ENTRY_DOESNT_EXIST.

double RealTimeAlgorithm::getLengthControlHorizon ( ) const [virtual]

Returns:: Length of the control horizon

Reimplemented from ControlLaw.

References getLengthPredictionHorizon().

double RealTimeAlgorithm::getLengthPredictionHorizon ( ) const [virtual]

Returns:: Length of the prediction horizon

Reimplemented from ControlLaw.

References OptimizationAlgorithmBase::getEndTime(), and OptimizationAlgorithmBase::getStartTime().

Referenced by getLengthControlHorizon().

returnValue Logging::getLogRecord	(	uint	idx,
		LogRecord &	_record
	)		const `[inherited]`

Parameters:

[in]	idx	Index of desired record.
[out]	_record	Desired record.

Returns:: SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS

References ACADOERROR, Logging::getNumLogRecords(), Logging::logCollection, RET_INDEX_OUT_OF_BOUNDS, and SUCCESSFUL_RETURN.

Referenced by Logging::getLogRecord().

returnValue Logging::getLogRecord ( LogRecord & _record ) const [inherited]

This index is not provided when calling the function, but rather obtained by using the alias index of the record. If the record is no alias record, the error RET_INDEX_OUT_OF_BOUNDS is thrown.

Parameters:

[out] _record Desired record.

Returns:: SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS

References LogRecord::getAliasIdx(), and Logging::getLogRecord().

BlockName SimulationBlock::getName ( ) const [inline, inherited]

Returns:: Name of the block

References SimulationBlock::name.

uint RealTimeAlgorithm::getNP ( ) const [virtual]

Returns:: Number of parameters

Reimplemented from ControlLaw.

Referenced by feedbackStep().

uint RealTimeAlgorithm::getNU ( ) const [virtual]

Returns:: Number of controls

Reimplemented from ControlLaw.

uint Logging::getNumLogRecords ( ) const [inherited]

Returns:: Number of records

References LogCollection::getNumLogRecords(), and Logging::logCollection.

Referenced by Logging::getLogRecord().

BEGIN_NAMESPACE_ACADO uint Options::getNumOptionsLists ( ) const [inline, inherited]

Returns:: Total number of option lists

References Options::nOptionsList.

Referenced by Options::addOption(), Options::clearOptionsList(), Options::declareOptionsUnchanged(), Options::get(), Options::getOptions(), Options::haveOptionsChanged(), Options::printOptionsList(), Options::set(), and Options::setOptions().

uint Plotting::getNumPlotWindows ( ) const [inline, inherited]

Returns:: Number of windows

References PlotCollection::getNumPlotWindows(), and Plotting::plotCollection.

Referenced by Plotting::getPlotWindow().

uint RealTimeAlgorithm::getNW ( ) const [virtual]

Returns:: Number of (estimated) disturbances

Reimplemented from ControlLaw.

uint RealTimeAlgorithm::getNX ( ) const [virtual]

Returns:: Number of (estimated) differential states

Reimplemented from ControlLaw.

Referenced by feedbackStep(), and getNY().

uint RealTimeAlgorithm::getNXA ( ) const [virtual]

Returns:: Number of (estimated) algebraic states

Reimplemented from ControlLaw.

uint RealTimeAlgorithm::getNY ( ) const [virtual]

Returns:: Number of process outputs

Reimplemented from ControlLaw.

References getNX().

double OptimizationAlgorithmBase::getObjectiveValue ( const char * fileName ) const [inherited]

References acadoFPrintf(), OptimizationAlgorithmBase::getObjectiveValue(), and SUCCESSFUL_RETURN.

double OptimizationAlgorithmBase::getObjectiveValue ( ) const [inherited]

References ACADOWARNING, NLPsolver::getObjectiveValue(), OptimizationAlgorithmBase::nlpSolver, and RET_MEMBER_NOT_INITIALISED.

Referenced by OptimizationAlgorithmBase::getObjectiveValue().

Options Options::getOptions ( uint idx ) const [inherited]

Parameters:

[in] idx Index of option list.

Returns:: Options object containing exactly the option list with given index

References ACADOERROR, Options::getNumOptionsLists(), Options::Options(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.

Referenced by AlgorithmicBase::getOptions().

returnValue ControlLaw::getP ( Vector & _p ) const [inline, inherited]

Parameters:

[out] _p Parameter signal as determined by the control law.

Returns:: SUCCESSFUL_RETURN

References ControlLaw::p, and SUCCESSFUL_RETURN.

Referenced by Controller::getP().

returnValue OptimizationAlgorithmBase::getParameters ( VariablesGrid & u_ ) const [inherited]

References ACADOWARNING, NLPsolver::getParameters(), OptimizationAlgorithmBase::nlpSolver, and RET_MEMBER_NOT_INITIALISED.

Referenced by MultiObjectiveAlgorithm::solve(), and MultiObjectiveAlgorithm::solveSingleObjective().

returnValue OptimizationAlgorithmBase::getParameters ( Vector & u_ ) const [inherited]

References ACADOWARNING, NLPsolver::getParameters(), VariablesGrid::getVector(), OptimizationAlgorithmBase::nlpSolver, RET_MEMBER_NOT_INITIALISED, and SUCCESSFUL_RETURN.

returnValue OptimizationAlgorithmBase::getParameters ( const char * fileName ) const [inherited]

References ACADOWARNING, NLPsolver::getParameters(), OptimizationAlgorithmBase::nlpSolver, RET_MEMBER_NOT_INITIALISED, and SUCCESSFUL_RETURN.

returnValue UserInteraction::getPlotDataFromMemberLoggings ( PlotWindow & _window ) const [protected, virtual, inherited]

This function is overloaded within the UserInterface class to syncronize the logging information collected elsewhere within the algorithm with the one stored within the given window for plotting.

Parameters:

[in] _window Window to be plotted.

Returns:: SUCCESSFUL_RETURN

Reimplemented from Plotting.

References PlotWindow::getPlotDataRecord(), PlotWindow::setPlotDataRecord(), SUCCESSFUL_RETURN, and Logging::updateLogRecord().

returnValue Plotting::getPlotWindow	(	uint	idx,
		PlotWindow &	_window
	)		const `[inline, inherited]`

Parameters:

[in]	idx	Index of desired window.
[out]	_window	Desired window.

Returns:: SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS

References ACADOERROR, Plotting::getNumPlotWindows(), Plotting::getPlotDataFromMemberLoggings(), Plotting::plotCollection, and RET_INDEX_OUT_OF_BOUNDS.

Referenced by Plotting::getPlotWindow(), Plotting::plot(), and Plotting::replot().

returnValue Plotting::getPlotWindow ( PlotWindow & _window ) const [inline, inherited]

This index is not provided when calling the function, but rather obtained by using the alias index of the window. If the window is no alias window, the error RET_INDEX_OUT_OF_BOUNDS is thrown.

Parameters:

[out] _window Desired window.

Returns:: SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS

References PlotWindow::getAliasIdx(), and Plotting::getPlotWindow().

double SimulationBlock::getSamplingTime ( ) const [inline, inherited]

Returns:: Sampling time of the block

References SimulationBlock::samplingTime.

Referenced by PIDcontroller::determineControlAction(), Controller::getSamplingTimeControlLaw(), Controller::getSamplingTimeEstimator(), Process::init(), shift(), step(), and Controller::step().

returnValue OptimizationAlgorithmBase::getSensitivitiesP ( BlockMatrix & _sens ) const [inherited]

References NLPsolver::getSensitivitiesP(), and OptimizationAlgorithmBase::nlpSolver.

returnValue OptimizationAlgorithmBase::getSensitivitiesU ( BlockMatrix & _sens ) const [inherited]

References NLPsolver::getSensitivitiesU(), and OptimizationAlgorithmBase::nlpSolver.

returnValue OptimizationAlgorithmBase::getSensitivitiesW ( BlockMatrix & _sens ) const [inherited]

References NLPsolver::getSensitivitiesW(), and OptimizationAlgorithmBase::nlpSolver.

returnValue OptimizationAlgorithmBase::getSensitivitiesX ( BlockMatrix & _sens ) const [inherited]

References NLPsolver::getSensitivitiesX(), and OptimizationAlgorithmBase::nlpSolver.

returnValue OptimizationAlgorithmBase::getSensitivitiesXA ( BlockMatrix & _sens ) const [inherited]

References NLPsolver::getSensitivitiesXA(), and OptimizationAlgorithmBase::nlpSolver.

double OptimizationAlgorithmBase::getStartTime ( ) const [inherited]

References OCP::getStartTime(), INFTY, and OptimizationAlgorithmBase::ocp.

Referenced by getLengthPredictionHorizon().

BlockStatus UserInteraction::getStatus ( ) const [protected, inherited]

BEGIN_NAMESPACE_ACADO returnValue ControlLaw::getU ( Vector & _u ) const [inline, inherited]

Parameters:

[out] _u Control signal as determined by the control law.

Returns:: SUCCESSFUL_RETURN

References SUCCESSFUL_RETURN, and ControlLaw::u.

Referenced by Controller::getU().

BooleanType Options::haveOptionsChanged ( ) const [protected, inherited]

Returns:: BT_TRUE iff options have been modified,
BT_FALSE otherwise

References BT_FALSE, BT_TRUE, Options::getNumOptionsLists(), Options::optionsList, and uint.

Referenced by AlgorithmicBase::haveOptionsChanged(), OptimizationAlgorithm::init(), init(), and OptimizationAlgorithm::solve().

BooleanType Options::haveOptionsChanged ( uint idx ) const [protected, inherited]

Parameters:

[in] idx Index of option list.

Returns:: BT_TRUE iff options have been modified,
BT_FALSE otherwise

References ACADOERROR, BT_FALSE, Options::getNumOptionsLists(), OptionsList::haveOptionsChanged(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.

returnValue RealTimeAlgorithm::init ( ) [virtual]

Returns:: SUCCESSFUL_RETURN,
RET_OPTALG_INIT_FAILED

References BS_READY, BT_FALSE, Options::declareOptionsUnchanged(), UserInteraction::getStatus(), Options::haveOptionsChanged(), UserInteraction::setStatus(), and SUCCESSFUL_RETURN.

Referenced by init(), performFeedbackStep(), and solve().

returnValue RealTimeAlgorithm::init	(	double	startTime,
		const Vector &	_x = `emptyConstVector`,
		const Vector &	_p = `emptyConstVector`,
		const VariablesGrid &	_yRef = `emptyConstVariablesGrid`
	)		`[virtual]`

Parameters:

[in]	_startTime	Start time.
[in]	_x	Initial value for differential states.
[in]	_p	Initial value for parameters.
[in]	_yRef	Initial value for reference trajectory.

Returns:: SUCCESSFUL_RETURN

Implements ControlLaw.

References ACADOERROR, ACADOWARNING, BS_READY, BT_FALSE, BT_TRUE, clear(), OptimizationAlgorithmBase::getNP(), OptimizationAlgorithmBase::getNU(), VectorspaceElement::init(), init(), VectorspaceElement::isEmpty(), Grid::isEmpty(), MAX_NUM_ITERATIONS, ControlLaw::p, p0, reference, RET_CONTROLLAW_INIT_FAILED, RET_IMMEDIATE_FEEDBACK_ONE_ITERATION, UserInteraction::setStatus(), VectorspaceElement::setZero(), SUCCESSFUL_RETURN, ControlLaw::u, USE_IMMEDIATE_FEEDBACK, and x0.

returnValue OptimizationAlgorithmBase::initializeAlgebraicStates	(	const char *	fileName,
		BooleanType	autoinit = `BT_FALSE`
	)		`[inherited]`

References BT_TRUE, Grid::isEmpty(), and RET_FILE_CAN_NOT_BE_OPENED.

returnValue OptimizationAlgorithmBase::initializeAlgebraicStates	(	const VariablesGrid &	xa_init_,
		BooleanType	autoinit = `BT_FALSE`
	)		`[inherited]`

References BT_FALSE, BT_TRUE, MatrixVariablesGrid::disableAutoInit(), MatrixVariablesGrid::enableAutoInit(), SUCCESSFUL_RETURN, OptimizationAlgorithmBase::userInit, and OCPiterate::xa.

returnValue RealTimeAlgorithm::initializeAlgebraicStates ( const VariablesGrid & _xa_init ) [virtual]

Parameters:

[in] _xa_init Initial value for algebraic states.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ControlLaw.

Referenced by initializeAlgebraicStates().

returnValue RealTimeAlgorithm::initializeAlgebraicStates ( const char * fileName ) [virtual]

Parameters:

[in] fileName Name of file containing initial value for algebraic states.

Returns:: SUCCESSFUL_RETURN,
RET_FILE_CAN_NOT_BE_OPENED

Reimplemented from ControlLaw.

References initializeAlgebraicStates().

returnValue RealTimeAlgorithm::initializeControls ( const VariablesGrid & _u_init ) [virtual]

Parameters:

[in] _u_init Initial value for controls.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ControlLaw.

Referenced by initializeControls().

returnValue RealTimeAlgorithm::initializeControls ( const char * fileName ) [virtual]

Parameters:

[in] fileName Name of file containing initial value for controls.

Returns:: SUCCESSFUL_RETURN,
RET_FILE_CAN_NOT_BE_OPENED

Reimplemented from ControlLaw.

References initializeControls().

returnValue OptimizationAlgorithmBase::initializeDifferentialStates	(	const char *	fileName,
		BooleanType	autoinit = `BT_FALSE`
	)		`[inherited]`

References BT_TRUE, Grid::isEmpty(), and RET_FILE_CAN_NOT_BE_OPENED.

returnValue OptimizationAlgorithmBase::initializeDifferentialStates	(	const VariablesGrid &	xd_init_,
		BooleanType	autoinit = `BT_FALSE`
	)		`[inherited]`

References BT_FALSE, BT_TRUE, MatrixVariablesGrid::disableAutoInit(), MatrixVariablesGrid::enableAutoInit(), SUCCESSFUL_RETURN, OptimizationAlgorithmBase::userInit, and OCPiterate::x.

returnValue OptimizationAlgorithmBase::initializeDisturbances ( const char * fileName ) [inherited]

References BT_TRUE, Grid::isEmpty(), and RET_FILE_CAN_NOT_BE_OPENED.

returnValue OptimizationAlgorithmBase::initializeDisturbances ( const VariablesGrid & w_init_ ) [inherited]

References SUCCESSFUL_RETURN, OptimizationAlgorithmBase::userInit, and OCPiterate::w.

returnValue RealTimeAlgorithm::initializeNlpSolver ( const OCPiterate & userInit ) [protected, virtual]

Parameters:

[in] . .

Returns:: SUCCESSFUL_RETURN

Implements OptimizationAlgorithmBase.

References ACADO_TRY, ACADOERROR, NLPsolver::init(), OptimizationAlgorithmBase::nlpSolver, OCPiterate::p, p0, VariablesGrid::setAllVectors(), VariablesGrid::setVector(), SUCCESSFUL_RETURN, OCPiterate::u, OCPiterate::w, OCPiterate::x, x0, and OCPiterate::xa.

returnValue RealTimeAlgorithm::initializeObjective ( Objective * F ) [protected, virtual]

Parameters:

[in] . .

Returns:: SUCCESSFUL_RETURN

Implements OptimizationAlgorithmBase.

References reference, Objective::setReference(), and SUCCESSFUL_RETURN.

returnValue OptimizationAlgorithmBase::initializeOCPiterate	(	Constraint *const	_constraint,
		const Grid &	_unionGrid,
		uint	nx,
		uint	nxa,
		uint	np,
		uint	nu,
		uint	nw
	)		`[protected, virtual, inherited]`

returnValue OptimizationAlgorithmBase::initializeParameters ( const char * fileName ) [inherited]

References BT_TRUE, Grid::isEmpty(), and RET_FILE_CAN_NOT_BE_OPENED.

returnValue OptimizationAlgorithmBase::initializeParameters ( const VariablesGrid & u_init_ ) [inherited]

References OCPiterate::p, SUCCESSFUL_RETURN, and OptimizationAlgorithmBase::userInit.

BEGIN_NAMESPACE_ACADO BooleanType SimulationBlock::isDefined ( ) const [inline, inherited]

setup properly).

Returns:: BT_TRUE iff block has been defined,
BT_FALSE otherwise

References BS_UNDEFINED, BT_FALSE, BT_TRUE, and UserInteraction::status.

Referenced by Controller::Controller(), Process::setActuator(), Controller::setControlLaw(), SimulationEnvironment::setController(), Controller::setEstimator(), SimulationEnvironment::setProcess(), Process::setSensor(), and SimulationEnvironment::SimulationEnvironment().

BooleanType RealTimeAlgorithm::isDynamic ( ) const [virtual]

Returns:: BT_TRUE iff control law is based on dynamic optimization,
BT_FALSE otherwise

Implements ControlLaw.

References BT_TRUE.

Referenced by isStatic().

BooleanType RealTimeAlgorithm::isInRealTimeMode ( ) const [virtual]

Returns:: BT_TRUE iff control law is working in real-time mode,
BT_FALSE otherwise

Reimplemented from ControlLaw.

References BT_FALSE, MAX_NUM_ITERATIONS, and USE_REALTIME_ITERATIONS.

Referenced by feedbackStep().

BooleanType OptimizationAlgorithmBase::isLinearQuadratic	(	Objective *	F,
		DynamicDiscretization *	G,
		Constraint *	H
	)		const `[protected, inherited]`

References BT_FALSE, BT_TRUE, DynamicDiscretization::isAffine(), Constraint::isAffine(), and Objective::isQuadratic().

Referenced by OptimizationAlgorithm::allocateNlpSolver(), and allocateNlpSolver().

BooleanType RealTimeAlgorithm::isStatic ( ) const [virtual]

Returns:: BT_TRUE iff control law is a static one,
BT_FALSE otherwise

Implements ControlLaw.

References BT_FALSE, BT_TRUE, and isDynamic().

int UserInteraction::operator<< ( PlotWindow & _window ) [virtual, inherited]

This function is overloaded here in order to add the plotDataRecord required to plot the window to the log collection.

Parameters:

[in] _window Window to be added.

Note:: This function is doing the same as the corresponding addPlotWindow member function and is introduced for syntax reasons only.

Returns:: >= 0: index of added record,
-RET_PLOT_COLLECTION_CORRUPTED

Reimplemented from Plotting.

References UserInteraction::addPlotWindow().

Referenced by UserInteraction::operator<<().

int UserInteraction::operator<< ( LogRecord & _record ) [virtual, inherited]

Parameters:

[in] record Record to be added.

Note:: This function tunnels the corresponding function of the Logging class. It is introduced to avoid syntax ambiguity only.

Returns:: >= 0: index of added record,
-RET_LOG_COLLECTION_CORRUPTED

Reimplemented from Logging.

References UserInteraction::operator<<().

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

Parameters:

[in] rhs Right-hand side object.

References clear(), p0, reference, and x0.

returnValue RealTimeAlgorithm::performFeedbackStep	(	double	currentTime,
		const Vector &	_x,
		const Vector &	_p = `emptyConstVector`
	)		`[protected]`

Parameters:

[in] . .

Returns:: SUCCESSFUL_RETURN

References ACADOERROR, BS_NOT_INITIALIZED, BS_READY, BS_RUNNING, NLPsolver::feedbackStep(), NLPsolver::getFirstControl(), UserInteraction::getStatus(), init(), OptimizationAlgorithmBase::nlpSolver, RET_CONTROLLAW_STEP_FAILED, RET_OPTALG_FEEDBACK_FAILED, RET_OPTALG_INIT_FAILED, UserInteraction::setStatus(), SUCCESSFUL_RETURN, and ControlLaw::u.

Referenced by feedbackStep(), and solve().

returnValue RealTimeAlgorithm::performPreparationStep	(	const VariablesGrid &	_yRef = `emptyConstVariablesGrid`,
		BooleanType	isLastIteration = `BT_TRUE`
	)		`[protected]`

Parameters:

[in] . .

Returns:: SUCCESSFUL_RETURN

References ACADOERROR, BS_READY, BS_RUNNING, BT_FALSE, BT_TRUE, CONVERGENCE_ACHIEVED, CONVERGENCE_NOT_YET_ACHIEVED, UserInteraction::getStatus(), Grid::isEmpty(), OptimizationAlgorithmBase::nlpSolver, NLPsolver::performCurrentStep(), NLPsolver::prepareNextStep(), RET_OPTALG_INIT_FAILED, setReference(), UserInteraction::setStatus(), shift(), TERMINATE_AT_CONVERGENCE, and USE_REALTIME_SHIFTS.

Referenced by feedbackStep(), preparationStep(), and solve().

returnValue Plotting::plot ( PlotFrequency _frequency = PLOT_IN_ANY_CASE ) [virtual, inherited]

Parameters:

[in] _frequency Frequency determining at which time instants the window is to be plotted.

Returns:: SUCCESSFUL_RETURN

References ACADOERROR, PlotCollection::first, PlotWindow::getNext(), Plotting::getPlotWindow(), PlotWindow::plot(), PLOT_NEVER, Plotting::plotCollection, RET_PLOTTING_FAILED, and SUCCESSFUL_RETURN.

Referenced by IntegrationAlgorithm::evaluate(), and AlgorithmicBase::plot().

returnValue RealTimeAlgorithm::preparationStep	(	double	nextTime = `0.0`,
		const VariablesGrid &	_yRef = `emptyConstVariablesGrid`
	)		`[virtual]`

Parameters:

[in]	nextTime	Time at next step.
[in]	_yRef	Piece of reference trajectory for next step (required for hotstarting).

Returns:: SUCCESSFUL_RETURN

Reimplemented from ControlLaw.

References ACADOERROR, BT_TRUE, CONVERGENCE_ACHIEVED, CONVERGENCE_NOT_YET_ACHIEVED, performPreparationStep(), RET_CONTROLLAW_STEP_FAILED, and SUCCESSFUL_RETURN.

Referenced by step().

returnValue Logging::printLoggingInfo ( ) const [inherited]

Returns:: SUCCESSFUL_RETURN

References LogCollection::getNumLogRecords(), Logging::logCollection, SUCCESSFUL_RETURN, and uint.

returnValue Logging::printNumDoubles ( ) const [inherited]

References LogCollection::getNumDoubles(), Logging::logCollection, and SUCCESSFUL_RETURN.

returnValue Options::printOptionsList ( ) const [inherited]

Returns:: SUCCESSFUL_RETURN

References Options::getNumOptionsLists(), Options::optionsList, OptionsList::printOptionsList(), SUCCESSFUL_RETURN, and uint.

returnValue Options::printOptionsList ( uint idx ) const [inherited]

Parameters:

[in] idx Index of option list.

Returns:: SUCCESSFUL_RETURN

References ACADOERROR, Options::getNumOptionsLists(), Options::optionsList, OptionsList::printOptionsList(), and RET_INDEX_OUT_OF_BOUNDS.

returnValue Plotting::replot ( PlotFrequency _frequency = PLOT_IN_ANY_CASE ) [virtual, inherited]

Parameters:

[in] _frequency Frequency determining at which time instants the window is to be plotted.

Returns:: SUCCESSFUL_RETURN

Reimplemented in Process.

References ACADOERROR, PlotCollection::first, PlotWindow::getNext(), Plotting::getPlotWindow(), PLOT_NEVER, Plotting::plotCollection, PlotWindow::replot(), RET_PLOTTING_FAILED, and SUCCESSFUL_RETURN.

Referenced by AlgorithmicBase::replot(), and solve().

returnValue Options::set	(	OptionsName	name,
		int	value
	)		`[inherited]`

Parameters:

[in]	name	Name of option item.
[in]	value	New value of option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_OPTIONS_LIST_CORRUPTED

References Options::optionsList, and OptionsList::set().

Referenced by AlgorithmicBase::set().

returnValue Options::set	(	OptionsName	name,
		double	value
	)		`[inherited]`

Parameters:

[in]	name	Name of option item.
[in]	value	New value of option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_OPTIONS_LIST_CORRUPTED

References Options::optionsList, and OptionsList::set().

returnValue Options::set	(	uint	idx,
		OptionsName	name,
		int	value
	)		`[inherited]`

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of option item.
[in]	value	New value of option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_OPTIONS_LIST_CORRUPTED,
RET_INDEX_OUT_OF_BOUNDS

References ACADOERROR, Options::getNumOptionsLists(), Options::optionsList, RET_INDEX_OUT_OF_BOUNDS, and OptionsList::set().

returnValue Options::set	(	uint	idx,
		OptionsName	name,
		double	value
	)		`[inherited]`

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of option item.
[in]	value	New value of option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_OPTIONS_LIST_CORRUPTED,
RET_INDEX_OUT_OF_BOUNDS

References ACADOERROR, Options::getNumOptionsLists(), Options::optionsList, RET_INDEX_OUT_OF_BOUNDS, and OptionsList::set().

returnValue SimulationBlock::setName ( BlockName _name ) [inline, inherited]

Parameters:

[in] _name New name.

Returns:: SUCCESSFUL_RETURN

References SimulationBlock::name, and SUCCESSFUL_RETURN.

Referenced by SimulationBlock::operator=(), and SimulationBlock::SimulationBlock().

returnValue Options::setOptions ( const Options & arg ) [inherited]

Parameters:

[in] arg New Options object to be assigned.

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

Returns:: SUCCESSFUL_RETURN

References Options::operator=(), and SUCCESSFUL_RETURN.

Referenced by AlgorithmicBase::setOptions().

returnValue Options::setOptions	(	uint	idx,
		const Options &	arg
	)		`[inherited]`

Parameters:

[in]	idx	Index of option list.
[in]	arg	Options object containing the option list to be assigned.

Returns:: SUCCESSFUL_RETURN

References ACADOERROR, Options::getNumOptionsLists(), Options::optionsList, RET_INDEX_OUT_OF_BOUNDS, and SUCCESSFUL_RETURN.

returnValue RealTimeAlgorithm::setReference ( const VariablesGrid & ref ) [virtual]

Parameters:

[in] ref Current piece of new reference trajectory.

Returns:: SUCCESSFUL_RETURN,
RET_REFERENCE_SHIFTING_WORKS_FOR_LSQ_TERMS_ONLY,
RET_MEMBER_NOT_INITIALISED

References ACADOERROR, BS_READY, BS_RUNNING, UserInteraction::getStatus(), OptimizationAlgorithmBase::nlpSolver, RET_OPTALG_INIT_FAILED, and NLPsolver::setReference().

Referenced by performPreparationStep().

returnValue SimulationBlock::setSamplingTime ( double _samplingTime ) [inline, inherited]

Parameters:

[in] _samplingTime New sampling time.

Returns:: SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

References ACADOERROR, acadoIsGreater(), BT_TRUE, RET_INVALID_ARGUMENTS, SimulationBlock::samplingTime, and SUCCESSFUL_RETURN.

Referenced by SimulationBlock::operator=(), and SimulationBlock::SimulationBlock().

returnValue UserInteraction::setStatus ( BlockStatus _status ) [protected, inherited]

Parameters:

[in] _status New status of user interface

Returns:: SUCCESSFUL_RETURN

References UserInteraction::status, and SUCCESSFUL_RETURN.

Referenced by Controller::Controller(), DynamicEstimator::DynamicEstimator(), Estimator::Estimator(), FeedforwardLaw::FeedforwardLaw(), KalmanFilter::init(), OptimizationAlgorithm::init(), DynamicEstimator::init(), Estimator::init(), LinearStateFeedback::init(), FeedforwardLaw::init(), init(), TransferDevice::init(), PIDcontroller::init(), SimulationEnvironment::init(), Controller::init(), Process::init(), Process::initializeStartValues(), IntegrationAlgorithm::IntegrationAlgorithm(), KalmanFilter::KalmanFilter(), LinearStateFeedback::LinearStateFeedback(), OCPexport::OCPexport(), UserInteraction::operator=(), OptimizationAlgorithm::OptimizationAlgorithm(), performFeedbackStep(), performPreparationStep(), PIDcontroller::PIDcontroller(), Process::Process(), RealTimeAlgorithm(), Process::setActuator(), Controller::setControlLaw(), SimulationEnvironment::setController(), Process::setDynamicSystem(), Controller::setEstimator(), SimulationEnvironment::setProcess(), Process::setProcessDisturbance(), Controller::setReferenceTrajectory(), Process::setSensor(), OCPexport::setup(), SIMexport::setup(), SIMexport::SIMexport(), SimulationEnvironment::SimulationEnvironment(), MultiObjectiveAlgorithm::solve(), MultiObjectiveAlgorithm::solveSingleObjective(), TransferDevice::TransferDevice(), and UserInteraction::UserInteraction().

returnValue OptimizationAlgorithmBase::setupDifferentialEquation	(	Objective *	objective,
		DifferentialEquation **	differentialEquation,
		Constraint *	constraint,
		Grid	unionGrid
	)		`[protected, virtual, inherited]`

References Constraint::add(), Grid::getNumPoints(), and SUCCESSFUL_RETURN.

Referenced by OptimizationAlgorithmBase::init().

returnValue OptimizationAlgorithmBase::setupDynamicDiscretization	(	UserInteraction *	_userIteraction,
		Objective *	objective,
		DifferentialEquation **	differentialEquation,
		Constraint *	constraint,
		Grid	unionGrid,
		DynamicDiscretization **	dynamicDiscretization
	)		`[protected, virtual, inherited]`

References BACKWARD_SENSITIVITY, BT_FALSE, BT_TRUE, DYNAMIC_SENSITIVITY, FORWARD_SENSITIVITY, Options::get(), INT_BDF, INT_DISCRETE, INTEGRATOR_TYPE, and SUCCESSFUL_RETURN.

Referenced by OptimizationAlgorithmBase::init().

returnValue RealTimeAlgorithm::setupLogging ( ) [protected, virtual]

Returns:: SUCCESSFUL_RETURN

Reimplemented from Logging.

References SUCCESSFUL_RETURN.

Referenced by RealTimeAlgorithm().

returnValue OptimizationAlgorithmBase::setupObjective	(	Objective *	objective,
		DifferentialEquation **	differentialEquation,
		Constraint *	constraint,
		Grid	unionGrid
	)		`[protected, virtual, inherited]`

References Objective::init().

Referenced by OptimizationAlgorithmBase::init().

returnValue RealTimeAlgorithm::setupOptions ( ) [protected, virtual]

Returns:: SUCCESSFUL_RETURN

Reimplemented from Options.

References ABSOLUTE_TOLERANCE, Options::addOption(), ALGEBRAIC_RELAXATION, CONSTRAINT_SENSITIVITY, CORRECTOR_TOLERANCE, defaultAbsoluteTolerance, defaultAlgebraicRelaxation, defaultConstraintSensitivity, defaultCorrectorTolerance, defaultDiscretizationType, defaultDynamicHessianApproximation, defaultDynamicSensitivity, defaultFeasibilityCheck, defaultFreezeIntegrator, defaultGlobalizationStrategy, defaultHessianApproximation, defaultHessianProjectionFactor, defaultHotstartQP, defaultInfeasibleQPhandling, defaultInfeasibleQPrelaxation, defaultInitialStepsize, defaultIntegratorPrintlevel, defaultIntegratorTolerance, defaultIntegratorType, defaultKKTtolerance, defaultKKTtoleranceSafeguard, defaultLevenbergMarguardt, defaultLinearAlgebraSolver, defaultLinesearchTolerance, defaultMaxNumIterations, defaultMaxNumQPiterations, defaultMaxNumSteps, defaultMaxStepsize, defaultMinLinesearchParameter, defaultMinStepsize, defaultObjectiveSensitivity, defaultPlotResoltion, defaultPrintCopyright, defaultprintIntegratorProfile, defaultPrintlevel, defaultprintSCPmethodProfile, defaultRelaxationParameter, defaultSparseQPsolution, defaultStepsizeTuning, defaultTerminateAtConvergence, defaultUseImmediateFeedback, defaultUseRealtimeIterations, defaultUseRealtimeShifts, DISCRETIZATION_TYPE, DYNAMIC_HESSIAN_APPROXIMATION, DYNAMIC_SENSITIVITY, FEASIBILITY_CHECK, FREEZE_INTEGRATOR, GLOBALIZATION_STRATEGY, HESSIAN_APPROXIMATION, HESSIAN_PROJECTION_FACTOR, HOTSTART_QP, INFEASIBLE_QP_HANDLING, INFEASIBLE_QP_RELAXATION, INITIAL_INTEGRATOR_STEPSIZE, INTEGRATOR_PRINTLEVEL, INTEGRATOR_TOLERANCE, INTEGRATOR_TYPE, KKT_TOLERANCE, KKT_TOLERANCE_SAFEGUARD, LEVENBERG_MARQUARDT, LINEAR_ALGEBRA_SOLVER, LINESEARCH_TOLERANCE, MAX_INTEGRATOR_STEPSIZE, MAX_NUM_INTEGRATOR_STEPS, MAX_NUM_ITERATIONS, MAX_NUM_QP_ITERATIONS, MIN_INTEGRATOR_STEPSIZE, MIN_LINESEARCH_PARAMETER, OBJECTIVE_SENSITIVITY, PLOT_RESOLUTION, PRINT_COPYRIGHT, PRINT_INTEGRATOR_PROFILE, PRINT_SCP_METHOD_PROFILE, PRINTLEVEL, RELAXATION_PARAMETER, SPARSE_QP_SOLUTION, STEPSIZE_TUNING, SUCCESSFUL_RETURN, TERMINATE_AT_CONVERGENCE, USE_IMMEDIATE_FEEDBACK, USE_REALTIME_ITERATIONS, and USE_REALTIME_SHIFTS.

Referenced by RealTimeAlgorithm().

returnValue RealTimeAlgorithm::shift ( double timeShift = -1.0 ) [virtual]

Returns:: RET_NOT_YET_IMPLEMENTED

Reimplemented from ControlLaw.

References acadoIsNegative(), BT_TRUE, SimulationBlock::getSamplingTime(), OptimizationAlgorithmBase::nlpSolver, and NLPsolver::shiftVariables().

Referenced by performPreparationStep().

returnValue OptimizationAlgorithmBase::simulateStatesForInitialization ( ) [inherited]

This function takes the initial state and controls and overwrite all states apart from the first one by simulation.

References MatrixVariablesGrid::enableAutoInit(), SUCCESSFUL_RETURN, OptimizationAlgorithmBase::userInit, OCPiterate::x, and OCPiterate::xa.

returnValue RealTimeAlgorithm::solve	(	double	startTime,
		const Vector &	_x,
		const Vector &	_p = `emptyConstVector`,
		const VariablesGrid &	_yRef = `emptyConstVariablesGrid`
	)		`[virtual]`

Parameters:

[in] . .

Returns:: SUCCESSFUL_RETURN

References ACADOERROR, BS_NOT_INITIALIZED, BS_READY, BT_FALSE, BT_TRUE, CONVERGENCE_ACHIEVED, CONVERGENCE_NOT_YET_ACHIEVED, NLPsolver::getNumberOfSteps(), UserInteraction::getStatus(), init(), MAX_NUM_ITERATIONS, OptimizationAlgorithmBase::nlpSolver, performFeedbackStep(), performPreparationStep(), PLOT_AT_END, Plotting::replot(), NLPsolver::resetNumberOfSteps(), RET_NLP_SOLUTION_FAILED, RET_OPTALG_INIT_FAILED, SUCCESSFUL_RETURN, and TERMINATE_AT_CONVERGENCE.

returnValue RealTimeAlgorithm::step	(	double	currentTime,
		const Vector &	_x,
		const Vector &	_p = `emptyConstVector`,
		const VariablesGrid &	_yRef = `emptyConstVariablesGrid`
	)		`[virtual]`

Parameters:

[in]	currentTime	Current time.
[in]	_x	Most recent value for differential states.
[in]	_p	Most recent value for parameters.
[in]	_yRef	Current piece of reference trajectory or piece of reference trajectory for next step (required for hotstarting).

Returns:: SUCCESSFUL_RETURN

Implements ControlLaw.

References ACADOERROR, feedbackStep(), SimulationBlock::getSamplingTime(), preparationStep(), RET_CONTROLLAW_STEP_FAILED, and SUCCESSFUL_RETURN.

returnValue ControlLaw::step	(	const Vector &	_x,
		const Vector &	_p = `emptyConstVector`,
		const VariablesGrid &	_yRef = `emptyConstVariablesGrid`
	)		`[virtual, inherited]`

Parameters:

[in]	_x	Most recent value for differential states.
[in]	_p	Most recent value for parameters.
[in]	_yRef	Current piece of reference trajectory or piece of reference trajectory for next step (required for hotstarting).

Returns:: SUCCESSFUL_RETURN,
RET_BLOCK_NOT_READY,
RET_VECTOR_DIMENSION_MISMATCH,
RET_CONTROLLAW_STEP_FAILED

References ControlLaw::step().

returnValue Logging::updateLogRecord ( LogRecord & _record ) const [inherited]

In doing so, it is checked for each item whether it is contained within one of of the records of the collection; and if so, the numerical values are copied into the argument record.

Parameters:

[in,out] _record Record to be updated