ExportGaussNewtonCN2 Class Reference

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#include <export_gauss_newton_cn2.hpp>

Inheritance diagram for ExportGaussNewtonCN2:

List of all members.

Public Member Functions
	ExportGaussNewtonCN2 (UserInteraction *_userInteraction=0, const String &_commonHeaderName="")
	Default constructor.
virtual	~ExportGaussNewtonCN2 ()
	Destructor.
virtual returnValue	setup ()
	Initializes export of an algorithm.
virtual returnValue	getDataDeclarations (ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const
	Adds all data declarations of the auto-generated condensing algorithm to given list of declarations.
virtual returnValue	getFunctionDeclarations (ExportStatementBlock &declarations) const
	Adds all function (forward) declarations of the auto-generated condensing algorithm to given list of declarations.
virtual returnValue	getCode (ExportStatementBlock &code)
	Exports source code of the auto-generated condensing algorithm into the given directory.
unsigned	getNumQPvars () const
	Returns number of variables in underlying QP.
virtual unsigned	getNumStateBounds () const
	Returns number of bounds on differential states.
returnValue	setIntegratorExport (IntegratorExportPtr const _integrator)
	Assigns module for exporting a tailored integrator.
returnValue	setLevenbergMarquardt (double _levenbergMarquardt)
	Assigns new constant for Levenberg-Marquardt regularization.
BooleanType	performsSingleShooting () const
	Returns whether a single shooting state discretization is used.
returnValue	setObjective (const Objective &_objective)
	Set objective function.
returnValue	setConstraints (const OCP &_ocp)
	Set the "complex" path and point constraints.
unsigned	getNumComplexConstraints (void)
	Get the number of complex constraints - path + point constraints.
unsigned	weightingMatricesType (void) const
	Return type of weighting matrices.
BooleanType	initialStateFixed () const
	Indicates whether initial state is fixed.
returnValue	setDimensions (uint _NX=0, uint _NU=0, uint _NP=0, uint _NI=0)
	Sets the variables dimensions (ODE).
returnValue	setDimensions (uint _NX, uint _NDX, uint _NXA, uint _NU, uint _NP, uint _NI)
	Sets the variables dimensions (DAE).
uint	getNX () const
	Returns number of differential states.
uint	getNXA () const
	Returns number of algebraic states.
uint	getNDX () const
	Returns the number of differential states derivatives.
uint	getNU () const
	Returns number of control inputs.
uint	getNP () const
	Returns number of parameters.
uint	getN () const
	Returns number of control intervals.
void	setNY (uint NY_)
uint	getNY () const
void	setNYN (uint NYN_)
uint	getNYN () const
FILE *	openFile (const String &dirName, const String &fileName) const
	Opens given file and prepares it for exporting algorithm.
returnValue	addOptionsList ()
	Adds an additional OptionsList to internal array.
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.
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).
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	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.
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	setAll (LogName _name, const MatrixVariablesGrid &values)
	Sets all numerical values at all time instants of all items with given name within all records.
returnValue	setLast (LogName _name, int lastValue, double time=-INFTY)
	Sets numerical value at last time instant of all items with given name within all records.
returnValue	setLast (LogName _name, double lastValue, double time=-INFTY)
	Sets numerical value at last time instant of all items with given name within all records.
returnValue	setLast (LogName _name, const Vector &lastValue, double time=-INFTY)
	Sets numerical value at last time instant of all items with given name within all records.
returnValue	setLast (LogName _name, const Matrix &lastValue, double time=-INFTY)
	Sets numerical value at last time instant of all items with given name within all records.
returnValue	setLast (LogName _name, const VariablesGrid &lastValue, double time=-INFTY)
	Sets numerical value at last time instant of all items with given name within all records.
int	addLogRecord (LogRecord &_record)
	Adds a record to the log collection.
returnValue	printLogRecord (int idx, LogPrintMode _mode=PRINT_ITEM_BY_ITEM) const
	Prints whole record with specified index into internally specified file; all items are printed according to the output format settings.
returnValue	plot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)
	Plots all windows of the plot collection, each one into a new figure.
returnValue	replot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)
	Plots all windows of the plot collection, each one into the corresponding existing figure, if possible.
Protected Member Functions
virtual returnValue	setupObjectiveEvaluation (void)
	Setting up of an objective evaluation:
virtual returnValue	setupConstraintsEvaluation (void)
	Set-up evaluation of constraints.
virtual returnValue	setupVariables ()
	Initialization of all member variables.
virtual returnValue	setupMultiplicationRoutines ()
	Exports source code containing the multiplication routines of the algorithm.
virtual returnValue	setupEvaluation ()
	Exports source code containing the evaluation routines of the algorithm.
virtual returnValue	setupQPInterface ()
virtual returnValue	setupCondensing ()
BooleanType	performFullCondensing () const
virtual returnValue	setupSimulation (void)
	Setting up of a model simulation:
returnValue	setupAuxiliaryFunctions ()
	Setup of functions for evaluation of auxiliary functions.
returnValue	setupResidualVariables ()
	Setup of residual variables during objective evaluation.
returnValue	setupArrivalCostCalculation ()
	Setup of functions and variables for evaluation of arrival cost.
returnValue	copy (const ExportAlgorithm &arg)
	Copies all class members from given object.
Protected Attributes
ExportFunction	evaluateObjective
ExportVariable	x0
ExportVariable	Dx0
ExportFunction	setObjQ1Q2
ExportFunction	setObjR1R2
ExportFunction	setObjQN1QN2
ExportVariable	H
	Variable containing the QP Hessian matrix.
ExportVariable	H00
ExportVariable	H10
ExportVariable	H11
ExportVariable	A
	Variable containing the QP constraint matrix.
ExportVariable	g
	Variable containing the QP gradient.
ExportVariable	g0
ExportVariable	g1
ExportVariable	lb
	Variable containing the lower limits on QP variables.
ExportVariable	ub
	Variable containing the upper limits on QP variables.
ExportVariable	lbA
	Variable containing lower limits on QP constraints.
ExportVariable	ubA
	Variable containing upper limits on QP constraints.
ExportVariable	xVars
	Variable containing the primal QP variables.
ExportVariable	yVars
	Variable containing the dual QP variables.
ExportVariable	lbValues
ExportVariable	ubValues
ExportVariable	lbAValues
ExportVariable	ubAValues
ExportVariable	Qd
ExportFunction	condensePrep
ExportFunction	condenseFdb
ExportFunction	expand
ExportVariable	T
ExportVariable	E
ExportVariable	QE
ExportVariable	QGx
ExportVariable	QDy
ExportFunction	multGxd
ExportFunction	moveGxT
ExportFunction	multGxGx
ExportFunction	multGxGu
ExportFunction	moveGuE
ExportFunction	setBlockH11
ExportFunction	zeroBlockH11
ExportFunction	copyHTH
ExportFunction	multQ1d
ExportFunction	multQN1d
ExportFunction	multRDy
ExportFunction	multQDy
ExportFunction	multEQDy
ExportFunction	multQETGx
ExportFunction	zeroBlockH10
ExportFunction	multEDu
ExportFunction	multQ1Gx
ExportFunction	multQN1Gx
ExportFunction	multQ1Gu
ExportFunction	multQN1Gu
ExportFunction	zeroBlockH00
ExportFunction	multCTQC
ExportVariable	A10
ExportVariable	A20
ExportVariable	pacA01Dx0
ExportVariable	pocA02Dx0
ExportFunction	multHxC
ExportFunction	multHxE
ExportFunction	macHxd
ExportFunction	macCTSlx
ExportFunction	macETSlu
ExportFunction	preparation
ExportFunction	feedback
ExportFunction	getKKT
ExportVariable	W1
ExportVariable	W2
ExportVariable	sbar
ExportVariable	w1
ExportVariable	w2
ExportFunction	multBTW1
ExportFunction	multGxTGu
ExportFunction	macQEW2
ExportFunction	macATw1QDy
ExportFunction	macBTw1
ExportFunction	macQSbarW2
ExportFunction	macASbar
ExportFunction	macASbarD2
ExportFunction	expansionStep
uint	NX
	Number of differential states.
uint	NDX
	Number of differential states derivatives.
uint	NXA
	Number of algebraic states.
uint	NU
	Number of control inputs.
uint	NP
	Number of parameters.
uint	N
	Number of control intervals.
uint	NY
	Number of measurements, k = 0,..., N - 1.
uint	NYN
	Number of measurements, k = N.
String	commonHeaderName
	Name of common header file.
UserInteraction *	userInteraction
	Pointer to top-level user interface.
BooleanType	useModuleStandalone
	Flag indicating whether algorithmic module is used stand-alone.
int	outputLoggingIdx
	Index of log record for algorithmic standard output to be optionally used within derived classes.
Evaluation of model dynamics.
IntegratorExportPtr	integrator
	Module for exporting a tailored integrator.
ExportFunction	modelSimulation
ExportVariable	state
ExportVariable	x
ExportVariable	z
ExportVariable	u
ExportVariable	p
ExportVariable	d
ExportVariable	evGx
ExportVariable	evGu
Evaluation of objective
double	levenbergMarquardt
	Non-negative constant for Levenberg-Marquardt regularization.
ExportVariable	y
ExportVariable	yN
ExportVariable	Dy
ExportVariable	DyN
ExportVariable	objS
ExportVariable	objSEndTerm
ExportVariable	objEvFx
ExportVariable	objEvFu
ExportVariable	objEvFxEnd
ExportVariable	objAuxVar
ExportVariable	objValueIn
ExportVariable	objValueOut
ExportAcadoFunction	evaluateLSQ
ExportAcadoFunction	evaluateLSQEndTerm
String	evaluateExternLSQ
String	evaluateExternLSQEndTerm
BooleanType	externObjective
ExportVariable	Q1
ExportVariable	Q2
ExportVariable	R1
ExportVariable	R2
ExportVariable	QN1
ExportVariable	QN2
ExportVariable	objSlx
ExportVariable	objSlu
Evaluation of box constraints
VariablesGrid	uBounds
VariablesGrid	xBounds
std::vector< unsigned >	xBoundsIdx
Evaluation of path constraints
unsigned	dimPacH
ExportAcadoFunction	evaluatePathConstraints
ExportVariable	conAuxVar
ExportVariable	conValueIn
ExportVariable	conValueOut
Matrix	pacLBMatrix
Matrix	pacUBMatrix
ExportVariable	pacEvH
ExportVariable	pacEvHx
ExportVariable	pacEvHu
ExportVariable	pacEvHxd
Evaluation of point constraints
unsigned	dimPocH
std::vector < std::tr1::shared_ptr < ExportAcadoFunction > >	evaluatePointConstraints
Vector	pocLB
Vector	pocUB
std::vector< Vector >	pocLbStack
std::vector< Vector >	pocUbStack
ExportVariable	pocEvH
ExportVariable	pocEvHx
ExportVariable	pocEvHu
ExportVariable	pocEvHxd
Auxiliary functions
ExportFunction	initialize
	Main initialization function for the solver.
ExportFunction	shiftStates
ExportFunction	shiftControls
ExportFunction	getObjective
ExportFunction	initializeNodes
Arrival cost related
ExportFunction	updateArrivalCost
ExportCholeskyDecomposition	cholObjS
ExportCholeskyDecomposition	cholSAC
ExportHouseholderQR	acSolver
ExportVariable	acA
ExportVariable	acb
ExportVariable	acP
ExportVariable	acTmp
ExportVariable	acWL
ExportVariable	acVL
ExportVariable	acHx
ExportVariable	acHu
ExportVariable	acXx
ExportVariable	acXu
ExportVariable	acXTilde
ExportVariable	acHTilde
ExportVariable	SAC
ExportVariable	xAC
ExportVariable	DxAC

---

Detailed Description

Authors:

Milan Vukov, Joel Andersson

Note:

Early experimental implementation

---

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO ExportGaussNewtonCN2::ExportGaussNewtonCN2	(	UserInteraction *	_userInteraction = 0,
		const String &	_commonHeaderName = ""
	)

Parameters:

[in]	_userInteraction	Pointer to corresponding user interface.
[in]	_commonHeaderName	Name of common header file to be included.

virtual ExportGaussNewtonCN2::~ExportGaussNewtonCN2

(

)

[inline, virtual]

---

Member Function Documentation

int AlgorithmicBase::addLogRecord

(

LogRecord &

_record

)

[inline, inherited]

Parameters:

[in]

record

Record to be added.

Returns:

>= 0: index of added record,
-RET_LOG_COLLECTION_CORRUPTED

References Logging::addLogRecord(), and AlgorithmicBase::userInteraction.

Referenced by SCPmethod::setupLogging(), DenseQPsolver::setupLogging(), DynamicDiscretization::setupLogging(), and Integrator::setupLogging().

returnValue AlgorithmicBase::addOption	(	OptionsName	name,
		int	value
	)		[inline, 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 Options::addOption(), and AlgorithmicBase::userInteraction.

Referenced by BandedCPsolver::setupOptions(), NLPsolver::setupOptions(), DynamicDiscretization::setupOptions(), and Integrator::setupOptions().

returnValue AlgorithmicBase::addOption	(	OptionsName	name,
		double	value
	)		[inline, 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 Options::addOption(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::addOption	(	uint	idx,
		OptionsName	name,
		int	value
	)		[inline, 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 Options::addOption(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::addOption	(	uint	idx,
		OptionsName	name,
		double	value
	)		[inline, 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 Options::addOption(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::addOptionsList

(

)

[inherited]

Returns:

SUCCESSFUL_RETURN

References Options::addOptionsList(), and AlgorithmicBase::userInteraction.

Referenced by ShootingMethod::addStage().

returnValue ExportAlgorithm::copy

(

const ExportAlgorithm &

arg

)

[protected, inherited]

Parameters:

[in]

arg

Right-hand side object.

Returns:

SUCCESSFUL_RETURN

References ExportAlgorithm::commonHeaderName, ExportAlgorithm::N, ExportAlgorithm::NP, ExportAlgorithm::NU, ExportAlgorithm::NX, ExportAlgorithm::NXA, ExportAlgorithm::NY, and SUCCESSFUL_RETURN.

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

returnValue AlgorithmicBase::get	(	OptionsName	name,
		int &	value
	)		const [inline, inherited]

Parameters:

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

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS

References Options::get(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::get	(	OptionsName	name,
		double &	value
	)		const [inline, inherited]

Parameters:

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

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS

References Options::get(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::get	(	uint	idx,
		OptionsName	name,
		int &	value
	)		const [inline, 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 Options::get(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::get	(	uint	idx,
		OptionsName	name,
		double &	value
	)		const [inline, 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 Options::get(), and AlgorithmicBase::userInteraction.

BEGIN_NAMESPACE_ACADO returnValue AlgorithmicBase::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 Logging::getAll(), and AlgorithmicBase::userInteraction.

returnValue ExportGaussNewtonCN2::getCode

(

ExportStatementBlock &

code

)

[virtual]

Parameters:

[in]

code

Code block containing the auto-generated condensing algorithm.

Returns:

SUCCESSFUL_RETURN

Implements ExportNLPSolver.

References ExportStatementBlock::addDeclaration(), ExportStatementBlock::addFunction(), ExportStatementBlock::addLinebreak(), ExportStatementBlock::addStatement(), CG_USE_OPENMP, condenseFdb, condensePrep, copyHTH, ExportNLPSolver::evaluateLSQ, ExportNLPSolver::evaluateLSQEndTerm, evaluateObjective, ExportNLPSolver::evaluatePathConstraints, ExportNLPSolver::evaluatePointConstraints, expand, expansionStep, feedback, getKKT, ExportNLPSolver::getObjective, ExportNLPSolver::initialize, ExportNLPSolver::initializeNodes, macASbar, macATw1QDy, macBTw1, macCTSlx, macETSlu, macHxd, macQEW2, macQSbarW2, ExportNLPSolver::modelSimulation, moveGuE, multBTW1, multGxGu, multGxTGu, multHxC, multHxE, multQDy, multQN1Gu, multRDy, preparation, setObjQ1Q2, setObjQN1QN2, setObjR1R2, setupQPInterface(), ExportNLPSolver::shiftControls, ExportNLPSolver::shiftStates, ExportNLPSolver::state, and SUCCESSFUL_RETURN.

returnValue ExportGaussNewtonCN2::getDataDeclarations	(	ExportStatementBlock &	declarations,
		ExportStruct	dataStruct = ACADO_ANY
	)		const [virtual]

Parameters:

[in]

declarations

List of declarations.

Returns:

SUCCESSFUL_RETURN

Reimplemented from ExportNLPSolver.

References A, A10, A20, ExportStatementBlock::addDeclaration(), BT_TRUE, Dx0, E, g, H, lb, lbA, lbAValues, lbValues, pacA01Dx0, performFullCondensing(), pocA02Dx0, QDy, sbar, SUCCESSFUL_RETURN, ub, ubA, ubAValues, ubValues, W1, w1, W2, w2, x0, xVars, and yVars.

returnValue AlgorithmicBase::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 Logging::getFirst(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::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 Logging::getFirst(), and AlgorithmicBase::userInteraction.

returnValue ExportGaussNewtonCN2::getFunctionDeclarations

(

ExportStatementBlock &

declarations

)

const [virtual]

Parameters:

[in]

declarations

List of declarations.

Returns:

SUCCESSFUL_RETURN

Implements ExportNLPSolver.

References ExportStatementBlock::addDeclaration(), feedback, getKKT, ExportNLPSolver::getObjective, ExportNLPSolver::initialize, ExportNLPSolver::initializeNodes, preparation, ExportNLPSolver::shiftControls, ExportNLPSolver::shiftStates, and SUCCESSFUL_RETURN.

returnValue AlgorithmicBase::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 Logging::getLast(), and AlgorithmicBase::userInteraction.

Referenced by Process::simulate().

returnValue AlgorithmicBase::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 Logging::getLast(), and AlgorithmicBase::userInteraction.

uint ExportAlgorithm::getN

(

)

const [inherited]

Returns:

Number of control intervals

References ExportAlgorithm::N.

Referenced by ExportNLPSolver::setupResidualVariables(), and ExportNLPSolver::setupSimulation().

uint ExportAlgorithm::getNDX

(

)

const [inherited]

Returns:

The requested number of differential state derivatives

uint ExportAlgorithm::getNP

(

)

const [inherited]

Returns:

Number of parameters

References ExportAlgorithm::NP.

Referenced by ExportNLPSolver::setupSimulation().

uint ExportAlgorithm::getNU

(

)

const [inherited]

Returns:

Number of control inputs

References ExportAlgorithm::NU.

Referenced by setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), setupConstraintsEvaluation(), ExportGaussNewtonCondensed::setupConstraintsEvaluation(), and ExportNLPSolver::setupSimulation().

unsigned ExportNLPSolver::getNumComplexConstraints

(

void

)

[inherited]

Returns:

Number of complex constraints

References ExportNLPSolver::dimPacH, ExportNLPSolver::dimPocH, and ExportAlgorithm::N.

Referenced by setup(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), ExportGaussNewtonCondensed::setupConstraintsEvaluation(), setupEvaluation(), ExportGaussNewtonCondensed::setupEvaluation(), setupQPInterface(), ExportGaussNewtonCondensed::setupQPInterface(), setupVariables(), and ExportGaussNewtonCondensed::setupVariables().

unsigned ExportGaussNewtonCN2::getNumQPvars

(

)

const [virtual]

Returns:

Number of variables in underlying QP

Implements ExportNLPSolver.

References BT_TRUE, ExportAlgorithm::N, ExportAlgorithm::NU, ExportAlgorithm::NX, and performFullCondensing().

Referenced by setupCondensing(), setupConstraintsEvaluation(), setupEvaluation(), setupQPInterface(), and setupVariables().

unsigned ExportGaussNewtonCN2::getNumStateBounds

(

)

const [virtual]

Returns:

Number of bounds on differential states

References ExportNLPSolver::xBoundsIdx.

Referenced by setupConstraintsEvaluation(), setupEvaluation(), setupQPInterface(), and setupVariables().

uint ExportAlgorithm::getNX

(

)

const [inherited]

Returns:

Number of differential states

References ExportAlgorithm::NX.

Referenced by ExportNLPSolver::setupArrivalCostCalculation(), ExportNLPSolver::setupAuxiliaryFunctions(), setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), ExportGaussNewtonCondensed::setupConstraintsEvaluation(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), setupObjectiveEvaluation(), ExportGaussNewtonCondensed::setupObjectiveEvaluation(), and ExportNLPSolver::setupSimulation().

uint ExportAlgorithm::getNXA

(

)

const [inherited]

Returns:

Number of algebraic states

References ExportAlgorithm::NXA.

Referenced by ExportNLPSolver::setupSimulation().

uint ExportAlgorithm::getNY

(

)

const [inherited]

References ExportAlgorithm::NY.

Referenced by ExportNLPSolver::setupAuxiliaryFunctions(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), ExportGaussNewtonCondensed::setupObjectiveEvaluation(), and ExportNLPSolver::setupResidualVariables().

uint ExportAlgorithm::getNYN

(

)

const [inherited]

References ExportAlgorithm::NYN.

Referenced by ExportNLPSolver::setObjective(), ExportNLPSolver::setupAuxiliaryFunctions(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), ExportGaussNewtonCondensed::setupObjectiveEvaluation(), and ExportNLPSolver::setupResidualVariables().

Options AlgorithmicBase::getOptions

(

uint

idx

)

const [inherited]

Parameters:

[in]

idx

Index of option list.

Returns:

Options object containing exactly the option list with given index

References Options::getOptions(), and AlgorithmicBase::userInteraction.

Referenced by ShootingMethod::evaluate().

BooleanType AlgorithmicBase::haveOptionsChanged

(

)

const [inline, inherited]

Returns:

BT_TRUE iff options have been modified,
BT_FALSE otherwise

References Options::haveOptionsChanged(), and AlgorithmicBase::userInteraction.

BooleanType AlgorithmicBase::haveOptionsChanged

(

uint

idx

)

const [inline, inherited]

Parameters:

[in]

idx

Index of option list.

Returns:

BT_TRUE iff options have been modified,
BT_FALSE otherwise

References Options::haveOptionsChanged(), and AlgorithmicBase::userInteraction.

BooleanType ExportNLPSolver::initialStateFixed

(

)

const [inherited]

References FIX_INITIAL_STATE.

Referenced by setup(), setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), setupConstraintsEvaluation(), ExportGaussNewtonForces::setupConstraintsEvaluation(), ExportGaussNewtonCondensed::setupConstraintsEvaluation(), ExportGaussNewtonQpDunes::setupVariables(), setupVariables(), ExportGaussNewtonForces::setupVariables(), and ExportGaussNewtonCondensed::setupVariables().

FILE * ExportAlgorithm::openFile	(	const String &	dirName,
		const String &	fileName
	)		const [inherited]

Parameters:

[in]	dirName	Name of directory in which to open the file.
[in]	fileName	Name of file to be opened.
[in]	includeCommonHeader	Flag indicating whether common header shall be included.

Returns:

Pointer to prepared file with given name,
NULL iff file could not be opened

References acadoFOpen(), acadoFPrintf(), acadoPrintAutoGenerationNotice(), BT_FALSE, ExportAlgorithm::commonHeaderName, String::getName(), and String::isEmpty().

BooleanType ExportGaussNewtonCN2::performFullCondensing

(

)

const [protected]

References BT_FALSE, BT_TRUE, CONDENSING, and SPARSE_QP_SOLUTION.

Referenced by getDataDeclarations(), getNumQPvars(), setup(), setupCondensing(), setupConstraintsEvaluation(), setupMultiplicationRoutines(), and setupVariables().

BooleanType ExportNLPSolver::performsSingleShooting

(

)

const [inherited]

Returns:

BT_TRUE iff single shooting state discretization is used,
BT_FALSE otherwise

References BT_FALSE, BT_TRUE, DISCRETIZATION_TYPE, and SINGLE_SHOOTING.

Referenced by ExportNLPSolver::setConstraints(), setup(), setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), ExportGaussNewtonForces::setupConstraintsEvaluation(), ExportGaussNewtonCondensed::setupConstraintsEvaluation(), ExportGaussNewtonForces::setupEvaluation(), setupMultiplicationRoutines(), ExportGaussNewtonCondensed::setupMultiplicationRoutines(), and ExportNLPSolver::setupSimulation().

returnValue AlgorithmicBase::plot

(

PlotFrequency

_frequency = PLOT_IN_ANY_CASE

)

[inline, inherited]

Parameters:

[in]

_frequency

Frequency determining at which time instants the window is to be plotted.

Returns:

SUCCESSFUL_RETURN

References Plotting::plot(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::printLogRecord	(	int	idx,
		LogPrintMode	_mode = PRINT_ITEM_BY_ITEM
	)		const [inline, inherited]

Parameters:

[in]	idx	Index of record to be printed.
[in]	_mode	Print mode: see documentation of LogPrintMode of details.

Returns:

SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS,
RET_INVALID_ARGUMENTS,
RET_UNKNOWN_BUG

References ACADOERROR, LogCollection::getNumLogRecords(), Logging::logCollection, LogCollection::print(), RET_INDEX_OUT_OF_BOUNDS, and AlgorithmicBase::userInteraction.

Referenced by SCPmethod::printIteration(), SCPmethod::printRuntimeProfile(), and Integrator::printRunTimeProfile().

returnValue AlgorithmicBase::replot

(

PlotFrequency

_frequency = PLOT_IN_ANY_CASE

)

[inline, inherited]

Parameters:

[in]

_frequency

Frequency determining at which time instants the window is to be plotted.

Returns:

SUCCESSFUL_RETURN

References Plotting::replot(), and AlgorithmicBase::userInteraction.

Referenced by SCPmethod::printIteration(), SCPmethod::solve(), and SCPmethod::step().

returnValue AlgorithmicBase::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::set(), and AlgorithmicBase::userInteraction.

Referenced by SCPmethod::initializeHessianProjection().

returnValue AlgorithmicBase::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::set(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::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 Options::set(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::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 Options::set(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::setAll	(	LogName	_name,
		const MatrixVariablesGrid &	values
	)		[inline, inherited]

Parameters:

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

Returns:

SUCCESSFUL_RETURN,
RET_LOG_COLLECTION_CORRUPTED

References Logging::logCollection, LogCollection::setAll(), and AlgorithmicBase::userInteraction.

returnValue ExportNLPSolver::setConstraints

(

const OCP &

_ocp

)

[inherited]

Returns:

SUCCESSFUL_RETURN

References ACADO_WORKSPACE, ACADOERRORTEXT, acadoIsFinite(), Vector::append(), BT_FALSE, BT_TRUE, Control::clearStaticCounters(), DifferentialState::clearStaticCounters(), ExportNLPSolver::conAuxVar, ExportNLPSolver::conValueIn, ExportNLPSolver::conValueOut, ExportNLPSolver::dimPacH, ExportNLPSolver::dimPocH, Function::evaluate(), ExportNLPSolver::evaluatePathConstraints, ExportNLPSolver::evaluatePointConstraints, forwardDerivative(), Constraint::getBounds(), OCP::getConstraint(), Function::getDim(), VectorspaceElement::getDim(), ExportVariable::getDim(), Function::getExpression(), Function::getGlobalExportVariableSize(), OCP::getGrid(), MatrixVariablesGrid::getLowerBounds(), Function::getNP(), Function::getNU(), Grid::getNumPoints(), Function::getNX(), Constraint::getPathConstraints(), Constraint::getPointConstraint(), Matrix::getRow(), MatrixVariablesGrid::getUpperBounds(), Expression::getVariableType(), OCPiterate::init(), ExportAcadoFunction::init(), Matrix::init(), VariablesGrid::init(), VectorspaceElement::isFinite(), VectorspaceElement::isZero(), ExportAlgorithm::N, ExportAlgorithm::NP, ExportAlgorithm::NU, ExportAlgorithm::NX, ExportNLPSolver::pacEvH, ExportNLPSolver::pacEvHu, ExportNLPSolver::pacEvHx, ExportNLPSolver::pacEvHxd, ExportNLPSolver::pacLBMatrix, ExportNLPSolver::pacUBMatrix, ExportNLPSolver::performsSingleShooting(), ExportNLPSolver::pocEvH, ExportNLPSolver::pocEvHu, ExportNLPSolver::pocEvHx, ExportNLPSolver::pocEvHxd, ExportNLPSolver::pocLB, ExportNLPSolver::pocLbStack, ExportNLPSolver::pocUB, ExportNLPSolver::pocUbStack, REAL, RET_INVALID_ARGUMENTS, ExportData::setDataStruct(), ExportAcadoFunction::setGlobalExportVariable(), ExportData::setName(), ExportVariable::setup(), SUCCESSFUL_RETURN, OCPiterate::u, ExportNLPSolver::uBounds, VT_INTERMEDIATE_STATE, VT_UNKNOWN, OCPiterate::x, ExportNLPSolver::xBounds, and ExportNLPSolver::xBoundsIdx.

returnValue ExportAlgorithm::setDimensions	(	uint	_NX = 0,
		uint	_NU = 0,
		uint	_NP = 0,
		uint	_NI = 0
	)		[inherited]

Parameters:

[in]	_NX	New number of differential states.
[in]	_NU	New number of control inputs.
[in]	_NP	New number of parameters.
[in]	_NI	New number of control intervals. (using _N resulted in a strange error when compiling with cygwin!)

Returns:

SUCCESSFUL_RETURN

Referenced by ExportAlgorithm::ExportAlgorithm(), and IntegratorExport::setModelData().

returnValue ExportAlgorithm::setDimensions	(	uint	_NX,
		uint	_NDX,
		uint	_NXA,
		uint	_NU,
		uint	_NP,
		uint	_NI
	)		[inherited]

Parameters:

[in]	_NX	New number of differential states.
[in]	_NDX	New number of differential states derivatives.
[in]	_NXA	New number of algebraic states.
[in]	_NU	New number of control inputs.
[in]	_NP	New number of parameters.
[in]	_NI	New number of control intervals. (using _N resulted in a strange error when compiling with cygwin!)

Returns:

SUCCESSFUL_RETURN

References ExportAlgorithm::N, ExportAlgorithm::NDX, ExportAlgorithm::NP, ExportAlgorithm::NU, ExportAlgorithm::NX, ExportAlgorithm::NXA, and SUCCESSFUL_RETURN.

returnValue ExportNLPSolver::setIntegratorExport

(

IntegratorExportPtr const

_integrator

)

[inherited]

Parameters:

[in]

_integrator

Integrator module.

Returns:

SUCCESSFUL_RETURN

References ExportNLPSolver::integrator, and SUCCESSFUL_RETURN.

returnValue AlgorithmicBase::setLast	(	LogName	_name,
		int	lastValue,
		double	time = -INFTY
	)		[inline, inherited]

Parameters:

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

Returns:

SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

References Logging::logCollection, LogCollection::setLast(), and AlgorithmicBase::userInteraction.

Referenced by IntegratorBDF::evaluate(), IntegratorRK::evaluate(), IntegratorLYAPUNOV::evaluate(), CondensingBasedCPsolver::finalizeSolve(), IntegratorBDF::logCurrentIntegratorStep(), ShootingMethod::logTrajectory(), SCPmethod::performCurrentStep(), SCPstepLinesearch::performLineSearch(), SCPstepFullstep::performStep(), SCPstepLinesearch::performStep(), SCPmethod::prepareNextStep(), CondensingBasedCPsolver::prepareSolve(), SCPmethod::printIteration(), QPsolver_qpOASES::solve(), CondensingBasedCPsolver::solveCPsubproblem(), and SCPmethod::stopClockAndPrintRuntimeProfile().

returnValue AlgorithmicBase::setLast	(	LogName	_name,
		double	lastValue,
		double	time = -INFTY
	)		[inline, inherited]

Parameters:

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

Returns:

SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

References Logging::logCollection, LogCollection::setLast(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::setLast	(	LogName	_name,
		const Vector &	lastValue,
		double	time = -INFTY
	)		[inline, inherited]

Parameters:

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

Returns:

SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

References Logging::logCollection, LogCollection::setLast(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::setLast	(	LogName	_name,
		const Matrix &	lastValue,
		double	time = -INFTY
	)		[inline, inherited]

Parameters:

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

Returns:

SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

References Logging::logCollection, LogCollection::setLast(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::setLast	(	LogName	_name,
		const VariablesGrid &	lastValue,
		double	time = -INFTY
	)		[inline, inherited]

Parameters:

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

Returns:

SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

References Logging::logCollection, LogCollection::setLast(), and AlgorithmicBase::userInteraction.

returnValue ExportNLPSolver::setLevenbergMarquardt

(

double

_levenbergMarquardt

)

[inherited]

Parameters:

[in]

_levenbergMarquardt

Non-negative constant for Levenberg-Marquardt regularization.

Returns:

SUCCESSFUL_RETURN

References ACADOWARNINGTEXT, ExportNLPSolver::levenbergMarquardt, RET_INVALID_ARGUMENTS, and SUCCESSFUL_RETURN.

void ExportAlgorithm::setNY

(

uint

NY_

)

[inherited]

References ExportAlgorithm::NY.

Referenced by ExportNLPSolver::setObjective().

void ExportAlgorithm::setNYN

(

uint

NYN_

)

[inherited]

References ExportAlgorithm::NYN.

Referenced by ExportNLPSolver::setObjective().

returnValue ExportNLPSolver::setObjective

(

const Objective &

_objective

)

[inherited]

Returns:

SUCCESSFUL_RETURN,
RET_INITIALIZE_FIRST,
RET_INVALID_OBJECTIVE_FOR_CODE_EXPORT,
RET_INVALID_ARGUMENTS

References ACADO_VARIABLES, ACADO_WORKSPACE, ACADOERROR, ACADOERRORTEXT, BT_FALSE, BT_TRUE, CG_USE_ARRIVAL_COST, CG_USE_VARIABLE_WEIGHTING_MATRIX, Control::clearStaticCounters(), DifferentialState::clearStaticCounters(), ExportNLPSolver::DxAC, Function::evaluate(), ExportNLPSolver::evaluateExternLSQ, ExportNLPSolver::evaluateExternLSQEndTerm, ExportNLPSolver::evaluateLSQ, ExportNLPSolver::evaluateLSQEndTerm, ExportNLPSolver::externObjective, forwardDerivative(), ExportData::getDataStruct(), Function::getDim(), ExportVariable::getDim(), Function::getExpression(), ExportVariable::getGivenMatrix(), Function::getGlobalExportVariableSize(), Objective::getLSQEndTerms(), Objective::getLSQLinearTerms(), Objective::getLSQTerms(), ExportData::getName(), Function::getNU(), ExportVariable::getNumCols(), ExportVariable::getNumRows(), Function::getNX(), ExportAlgorithm::getNYN(), ExportVariable::getTranspose(), ExportAcadoFunction::init(), ExportVariable::isGiven(), Function::isOneOrZero(), Matrix::isPositiveDefinite(), Matrix::isSquare(), ExportAlgorithm::N, NE_ZERO, ExportAlgorithm::NP, ExportAlgorithm::NU, ExportAlgorithm::NX, ExportAlgorithm::NY, ExportAlgorithm::NYN, ExportNLPSolver::objAuxVar, ExportNLPSolver::objEvFu, ExportNLPSolver::objEvFx, ExportNLPSolver::objEvFxEnd, ExportNLPSolver::objS, ExportNLPSolver::objSEndTerm, ExportNLPSolver::objSlu, ExportNLPSolver::objSlx, ExportNLPSolver::objValueIn, ExportNLPSolver::objValueOut, ExportNLPSolver::Q1, ExportNLPSolver::Q2, ExportNLPSolver::QN1, ExportNLPSolver::QN2, ExportNLPSolver::R1, ExportNLPSolver::R2, REAL, RET_INITIALIZE_FIRST, RET_INVALID_ARGUMENTS, RET_INVALID_OBJECTIVE_FOR_CODE_EXPORT, RET_NONPOSITIVE_WEIGHT, RET_NOT_IMPLEMENTED_YET, ExportNLPSolver::SAC, ExportData::setDataStruct(), ExportData::setDoc(), ExportAcadoFunction::setGlobalExportVariable(), ExportData::setName(), ExportAlgorithm::setNY(), ExportAlgorithm::setNYN(), ExportVariable::setup(), ExportNLPSolver::setupResidualVariables(), SUCCESSFUL_RETURN, Matrix::transpose(), ExportNLPSolver::xAC, YES, and zeros().

returnValue AlgorithmicBase::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::setOptions(), and AlgorithmicBase::userInteraction.

Referenced by ShootingMethod::evaluate().

returnValue AlgorithmicBase::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 Options::setOptions(), and AlgorithmicBase::userInteraction.

returnValue ExportGaussNewtonCN2::setup

(

)

[virtual]

Returns:

SUCCESSFUL_RETURN

Implements ExportNLPSolver.

References ACADOERROR, BT_FALSE, BT_TRUE, ExportNLPSolver::getNumComplexConstraints(), ExportNLPSolver::initialStateFixed(), LOG, LVL_DEBUG, performFullCondensing(), ExportNLPSolver::performsSingleShooting(), RET_NOT_IMPLEMENTED_YET, ExportNLPSolver::setupAuxiliaryFunctions(), setupCondensing(), setupConstraintsEvaluation(), setupEvaluation(), setupMultiplicationRoutines(), setupObjectiveEvaluation(), ExportNLPSolver::setupSimulation(), setupVariables(), and SUCCESSFUL_RETURN.

returnValue ExportNLPSolver::setupArrivalCostCalculation

(

)

[protected, inherited]

References ExportNLPSolver::acA, ACADO_LOCAL, ACADO_VARIABLES, ACADO_WORKSPACE, ExportNLPSolver::acb, ExportNLPSolver::acHTilde, ExportNLPSolver::acHu, ExportNLPSolver::acHx, ExportNLPSolver::acP, ExportNLPSolver::acSolver, ExportNLPSolver::acTmp, ExportNLPSolver::acVL, ExportNLPSolver::acWL, ExportNLPSolver::acXTilde, ExportNLPSolver::acXu, ExportNLPSolver::acXx, ExportStatementBlock::addFunctionCall(), ExportStatementBlock::addLinebreak(), ExportStatementBlock::addStatement(), BT_FALSE, BT_TRUE, CG_USE_ARRIVAL_COST, CG_USE_VARIABLE_WEIGHTING_MATRIX, ExportNLPSolver::cholObjS, ExportNLPSolver::cholSAC, ExportFunction::doc(), ExportNLPSolver::evaluateExternLSQ, ExportNLPSolver::evaluateLSQ, ExportNLPSolver::externObjective, Matrix::getCholeskyDecomposition(), ExportVariable::getCols(), ExportData::getFullName(), ExportVariable::getGivenMatrix(), ExportHouseholderQR::getGlobalExportVariable(), ExportCholeskyDecomposition::getName(), ExportData::getName(), ExportLinearSolver::getNameSolveFunction(), ExportAlgorithm::getNX(), ExportVariable::getRow(), ExportVariable::getRows(), ExportVariable::getSubMatrix(), ExportVariable::getTranspose(), ExportCholeskyDecomposition::init(), ExportLinearSolver::init(), ExportFunction::init(), ExportNLPSolver::initialize, INT, ExportNLPSolver::integrator, ExportVariable::isGiven(), ExportVariable::makeRowVector(), NO, ExportAlgorithm::NP, ExportAlgorithm::NU, ExportAlgorithm::NX, ExportAlgorithm::NXA, ExportAlgorithm::NY, ExportNLPSolver::objEvFu, ExportNLPSolver::objEvFx, ExportNLPSolver::objS, ExportNLPSolver::objValueIn, ExportNLPSolver::objValueOut, ExportNLPSolver::p, REAL, ExportNLPSolver::SAC, ExportData::setDoc(), ExportFunction::setReturnValue(), ExportCholeskyDecomposition::setup(), ExportVariable::setup(), ExportNLPSolver::state, SUCCESSFUL_RETURN, ExportNLPSolver::u, ExportNLPSolver::updateArrivalCost, ExportNLPSolver::x, ExportNLPSolver::xAC, ExportNLPSolver::y, ExportNLPSolver::z, and zeros().

Referenced by ExportGaussNewtonCondensed::setup().

returnValue ExportNLPSolver::setupAuxiliaryFunctions

(

)

[protected, inherited]

References ACADO_LOCAL, ExportFunction::acquire(), ExportStatementBlock::addFunctionCall(), ExportFunction::addIndex(), ExportStatementBlock::addLinebreak(), ExportStatementBlock::addStatement(), ExportFunction::addVariable(), BT_FALSE, BT_TRUE, CG_USE_VARIABLE_WEIGHTING_MATRIX, ExportFunction::doc(), ExportNLPSolver::DxAC, ExportNLPSolver::Dy, ExportNLPSolver::DyN, ExportNLPSolver::evaluateExternLSQ, ExportNLPSolver::evaluateExternLSQEndTerm, ExportNLPSolver::evaluateLSQ, ExportNLPSolver::evaluateLSQEndTerm, ExportNLPSolver::externObjective, ExportVariable::getCols(), ExportVariable::getDim(), ExportData::getFullName(), ExportAlgorithm::getNX(), ExportAlgorithm::getNY(), ExportAlgorithm::getNYN(), ExportNLPSolver::getObjective, ExportVariable::getRow(), ExportVariable::getRows(), ExportVariable::getSubMatrix(), ExportVariable::getTranspose(), ExportNLPSolver::initializeNodes, ExportNLPSolver::integrator, ExportIndex::makeArgument(), ExportAlgorithm::N, NO, ExportAlgorithm::NP, ExportAlgorithm::NU, ExportAlgorithm::NX, ExportAlgorithm::NXA, ExportAlgorithm::NY, ExportAlgorithm::NYN, ExportNLPSolver::objS, ExportNLPSolver::objSEndTerm, ExportNLPSolver::objValueIn, ExportNLPSolver::objValueOut, ExportNLPSolver::p, REAL, ExportNLPSolver::SAC, ExportData::setDoc(), ExportFunction::setReturnValue(), ExportFunction::setup(), ExportNLPSolver::shiftControls, ExportNLPSolver::shiftStates, ExportNLPSolver::state, SUCCESSFUL_RETURN, ExportNLPSolver::u, ExportNLPSolver::x, ExportNLPSolver::y, ExportNLPSolver::yN, and ExportNLPSolver::z.

Referenced by setup(), ExportGaussNewtonCondensed::setup(), ExportGaussNewtonQpDunes::setup(), and ExportGaussNewtonForces::setup().

returnValue ExportGaussNewtonCN2::setupCondensing

(

void

)

[protected, virtual]

NEW CODE START

NEW CODE END

References ACADO_WORKSPACE, ACADOERROR, ExportFunction::acquire(), ExportStatementBlock::addComment(), ExportStatementBlock::addFunctionCall(), ExportStatementBlock::addLinebreak(), ExportStatementBlock::addStatement(), BT_FALSE, BT_TRUE, condenseFdb, condensePrep, copyHTH, ExportNLPSolver::d, Dx0, ExportNLPSolver::Dy, ExportNLPSolver::DyN, E, ExportNLPSolver::evGu, ExportNLPSolver::evGx, expand, expansionStep, eye(), g, ExportArgument::getAddress(), ExportVariable::getCols(), String::getName(), ExportFunction::getName(), ExportAlgorithm::getNU(), getNumQPvars(), ExportAlgorithm::getNX(), ExportVariable::getRow(), ExportVariable::getRows(), ExportVariable::getSubMatrix(), ExportVariable::getTranspose(), H, ExportNLPSolver::initialStateFixed(), ExportVariable::isGiven(), ExportNLPSolver::levenbergMarquardt, LOG, LVL_DEBUG, macASbar, macATw1QDy, macBTw1, macQEW2, macQSbarW2, ExportIndex::makeArgument(), ExportVariable::makeColVector(), ExportVariable::makeRowVector(), moveGuE, multBTW1, multGxGu, multGxTGu, multQDy, multQN1Gu, multRDy, ExportAlgorithm::N, ExportAlgorithm::NU, ExportAlgorithm::NX, ExportAlgorithm::NY, performFullCondensing(), ExportNLPSolver::performsSingleShooting(), ExportNLPSolver::Q1, ExportNLPSolver::Q2, QDy, ExportNLPSolver::QN1, ExportNLPSolver::QN2, ExportNLPSolver::R1, ExportNLPSolver::R2, REAL, ExportFunction::release(), RET_NOT_IMPLEMENTED_YET, sbar, ExportFunction::setup(), ExportVariable::setup(), SUCCESSFUL_RETURN, ExportNLPSolver::u, W1, w1, W2, w2, ExportNLPSolver::x, x0, xVars, ExportNLPSolver::y, ExportNLPSolver::yN, and zeros().

Referenced by setup().

returnValue ExportGaussNewtonCN2::setupConstraintsEvaluation

(

void

)

[protected, virtual]

• box constraints on states and controls

Returns:

SUCCESSFUL_RETURN

Implements ExportNLPSolver.

References A, ACADO_LOCAL, ACADO_VARIABLES, ExportFunction::acquire(), ExportStatementBlock::addLinebreak(), ExportStatementBlock::addStatement(), ExportFunction::addVariable(), BT_FALSE, BT_TRUE, CG_HARDCODE_CONSTRAINT_VALUES, condenseFdb, condensePrep, Dx0, E, ExportVariable::getCol(), ExportData::getFullName(), MatrixVariablesGrid::getLowerBound(), ExportAlgorithm::getNU(), getNumQPvars(), getNumStateBounds(), ExportVariable::getRow(), ExportVariable::getRows(), ExportVariable::getSubMatrix(), ExportVariable::getTranspose(), MatrixVariablesGrid::getUpperBound(), ExportNLPSolver::initialStateFixed(), lb, lbA, lbValues, ExportVariable::makeColVector(), ExportVariable::makeRowVector(), ExportAlgorithm::N, ExportAlgorithm::NU, ExportAlgorithm::NX, performFullCondensing(), REAL, ExportFunction::release(), sbar, ExportData::setDoc(), ExportVariable::setup(), STATIC_CONST_INT, SUCCESSFUL_RETURN, ExportNLPSolver::u, ub, ubA, ExportNLPSolver::uBounds, ubValues, ExportNLPSolver::x, ExportNLPSolver::xBounds, ExportNLPSolver::xBoundsIdx, and YES.

Referenced by setup().

returnValue ExportGaussNewtonCN2::setupEvaluation

(

)

[protected, virtual]

Returns:

SUCCESSFUL_RETURN

Implements ExportNLPSolver.

References ACADO_LOCAL, ExportStatementBlock::addFunctionCall(), ExportFunction::addIndex(), ExportStatementBlock::addLinebreak(), ExportStatementBlock::addStatement(), ExportFunction::addVariable(), BT_TRUE, condenseFdb, condensePrep, ExportFunction::doc(), evaluateObjective, expand, feedback, g, ExportVariable::get(), ExportData::getFullName(), getKKT, ExportData::getName(), String::getName(), ExportFunction::getName(), ExportNLPSolver::getNumComplexConstraints(), getNumQPvars(), getNumStateBounds(), ExportVariable::getRow(), INFTY, INT, lb, lbA, ExportNLPSolver::modelSimulation, preparation, REAL, ExportData::setDoc(), ExportFunction::setReturnValue(), ExportFunction::setup(), SUCCESSFUL_RETURN, ub, ubA, xVars, and yVars.

Referenced by setup().

returnValue ExportGaussNewtonCN2::setupMultiplicationRoutines

(

)

[protected, virtual]

Returns:

SUCCESSFUL_RETURN

Implements ExportNLPSolver.

References ACADO_LOCAL, ExportStatementBlock::addStatement(), BT_FALSE, BT_TRUE, copyHTH, expansionStep, ExportVariable::getSubMatrix(), ExportVariable::getTranspose(), H, H00, ExportVariable::isGiven(), macASbar, macATw1QDy, macBTw1, macQEW2, macQSbarW2, ExportIndex::makeArgument(), moveGuE, moveGxT, multBTW1, multCTQC, multEDu, multEQDy, multGxd, multGxGu, multGxGx, multGxTGu, multQ1d, multQ1Gu, multQ1Gx, multQDy, multQETGx, multQN1d, multQN1Gu, multQN1Gx, multRDy, ExportAlgorithm::NU, ExportAlgorithm::NX, ExportAlgorithm::NY, performFullCondensing(), ExportNLPSolver::performsSingleShooting(), ExportNLPSolver::Q1, ExportNLPSolver::Q2, ExportNLPSolver::QN1, ExportNLPSolver::R2, REAL, setBlockH11, ExportFunction::setup(), ExportVariable::setup(), SUCCESSFUL_RETURN, zeroBlockH00, zeroBlockH10, zeroBlockH11, and zeros().

Referenced by setup().

returnValue ExportGaussNewtonCN2::setupObjectiveEvaluation

(

void

)

[protected, virtual]

• functions and derivatives evaulation
• creating Hessians and gradients

Returns:

SUCCESSFUL_RETURN

References ACADO_LOCAL, ExportStatementBlock::addFunctionCall(), ExportFunction::addIndex(), ExportStatementBlock::addLinebreak(), ExportStatementBlock::addStatement(), BT_FALSE, BT_TRUE, CG_USE_VARIABLE_WEIGHTING_MATRIX, ExportNLPSolver::Dy, ExportNLPSolver::DyN, ExportNLPSolver::evaluateExternLSQ, ExportNLPSolver::evaluateExternLSQEndTerm, evaluateObjective, ExportNLPSolver::externObjective, ExportArgument::getAddress(), ExportVariable::getCols(), ExportVariable::getDim(), ExportAlgorithm::getNX(), ExportAlgorithm::getNY(), ExportAlgorithm::getNYN(), ExportVariable::getRow(), ExportVariable::getRows(), ExportVariable::getTranspose(), ExportVariable::isGiven(), ExportAlgorithm::N, ExportAlgorithm::NP, ExportAlgorithm::NU, ExportAlgorithm::NX, ExportAlgorithm::NY, ExportAlgorithm::NYN, ExportNLPSolver::objEvFu, ExportNLPSolver::objEvFx, ExportNLPSolver::objEvFxEnd, ExportNLPSolver::objS, ExportNLPSolver::objSEndTerm, ExportNLPSolver::objValueIn, ExportNLPSolver::objValueOut, ExportNLPSolver::p, ExportNLPSolver::Q1, ExportNLPSolver::Q2, ExportNLPSolver::QN1, ExportNLPSolver::QN2, ExportNLPSolver::R1, ExportNLPSolver::R2, REAL, setObjQ1Q2, setObjQN1QN2, setObjR1R2, ExportFunction::setup(), ExportVariable::setup(), SUCCESSFUL_RETURN, ExportNLPSolver::u, ExportNLPSolver::x, and YES.

Referenced by setup().

returnValue ExportGaussNewtonCN2::setupQPInterface

(

)

[protected, virtual]

References A, BT_TRUE, CG_COMPUTE_COVARIANCE_MATRIX, ExportAlgorithm::commonHeaderName, ExportQpOasesInterface::configure(), ExportQpOasesInterface::exportCode(), g, ExportData::getFullName(), String::getName(), ExportNLPSolver::getNumComplexConstraints(), getNumQPvars(), getNumStateBounds(), H, HOTSTART_QP, lb, lbA, MAX_NUM_QP_ITERATIONS, SUCCESSFUL_RETURN, ub, ubA, USE_SINGLE_PRECISION, AlgorithmicBase::userInteraction, xVars, and yVars.

Referenced by getCode().

returnValue ExportNLPSolver::setupResidualVariables

(

)

[protected, inherited]

References ACADO_VARIABLES, ACADO_WORKSPACE, ExportNLPSolver::Dy, ExportNLPSolver::DyN, ExportAlgorithm::getN(), ExportAlgorithm::getNY(), ExportAlgorithm::getNYN(), ExportAlgorithm::N, REAL, ExportData::setDoc(), ExportVariable::setup(), SUCCESSFUL_RETURN, ExportNLPSolver::y, and ExportNLPSolver::yN.

Referenced by ExportNLPSolver::setObjective().

returnValue ExportNLPSolver::setupSimulation

(

void

)

[protected, virtual, inherited]

• model integration
• sensitivity generation

Returns:

SUCCESSFUL_RETURN

References ACADO_LOCAL, ACADO_VARIABLES, ACADO_WORKSPACE, ExportFunction::acquire(), ExportStatementBlock::addComment(), ExportStatementBlock::addLinebreak(), ExportStatementBlock::addStatement(), BT_FALSE, BT_TRUE, CG_USE_OPENMP, ExportNLPSolver::d, ExportFunction::doc(), ExportNLPSolver::evGu, ExportNLPSolver::evGx, ExportVariable::getCols(), ExportData::getDataStructString(), ExportData::getFullName(), ExportAlgorithm::getN(), ExportData::getName(), String::getName(), ExportAlgorithm::getNP(), ExportAlgorithm::getNU(), ExportAlgorithm::getNX(), ExportAlgorithm::getNXA(), ExportVariable::getRow(), ExportVariable::getTranspose(), ExportNLPSolver::initialize, INT, ExportNLPSolver::integrator, ExportVariable::makeRowVector(), ExportNLPSolver::modelSimulation, ExportAlgorithm::N, ExportAlgorithm::NP, ExportAlgorithm::NU, ExportAlgorithm::NX, ExportAlgorithm::NXA, ExportNLPSolver::p, ExportNLPSolver::performsSingleShooting(), REAL, ExportData::setDoc(), ExportFunction::setReturnValue(), ExportFunction::setup(), ExportVariable::setup(), ExportNLPSolver::state, SUCCESSFUL_RETURN, ExportNLPSolver::u, ExportNLPSolver::x, and ExportNLPSolver::z.

Referenced by setup(), ExportGaussNewtonCondensed::setup(), ExportGaussNewtonQpDunes::setup(), and ExportGaussNewtonForces::setup().

returnValue ExportGaussNewtonCN2::setupVariables

(

)

[protected, virtual]

Returns:

SUCCESSFUL_RETURN

Implements ExportNLPSolver.

References A, ACADO_VARIABLES, ACADO_WORKSPACE, BT_TRUE, Dx0, E, g, g0, g1, ExportNLPSolver::getNumComplexConstraints(), getNumQPvars(), getNumStateBounds(), ExportVariable::getRows(), ExportVariable::getSubMatrix(), H, H00, H10, H11, ExportNLPSolver::initialStateFixed(), lb, lbA, ExportAlgorithm::N, ExportAlgorithm::NU, ExportAlgorithm::NX, performFullCondensing(), QDy, QE, QGx, REAL, ExportData::setDoc(), ExportVariable::setup(), SUCCESSFUL_RETURN, T, ub, ubA, x0, xVars, and yVars.

Referenced by setup().

unsigned ExportNLPSolver::weightingMatricesType

(

void

)

const [inherited]

Returns:

Type of weighting matrices.

References BT_TRUE, CG_USE_VARIABLE_WEIGHTING_MATRIX, ExportVariable::isGiven(), ExportNLPSolver::objS, and ExportNLPSolver::objSEndTerm.

---

Member Data Documentation

ExportVariable ExportGaussNewtonCN2::A [protected]

Referenced by getDataDeclarations(), setupConstraintsEvaluation(), setupQPInterface(), and setupVariables().

ExportVariable ExportGaussNewtonCN2::A10 [protected]

Referenced by getDataDeclarations().

ExportVariable ExportGaussNewtonCN2::A20 [protected]

Referenced by getDataDeclarations().

ExportVariable ExportNLPSolver::acA [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), and ExportNLPSolver::setupArrivalCostCalculation().

ExportVariable ExportNLPSolver::acb [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), and ExportNLPSolver::setupArrivalCostCalculation().

ExportVariable ExportNLPSolver::acHTilde [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), and ExportNLPSolver::setupArrivalCostCalculation().

ExportVariable ExportNLPSolver::acHu [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), and ExportNLPSolver::setupArrivalCostCalculation().

ExportVariable ExportNLPSolver::acHx [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), and ExportNLPSolver::setupArrivalCostCalculation().

ExportVariable ExportNLPSolver::acP [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), and ExportNLPSolver::setupArrivalCostCalculation().

ExportHouseholderQR ExportNLPSolver::acSolver [protected, inherited]

Referenced by ExportGaussNewtonCondensed::getCode(), and ExportNLPSolver::setupArrivalCostCalculation().

ExportVariable ExportNLPSolver::acTmp [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), and ExportNLPSolver::setupArrivalCostCalculation().

ExportVariable ExportNLPSolver::acVL [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), and ExportNLPSolver::setupArrivalCostCalculation().

ExportVariable ExportNLPSolver::acWL [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), and ExportNLPSolver::setupArrivalCostCalculation().

ExportVariable ExportNLPSolver::acXTilde [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), and ExportNLPSolver::setupArrivalCostCalculation().

ExportVariable ExportNLPSolver::acXu [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), and ExportNLPSolver::setupArrivalCostCalculation().

ExportVariable ExportNLPSolver::acXx [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), and ExportNLPSolver::setupArrivalCostCalculation().

ExportCholeskyDecomposition ExportNLPSolver::cholObjS [protected, inherited]

Referenced by ExportGaussNewtonCondensed::getCode(), and ExportNLPSolver::setupArrivalCostCalculation().

ExportCholeskyDecomposition ExportNLPSolver::cholSAC [protected, inherited]

Referenced by ExportGaussNewtonCondensed::getCode(), and ExportNLPSolver::setupArrivalCostCalculation().

String ExportAlgorithm::commonHeaderName [protected, inherited]

Referenced by ExportAlgorithm::copy(), ExportAlgorithm::ExportAlgorithm(), ExportAlgorithm::openFile(), ImplicitRungeKuttaExport::setup(), ExportGaussNewtonQpDunes::setupQPInterface(), setupQPInterface(), ExportGaussNewtonForces::setupQPInterface(), and ExportGaussNewtonCondensed::setupQPInterface().

ExportVariable ExportNLPSolver::conAuxVar [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), and ExportNLPSolver::setConstraints().

ExportFunction ExportGaussNewtonCN2::condenseFdb [protected]

Referenced by getCode(), setupCondensing(), setupConstraintsEvaluation(), and setupEvaluation().

ExportFunction ExportGaussNewtonCN2::condensePrep [protected]

Referenced by getCode(), setupCondensing(), setupConstraintsEvaluation(), and setupEvaluation().

ExportVariable ExportNLPSolver::conValueIn [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setConstraints(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), and ExportGaussNewtonCondensed::setupConstraintsEvaluation().

ExportVariable ExportNLPSolver::conValueOut [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setConstraints(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), and ExportGaussNewtonCondensed::setupConstraintsEvaluation().

ExportFunction ExportGaussNewtonCN2::copyHTH [protected]

Referenced by getCode(), setupCondensing(), and setupMultiplicationRoutines().

ExportVariable ExportNLPSolver::d [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), ExportGaussNewtonForces::setupConstraintsEvaluation(), ExportGaussNewtonCondensed::setupConstraintsEvaluation(), and ExportNLPSolver::setupSimulation().

unsigned ExportNLPSolver::dimPacH [protected, inherited]

Referenced by ExportNLPSolver::ExportNLPSolver(), ExportNLPSolver::getNumComplexConstraints(), ExportNLPSolver::setConstraints(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), and ExportGaussNewtonCondensed::setupConstraintsEvaluation().

unsigned ExportNLPSolver::dimPocH [protected, inherited]

Referenced by ExportNLPSolver::ExportNLPSolver(), ExportNLPSolver::getNumComplexConstraints(), ExportNLPSolver::setConstraints(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), and ExportGaussNewtonCondensed::setupConstraintsEvaluation().

ExportVariable ExportGaussNewtonCN2::Dx0 [protected]

Referenced by getDataDeclarations(), setupCondensing(), setupConstraintsEvaluation(), and setupVariables().

ExportVariable ExportNLPSolver::DxAC [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setObjective(), ExportNLPSolver::setupAuxiliaryFunctions(), and ExportGaussNewtonCondensed::setupCondensing().

ExportVariable ExportNLPSolver::Dy [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setupAuxiliaryFunctions(), setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), ExportGaussNewtonQpDunes::setupEvaluation(), ExportGaussNewtonForces::setupEvaluation(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), setupObjectiveEvaluation(), ExportGaussNewtonCondensed::setupObjectiveEvaluation(), and ExportNLPSolver::setupResidualVariables().

ExportVariable ExportNLPSolver::DyN [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setupAuxiliaryFunctions(), setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), ExportGaussNewtonQpDunes::setupEvaluation(), ExportGaussNewtonForces::setupEvaluation(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), setupObjectiveEvaluation(), ExportGaussNewtonCondensed::setupObjectiveEvaluation(), and ExportNLPSolver::setupResidualVariables().

ExportVariable ExportGaussNewtonCN2::E [protected]

Referenced by getDataDeclarations(), setupCondensing(), setupConstraintsEvaluation(), and setupVariables().

String ExportNLPSolver::evaluateExternLSQ [protected, inherited]

Referenced by ExportNLPSolver::setObjective(), ExportNLPSolver::setupArrivalCostCalculation(), ExportNLPSolver::setupAuxiliaryFunctions(), setupObjectiveEvaluation(), and ExportGaussNewtonCondensed::setupObjectiveEvaluation().

String ExportNLPSolver::evaluateExternLSQEndTerm [protected, inherited]

Referenced by ExportNLPSolver::setObjective(), ExportNLPSolver::setupAuxiliaryFunctions(), setupObjectiveEvaluation(), and ExportGaussNewtonCondensed::setupObjectiveEvaluation().

ExportAcadoFunction ExportNLPSolver::evaluateLSQ [protected, inherited]

Referenced by getCode(), ExportGaussNewtonCondensed::getCode(), ExportGaussNewtonQpDunes::getCode(), ExportGaussNewtonForces::getCode(), ExportNLPSolver::setObjective(), ExportNLPSolver::setupArrivalCostCalculation(), and ExportNLPSolver::setupAuxiliaryFunctions().

ExportAcadoFunction ExportNLPSolver::evaluateLSQEndTerm [protected, inherited]

Referenced by getCode(), ExportGaussNewtonCondensed::getCode(), ExportGaussNewtonQpDunes::getCode(), ExportGaussNewtonForces::getCode(), ExportNLPSolver::setObjective(), and ExportNLPSolver::setupAuxiliaryFunctions().

ExportFunction ExportGaussNewtonCN2::evaluateObjective [protected]

Referenced by getCode(), setupEvaluation(), and setupObjectiveEvaluation().

ExportAcadoFunction ExportNLPSolver::evaluatePathConstraints [protected, inherited]

Referenced by getCode(), ExportGaussNewtonCondensed::getCode(), ExportGaussNewtonQpDunes::getCode(), ExportNLPSolver::setConstraints(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), and ExportGaussNewtonCondensed::setupConstraintsEvaluation().

std::vector< std::tr1::shared_ptr< ExportAcadoFunction > > ExportNLPSolver::evaluatePointConstraints [protected, inherited]

Referenced by getCode(), ExportGaussNewtonCondensed::getCode(), ExportGaussNewtonQpDunes::getCode(), ExportNLPSolver::setConstraints(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), and ExportGaussNewtonCondensed::setupConstraintsEvaluation().

ExportVariable ExportNLPSolver::evGu [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), ExportGaussNewtonForces::setupConstraintsEvaluation(), and ExportNLPSolver::setupSimulation().

ExportVariable ExportNLPSolver::evGx [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), ExportGaussNewtonForces::setupConstraintsEvaluation(), ExportGaussNewtonCondensed::setupConstraintsEvaluation(), and ExportNLPSolver::setupSimulation().

ExportFunction ExportGaussNewtonCN2::expand [protected]

Referenced by getCode(), setupCondensing(), and setupEvaluation().

ExportFunction ExportGaussNewtonCN2::expansionStep [protected]

Referenced by getCode(), setupCondensing(), and setupMultiplicationRoutines().

BooleanType ExportNLPSolver::externObjective [protected, inherited]

Referenced by ExportNLPSolver::ExportNLPSolver(), ExportNLPSolver::setObjective(), ExportNLPSolver::setupArrivalCostCalculation(), ExportNLPSolver::setupAuxiliaryFunctions(), setupObjectiveEvaluation(), and ExportGaussNewtonCondensed::setupObjectiveEvaluation().

ExportFunction ExportGaussNewtonCN2::feedback [protected]

Referenced by getCode(), getFunctionDeclarations(), and setupEvaluation().

ExportVariable ExportGaussNewtonCN2::g [protected]

Referenced by getDataDeclarations(), setupCondensing(), setupEvaluation(), setupQPInterface(), and setupVariables().

ExportVariable ExportGaussNewtonCN2::g0 [protected]

Referenced by setupVariables().

ExportVariable ExportGaussNewtonCN2::g1 [protected]

Referenced by setupVariables().

ExportFunction ExportGaussNewtonCN2::getKKT [protected]

Referenced by getCode(), getFunctionDeclarations(), and setupEvaluation().

ExportFunction ExportNLPSolver::getObjective [protected, inherited]

Referenced by getCode(), ExportGaussNewtonCondensed::getCode(), ExportGaussNewtonQpDunes::getCode(), ExportGaussNewtonForces::getCode(), getFunctionDeclarations(), ExportGaussNewtonCondensed::getFunctionDeclarations(), ExportGaussNewtonQpDunes::getFunctionDeclarations(), ExportGaussNewtonForces::getFunctionDeclarations(), and ExportNLPSolver::setupAuxiliaryFunctions().

ExportVariable ExportGaussNewtonCN2::H [protected]

Referenced by getDataDeclarations(), setupCondensing(), setupMultiplicationRoutines(), setupQPInterface(), and setupVariables().

ExportVariable ExportGaussNewtonCN2::H00 [protected]

Referenced by setupMultiplicationRoutines(), and setupVariables().

ExportVariable ExportGaussNewtonCN2::H10 [protected]

Referenced by setupVariables().

ExportVariable ExportGaussNewtonCN2::H11 [protected]

Referenced by setupVariables().

ExportFunction ExportNLPSolver::initialize [protected, inherited]

Referenced by getCode(), ExportGaussNewtonCondensed::getCode(), ExportGaussNewtonQpDunes::getCode(), ExportGaussNewtonForces::getCode(), getFunctionDeclarations(), ExportGaussNewtonCondensed::getFunctionDeclarations(), ExportGaussNewtonQpDunes::getFunctionDeclarations(), ExportGaussNewtonForces::getFunctionDeclarations(), ExportGaussNewtonQpDunes::setup(), ExportGaussNewtonForces::setup(), ExportNLPSolver::setupArrivalCostCalculation(), ExportGaussNewtonCondensed::setupConstraintsEvaluation(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), and ExportNLPSolver::setupSimulation().

ExportFunction ExportNLPSolver::initializeNodes [protected, inherited]

Referenced by getCode(), ExportGaussNewtonCondensed::getCode(), ExportGaussNewtonQpDunes::getCode(), ExportGaussNewtonForces::getCode(), getFunctionDeclarations(), ExportGaussNewtonCondensed::getFunctionDeclarations(), ExportGaussNewtonQpDunes::getFunctionDeclarations(), ExportGaussNewtonForces::getFunctionDeclarations(), and ExportNLPSolver::setupAuxiliaryFunctions().

IntegratorExportPtr ExportNLPSolver::integrator [protected, inherited]

Referenced by ExportNLPSolver::setIntegratorExport(), ExportNLPSolver::setupArrivalCostCalculation(), ExportNLPSolver::setupAuxiliaryFunctions(), and ExportNLPSolver::setupSimulation().

ExportVariable ExportGaussNewtonCN2::lb [protected]

Referenced by getDataDeclarations(), setupConstraintsEvaluation(), setupEvaluation(), setupQPInterface(), and setupVariables().

ExportVariable ExportGaussNewtonCN2::lbA [protected]

Referenced by getDataDeclarations(), setupConstraintsEvaluation(), setupEvaluation(), setupQPInterface(), and setupVariables().

ExportVariable ExportGaussNewtonCN2::lbAValues [protected]

Referenced by getDataDeclarations().

ExportVariable ExportGaussNewtonCN2::lbValues [protected]

Referenced by getDataDeclarations(), and setupConstraintsEvaluation().

double ExportNLPSolver::levenbergMarquardt [protected, inherited]

Referenced by ExportNLPSolver::ExportNLPSolver(), ExportNLPSolver::setLevenbergMarquardt(), setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), and ExportGaussNewtonForces::setupObjectiveEvaluation().

ExportFunction ExportGaussNewtonCN2::macASbar [protected]

Referenced by getCode(), setupCondensing(), and setupMultiplicationRoutines().

ExportFunction ExportGaussNewtonCN2::macASbarD2 [protected]

ExportFunction ExportGaussNewtonCN2::macATw1QDy [protected]

Referenced by getCode(), setupCondensing(), and setupMultiplicationRoutines().

ExportFunction ExportGaussNewtonCN2::macBTw1 [protected]

Referenced by getCode(), setupCondensing(), and setupMultiplicationRoutines().

ExportFunction ExportGaussNewtonCN2::macCTSlx [protected]

Referenced by getCode().

ExportFunction ExportGaussNewtonCN2::macETSlu [protected]

Referenced by getCode().

ExportFunction ExportGaussNewtonCN2::macHxd [protected]

Referenced by getCode().

ExportFunction ExportGaussNewtonCN2::macQEW2 [protected]

Referenced by getCode(), setupCondensing(), and setupMultiplicationRoutines().

ExportFunction ExportGaussNewtonCN2::macQSbarW2 [protected]

Referenced by getCode(), setupCondensing(), and setupMultiplicationRoutines().

ExportFunction ExportNLPSolver::modelSimulation [protected, inherited]

Referenced by getCode(), ExportGaussNewtonCondensed::getCode(), ExportGaussNewtonQpDunes::getCode(), ExportGaussNewtonForces::getCode(), ExportGaussNewtonQpDunes::setupEvaluation(), setupEvaluation(), ExportGaussNewtonForces::setupEvaluation(), ExportGaussNewtonCondensed::setupEvaluation(), and ExportNLPSolver::setupSimulation().

ExportFunction ExportGaussNewtonCN2::moveGuE [protected]

Referenced by getCode(), setupCondensing(), and setupMultiplicationRoutines().

ExportFunction ExportGaussNewtonCN2::moveGxT [protected]

Referenced by setupMultiplicationRoutines().

ExportFunction ExportGaussNewtonCN2::multBTW1 [protected]

Referenced by getCode(), setupCondensing(), and setupMultiplicationRoutines().

ExportFunction ExportGaussNewtonCN2::multCTQC [protected]

Referenced by setupMultiplicationRoutines().

ExportFunction ExportGaussNewtonCN2::multEDu [protected]

Referenced by setupMultiplicationRoutines().

ExportFunction ExportGaussNewtonCN2::multEQDy [protected]

Referenced by setupMultiplicationRoutines().

ExportFunction ExportGaussNewtonCN2::multGxd [protected]

Referenced by setupMultiplicationRoutines().

ExportFunction ExportGaussNewtonCN2::multGxGu [protected]

Referenced by getCode(), setupCondensing(), and setupMultiplicationRoutines().

ExportFunction ExportGaussNewtonCN2::multGxGx [protected]

Referenced by setupMultiplicationRoutines().

ExportFunction ExportGaussNewtonCN2::multGxTGu [protected]

Referenced by getCode(), setupCondensing(), and setupMultiplicationRoutines().

ExportFunction ExportGaussNewtonCN2::multHxC [protected]

Referenced by getCode().

ExportFunction ExportGaussNewtonCN2::multHxE [protected]

Referenced by getCode().

ExportFunction ExportGaussNewtonCN2::multQ1d [protected]

Referenced by setupMultiplicationRoutines().

ExportFunction ExportGaussNewtonCN2::multQ1Gu [protected]

Referenced by setupMultiplicationRoutines().

ExportFunction ExportGaussNewtonCN2::multQ1Gx [protected]

Referenced by setupMultiplicationRoutines().

ExportFunction ExportGaussNewtonCN2::multQDy [protected]

Referenced by getCode(), setupCondensing(), and setupMultiplicationRoutines().

ExportFunction ExportGaussNewtonCN2::multQETGx [protected]

Referenced by setupMultiplicationRoutines().

ExportFunction ExportGaussNewtonCN2::multQN1d [protected]

Referenced by setupMultiplicationRoutines().

ExportFunction ExportGaussNewtonCN2::multQN1Gu [protected]

Referenced by getCode(), setupCondensing(), and setupMultiplicationRoutines().

ExportFunction ExportGaussNewtonCN2::multQN1Gx [protected]

Referenced by setupMultiplicationRoutines().

ExportFunction ExportGaussNewtonCN2::multRDy [protected]

Referenced by getCode(), setupCondensing(), and setupMultiplicationRoutines().

uint ExportAlgorithm::N [protected, inherited]

Referenced by ExportAlgorithm::copy(), Constraint::getBlockDim(), ExportAlgorithm::getN(), Constraint::getNumberOfBlocks(), ExportNLPSolver::getNumComplexConstraints(), getNumQPvars(), ExportGaussNewtonQpDunes::getNumQPvars(), ExportGaussNewtonCondensed::getNumQPvars(), ExportGaussNewtonForces::getNumQPvars(), ExportNLPSolver::setConstraints(), ExportAlgorithm::setDimensions(), ExportNLPSolver::setObjective(), ExportNLPSolver::setupAuxiliaryFunctions(), setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), setupConstraintsEvaluation(), ExportGaussNewtonForces::setupConstraintsEvaluation(), ExportGaussNewtonCondensed::setupConstraintsEvaluation(), ExportGaussNewtonQpDunes::setupEvaluation(), ExportGaussNewtonForces::setupEvaluation(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), ExportGaussNewtonCondensed::setupObjectiveEvaluation(), ExportGaussNewtonForces::setupQPInterface(), ExportNLPSolver::setupResidualVariables(), ExportNLPSolver::setupSimulation(), setupVariables(), and ExportGaussNewtonCondensed::setupVariables().

uint ExportAlgorithm::NDX [protected, inherited]

Referenced by ImplicitRungeKuttaExport::evaluateStatesImplicitSystem(), ImplicitRungeKuttaExport::generateOutput(), ImplicitRungeKuttaExport::prepareOutputEvaluation(), AdjointIRKExport::sensitivitiesOutputs(), ForwardIRKExport::sensitivitiesOutputs(), ExplicitRungeKuttaExport::setDifferentialEquation(), DiscreteTimeExport::setDifferentialEquation(), ImplicitRungeKuttaExport::setDifferentialEquation(), ExportAlgorithm::setDimensions(), IntegratorExport::setLinearOutput(), ImplicitRungeKuttaExport::setModel(), IntegratorExport::setModel(), ImplicitRungeKuttaExport::setup(), and ImplicitRungeKuttaExport::setupOutput().

uint ExportAlgorithm::NP [protected, inherited]

Referenced by ExportAlgorithm::copy(), ExportAlgorithm::getNP(), ExportNLPSolver::setConstraints(), ExplicitRungeKuttaExport::setDifferentialEquation(), DiscreteTimeExport::setDifferentialEquation(), ImplicitRungeKuttaExport::setDifferentialEquation(), ExportAlgorithm::setDimensions(), IntegratorExport::setLinearInput(), IntegratorExport::setLinearOutput(), NARXExport::setLinearOutput(), IntegratorExport::setModel(), ExportNLPSolver::setObjective(), ExplicitRungeKuttaExport::setup(), NARXExport::setup(), DiscreteTimeExport::setup(), AdjointIRKExport::setup(), ImplicitRungeKuttaExport::setup(), ForwardIRKExport::setup(), ExportNLPSolver::setupArrivalCostCalculation(), ExportNLPSolver::setupAuxiliaryFunctions(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), ExportGaussNewtonCondensed::setupConstraintsEvaluation(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), ExportGaussNewtonCondensed::setupObjectiveEvaluation(), and ExportNLPSolver::setupSimulation().

uint ExportAlgorithm::NU [protected, inherited]

Referenced by ExportAlgorithm::copy(), ImplicitRungeKuttaExport::generateOutput(), AdjointIRKExport::getCode(), ForwardIRKExport::getCode(), ExportAlgorithm::getNU(), getNumQPvars(), ExportGaussNewtonQpDunes::getNumQPvars(), ExportGaussNewtonCondensed::getNumQPvars(), ExportGaussNewtonForces::getNumQPvars(), NARXExport::prepareFullRhs(), IntegratorExport::prepareFullRhs(), ImplicitRungeKuttaExport::prepareFullRhs(), DiagonallyImplicitRKExport::prepareInputSystem(), AdjointIRKExport::prepareInputSystem(), ForwardIRKExport::prepareInputSystem(), NARXExport::propagateImplicitSystem(), IntegratorExport::propagateImplicitSystem(), NARXExport::propagateInputSystem(), IntegratorExport::propagateInputSystem(), AdjointIRKExport::propagateOutputs(), ForwardIRKExport::propagateOutputs(), NARXExport::propagateOutputSystem(), IntegratorExport::propagateOutputSystem(), AdjointIRKExport::sensitivitiesOutputs(), ForwardIRKExport::sensitivitiesOutputs(), ExportNLPSolver::setConstraints(), ExplicitRungeKuttaExport::setDifferentialEquation(), DiscreteTimeExport::setDifferentialEquation(), ImplicitRungeKuttaExport::setDifferentialEquation(), ExportAlgorithm::setDimensions(), IntegratorExport::setLinearInput(), IntegratorExport::setLinearOutput(), NARXExport::setLinearOutput(), IntegratorExport::setModel(), NARXExport::setNARXmodel(), ExportNLPSolver::setObjective(), ExplicitRungeKuttaExport::setup(), NARXExport::setup(), DiscreteTimeExport::setup(), AdjointIRKExport::setup(), ImplicitRungeKuttaExport::setup(), ForwardIRKExport::setup(), ExportNLPSolver::setupArrivalCostCalculation(), ExportNLPSolver::setupAuxiliaryFunctions(), setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), setupConstraintsEvaluation(), ExportGaussNewtonForces::setupConstraintsEvaluation(), ExportGaussNewtonCondensed::setupConstraintsEvaluation(), ExportGaussNewtonQpDunes::setupEvaluation(), ExportGaussNewtonForces::setupEvaluation(), setupMultiplicationRoutines(), ExportGaussNewtonCondensed::setupMultiplicationRoutines(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), setupObjectiveEvaluation(), ExportGaussNewtonCondensed::setupObjectiveEvaluation(), ImplicitRungeKuttaExport::setupOutput(), ExportGaussNewtonForces::setupQPInterface(), ExportNLPSolver::setupSimulation(), setupVariables(), ExportGaussNewtonCondensed::setupVariables(), NARXExport::updateImplicitSystem(), IntegratorExport::updateImplicitSystem(), NARXExport::updateInputSystem(), IntegratorExport::updateInputSystem(), NARXExport::updateOutputSystem(), and IntegratorExport::updateOutputSystem().

uint ExportAlgorithm::NX [protected, inherited]

Referenced by ExportAlgorithm::copy(), DiagonallyImplicitRKExport::evaluateStatesImplicitSystem(), ImplicitRungeKuttaExport::evaluateStatesImplicitSystem(), ImplicitRungeKuttaExport::evaluateStatesOutputSystem(), IntegratorExport::expandOutputMatrix(), ImplicitRungeKuttaExport::generateOutput(), ForwardIRKExport::getCode(), AdjointIRKExport::getCode(), DiscreteTimeExport::getCode(), ImplicitRungeKuttaExport::getCode(), DiscreteTimeExport::getFunctionDeclarations(), ImplicitRungeKuttaExport::getFunctionDeclarations(), IntegratorExport::getNameFullRHS(), getNumQPvars(), ExportGaussNewtonQpDunes::getNumQPvars(), ExportGaussNewtonCondensed::getNumQPvars(), ExportGaussNewtonForces::getNumQPvars(), ExportAlgorithm::getNX(), NARXExport::prepareFullRhs(), IntegratorExport::prepareFullRhs(), ImplicitRungeKuttaExport::prepareFullRhs(), NARXExport::propagateImplicitSystem(), IntegratorExport::propagateImplicitSystem(), NARXExport::propagateInputSystem(), IntegratorExport::propagateInputSystem(), ForwardIRKExport::propagateOutputs(), AdjointIRKExport::propagateOutputs(), NARXExport::propagateOutputSystem(), IntegratorExport::propagateOutputSystem(), ForwardIRKExport::sensitivitiesImplicitSystem(), AdjointIRKExport::sensitivitiesImplicitSystem(), DiagonallyImplicitRKExport::sensitivitiesImplicitSystem(), ForwardIRKExport::sensitivitiesOutputs(), AdjointIRKExport::sensitivitiesOutputs(), DiagonallyImplicitRKExport::sensitivitiesOutputSystem(), ForwardIRKExport::sensitivitiesOutputSystem(), AdjointIRKExport::sensitivitiesOutputSystem(), ExportNLPSolver::setConstraints(), ExplicitRungeKuttaExport::setDifferentialEquation(), DiscreteTimeExport::setDifferentialEquation(), ImplicitRungeKuttaExport::setDifferentialEquation(), ExportAlgorithm::setDimensions(), IntegratorExport::setLinearInput(), IntegratorExport::setLinearOutput(), NARXExport::setLinearOutput(), IntegratorExport::setModel(), NARXExport::setNARXmodel(), ExportNLPSolver::setObjective(), NARXExport::setup(), ExplicitRungeKuttaExport::setup(), DiscreteTimeExport::setup(), ImplicitRungeKuttaExport::setup(), AdjointIRKExport::setup(), ForwardIRKExport::setup(), ExportNLPSolver::setupArrivalCostCalculation(), ExportNLPSolver::setupAuxiliaryFunctions(), setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), setupConstraintsEvaluation(), ExportGaussNewtonForces::setupConstraintsEvaluation(), ExportGaussNewtonCondensed::setupConstraintsEvaluation(), ExportGaussNewtonQpDunes::setupEvaluation(), ExportGaussNewtonForces::setupEvaluation(), setupMultiplicationRoutines(), ExportGaussNewtonCondensed::setupMultiplicationRoutines(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), ExportGaussNewtonCondensed::setupObjectiveEvaluation(), ImplicitRungeKuttaExport::setupOutput(), ExportGaussNewtonForces::setupQPInterface(), ExportNLPSolver::setupSimulation(), ExportGaussNewtonQpDunes::setupVariables(), ExportGaussNewtonForces::setupVariables(), setupVariables(), ExportGaussNewtonCondensed::setupVariables(), DiagonallyImplicitRKExport::solveImplicitSystem(), ImplicitRungeKuttaExport::solveImplicitSystem(), DiagonallyImplicitRKExport::solveOutputSystem(), NARXExport::updateImplicitSystem(), IntegratorExport::updateImplicitSystem(), NARXExport::updateInputSystem(), IntegratorExport::updateInputSystem(), NARXExport::updateOutputSystem(), and IntegratorExport::updateOutputSystem().

uint ExportAlgorithm::NXA [protected, inherited]

Referenced by ExportAlgorithm::copy(), DiagonallyImplicitRKExport::evaluateMatrix(), ImplicitRungeKuttaExport::evaluateMatrix(), DiagonallyImplicitRKExport::evaluateRhsImplicitSystem(), ImplicitRungeKuttaExport::evaluateRhsImplicitSystem(), DiagonallyImplicitRKExport::evaluateStatesImplicitSystem(), ImplicitRungeKuttaExport::evaluateStatesImplicitSystem(), ImplicitRungeKuttaExport::generateOutput(), ForwardIRKExport::getAuxVariable(), AdjointIRKExport::getAuxVariable(), ImplicitRungeKuttaExport::getAuxVariable(), ForwardIRKExport::getCode(), AdjointIRKExport::getCode(), DiscreteTimeExport::getCode(), ImplicitRungeKuttaExport::getCode(), ImplicitRungeKuttaExport::getDataDeclarations(), ExportAlgorithm::getNXA(), IntegratorExport::prepareFullRhs(), ImplicitRungeKuttaExport::prepareFullRhs(), ImplicitRungeKuttaExport::prepareOutputEvaluation(), IntegratorExport::propagateImplicitSystem(), IntegratorExport::propagateInputSystem(), IntegratorExport::propagateOutputSystem(), ForwardIRKExport::sensitivitiesImplicitSystem(), AdjointIRKExport::sensitivitiesImplicitSystem(), DiagonallyImplicitRKExport::sensitivitiesImplicitSystem(), AdjointIRKExport::sensitivitiesOutputs(), ForwardIRKExport::sensitivitiesOutputs(), DiagonallyImplicitRKExport::sensitivitiesOutputSystem(), ForwardIRKExport::sensitivitiesOutputSystem(), AdjointIRKExport::sensitivitiesOutputSystem(), ExplicitRungeKuttaExport::setDifferentialEquation(), DiscreteTimeExport::setDifferentialEquation(), ImplicitRungeKuttaExport::setDifferentialEquation(), ExportAlgorithm::setDimensions(), IntegratorExport::setLinearInput(), IntegratorExport::setLinearOutput(), NARXExport::setLinearOutput(), IntegratorExport::setModel(), NARXExport::setNARXmodel(), DiscreteTimeExport::setup(), AdjointIRKExport::setup(), ForwardIRKExport::setup(), ImplicitRungeKuttaExport::setup(), DiagonallyImplicitRKExport::setup(), ExportNLPSolver::setupArrivalCostCalculation(), ExportNLPSolver::setupAuxiliaryFunctions(), ImplicitRungeKuttaExport::setupOutput(), ExportNLPSolver::setupSimulation(), DiagonallyImplicitRKExport::solveImplicitSystem(), ImplicitRungeKuttaExport::solveImplicitSystem(), IntegratorExport::updateImplicitSystem(), IntegratorExport::updateInputSystem(), and IntegratorExport::updateOutputSystem().

uint ExportAlgorithm::NY [protected, inherited]

Referenced by ExportAlgorithm::copy(), ExportAlgorithm::getNY(), ExportAlgorithm::setNY(), ExportNLPSolver::setObjective(), ExportNLPSolver::setupArrivalCostCalculation(), ExportNLPSolver::setupAuxiliaryFunctions(), setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), setupMultiplicationRoutines(), ExportGaussNewtonCondensed::setupMultiplicationRoutines(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), and ExportGaussNewtonCondensed::setupObjectiveEvaluation().

uint ExportAlgorithm::NYN [protected, inherited]

Referenced by ExportAlgorithm::getNYN(), ExportAlgorithm::setNYN(), ExportNLPSolver::setObjective(), ExportNLPSolver::setupAuxiliaryFunctions(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), and ExportGaussNewtonCondensed::setupObjectiveEvaluation().

ExportVariable ExportNLPSolver::objAuxVar [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), and ExportNLPSolver::setObjective().

ExportVariable ExportNLPSolver::objEvFu [protected, inherited]

Referenced by ExportNLPSolver::setObjective(), ExportNLPSolver::setupArrivalCostCalculation(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), and ExportGaussNewtonCondensed::setupObjectiveEvaluation().

ExportVariable ExportNLPSolver::objEvFx [protected, inherited]

Referenced by ExportNLPSolver::setObjective(), ExportNLPSolver::setupArrivalCostCalculation(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), and ExportGaussNewtonCondensed::setupObjectiveEvaluation().

ExportVariable ExportNLPSolver::objEvFxEnd [protected, inherited]

Referenced by ExportNLPSolver::setObjective(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), and ExportGaussNewtonCondensed::setupObjectiveEvaluation().

ExportVariable ExportNLPSolver::objS [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setObjective(), ExportNLPSolver::setupArrivalCostCalculation(), ExportNLPSolver::setupAuxiliaryFunctions(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), ExportGaussNewtonCondensed::setupObjectiveEvaluation(), and ExportNLPSolver::weightingMatricesType().

ExportVariable ExportNLPSolver::objSEndTerm [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setObjective(), ExportNLPSolver::setupAuxiliaryFunctions(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), ExportGaussNewtonCondensed::setupObjectiveEvaluation(), and ExportNLPSolver::weightingMatricesType().

ExportVariable ExportNLPSolver::objSlu [protected, inherited]

Referenced by ExportNLPSolver::setObjective(), and ExportGaussNewtonCondensed::setupCondensing().

ExportVariable ExportNLPSolver::objSlx [protected, inherited]

Referenced by ExportNLPSolver::setObjective(), and ExportGaussNewtonCondensed::setupCondensing().

ExportVariable ExportNLPSolver::objValueIn [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setObjective(), ExportNLPSolver::setupArrivalCostCalculation(), ExportNLPSolver::setupAuxiliaryFunctions(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), and ExportGaussNewtonCondensed::setupObjectiveEvaluation().

ExportVariable ExportNLPSolver::objValueOut [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setObjective(), ExportNLPSolver::setupArrivalCostCalculation(), ExportNLPSolver::setupAuxiliaryFunctions(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), and ExportGaussNewtonCondensed::setupObjectiveEvaluation().

int AlgorithmicBase::outputLoggingIdx [protected, inherited]

Referenced by AlgorithmicBase::AlgorithmicBase(), AlgorithmicBase::operator=(), SCPmethod::printIteration(), Integrator::printRunTimeProfile(), SCPmethod::setupLogging(), DynamicDiscretization::setupLogging(), and Integrator::setupLogging().

ExportVariable ExportNLPSolver::p [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setupArrivalCostCalculation(), ExportNLPSolver::setupAuxiliaryFunctions(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), ExportGaussNewtonCondensed::setupConstraintsEvaluation(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), setupObjectiveEvaluation(), ExportGaussNewtonCondensed::setupObjectiveEvaluation(), and ExportNLPSolver::setupSimulation().

ExportVariable ExportGaussNewtonCN2::pacA01Dx0 [protected]

Referenced by getDataDeclarations().

ExportVariable ExportNLPSolver::pacEvH [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setConstraints(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), and ExportGaussNewtonCondensed::setupConstraintsEvaluation().

ExportVariable ExportNLPSolver::pacEvHu [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setConstraints(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), and ExportGaussNewtonCondensed::setupConstraintsEvaluation().

ExportVariable ExportNLPSolver::pacEvHx [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setConstraints(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), and ExportGaussNewtonCondensed::setupConstraintsEvaluation().

ExportVariable ExportNLPSolver::pacEvHxd [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setConstraints(), and ExportGaussNewtonCondensed::setupConstraintsEvaluation().

Matrix ExportNLPSolver::pacLBMatrix [protected, inherited]

Referenced by ExportNLPSolver::setConstraints(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), and ExportGaussNewtonCondensed::setupConstraintsEvaluation().

Matrix ExportNLPSolver::pacUBMatrix [protected, inherited]

Referenced by ExportNLPSolver::setConstraints(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), and ExportGaussNewtonCondensed::setupConstraintsEvaluation().

ExportVariable ExportGaussNewtonCN2::pocA02Dx0 [protected]

Referenced by getDataDeclarations().

ExportVariable ExportNLPSolver::pocEvH [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setConstraints(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), and ExportGaussNewtonCondensed::setupConstraintsEvaluation().

ExportVariable ExportNLPSolver::pocEvHu [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setConstraints(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), and ExportGaussNewtonCondensed::setupConstraintsEvaluation().

ExportVariable ExportNLPSolver::pocEvHx [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setConstraints(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), and ExportGaussNewtonCondensed::setupConstraintsEvaluation().

ExportVariable ExportNLPSolver::pocEvHxd [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setConstraints(), and ExportGaussNewtonCondensed::setupConstraintsEvaluation().

Vector ExportNLPSolver::pocLB [protected, inherited]

Referenced by ExportNLPSolver::setConstraints(), and ExportGaussNewtonCondensed::setupConstraintsEvaluation().

std::vector< Vector > ExportNLPSolver::pocLbStack [protected, inherited]

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

Vector ExportNLPSolver::pocUB [protected, inherited]

Referenced by ExportNLPSolver::setConstraints(), and ExportGaussNewtonCondensed::setupConstraintsEvaluation().

std::vector< Vector > ExportNLPSolver::pocUbStack [protected, inherited]

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

ExportFunction ExportGaussNewtonCN2::preparation [protected]

Referenced by getCode(), getFunctionDeclarations(), and setupEvaluation().

ExportVariable ExportNLPSolver::Q1 [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setObjective(), setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), setupMultiplicationRoutines(), ExportGaussNewtonCondensed::setupMultiplicationRoutines(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), ExportGaussNewtonCondensed::setupObjectiveEvaluation(), and ExportGaussNewtonForces::setupQPInterface().

ExportVariable ExportNLPSolver::Q2 [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setObjective(), setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), setupMultiplicationRoutines(), ExportGaussNewtonCondensed::setupMultiplicationRoutines(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), and ExportGaussNewtonCondensed::setupObjectiveEvaluation().

ExportVariable ExportGaussNewtonCN2::Qd [protected]

ExportVariable ExportGaussNewtonCN2::QDy [protected]

Referenced by getDataDeclarations(), setupCondensing(), and setupVariables().

ExportVariable ExportGaussNewtonCN2::QE [protected]

Referenced by setupVariables().

ExportVariable ExportGaussNewtonCN2::QGx [protected]

Referenced by setupVariables().

ExportVariable ExportNLPSolver::QN1 [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setObjective(), setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), setupMultiplicationRoutines(), ExportGaussNewtonCondensed::setupMultiplicationRoutines(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), and ExportGaussNewtonCondensed::setupObjectiveEvaluation().

ExportVariable ExportNLPSolver::QN2 [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setObjective(), setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), ExportGaussNewtonQpDunes::setupEvaluation(), ExportGaussNewtonForces::setupEvaluation(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), and ExportGaussNewtonCondensed::setupObjectiveEvaluation().

ExportVariable ExportNLPSolver::R1 [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setObjective(), setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), setupObjectiveEvaluation(), ExportGaussNewtonCondensed::setupObjectiveEvaluation(), and ExportGaussNewtonForces::setupQPInterface().

ExportVariable ExportNLPSolver::R2 [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setObjective(), setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), setupMultiplicationRoutines(), ExportGaussNewtonCondensed::setupMultiplicationRoutines(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), and ExportGaussNewtonCondensed::setupObjectiveEvaluation().

ExportVariable ExportNLPSolver::SAC [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setObjective(), ExportNLPSolver::setupArrivalCostCalculation(), ExportNLPSolver::setupAuxiliaryFunctions(), and ExportGaussNewtonCondensed::setupCondensing().

ExportVariable ExportGaussNewtonCN2::sbar [protected]

Referenced by getDataDeclarations(), setupCondensing(), and setupConstraintsEvaluation().

ExportFunction ExportGaussNewtonCN2::setBlockH11 [protected]

Referenced by setupMultiplicationRoutines().

ExportFunction ExportGaussNewtonCN2::setObjQ1Q2 [protected]

Referenced by getCode(), and setupObjectiveEvaluation().

ExportFunction ExportGaussNewtonCN2::setObjQN1QN2 [protected]

Referenced by getCode(), and setupObjectiveEvaluation().

ExportFunction ExportGaussNewtonCN2::setObjR1R2 [protected]

Referenced by getCode(), and setupObjectiveEvaluation().

ExportFunction ExportNLPSolver::shiftControls [protected, inherited]

Referenced by getCode(), ExportGaussNewtonCondensed::getCode(), ExportGaussNewtonQpDunes::getCode(), ExportGaussNewtonForces::getCode(), getFunctionDeclarations(), ExportGaussNewtonCondensed::getFunctionDeclarations(), ExportGaussNewtonQpDunes::getFunctionDeclarations(), ExportGaussNewtonForces::getFunctionDeclarations(), and ExportNLPSolver::setupAuxiliaryFunctions().

ExportFunction ExportNLPSolver::shiftStates [protected, inherited]

Referenced by getCode(), ExportGaussNewtonCondensed::getCode(), ExportGaussNewtonQpDunes::getCode(), ExportGaussNewtonForces::getCode(), getFunctionDeclarations(), ExportGaussNewtonCondensed::getFunctionDeclarations(), ExportGaussNewtonQpDunes::getFunctionDeclarations(), ExportGaussNewtonForces::getFunctionDeclarations(), and ExportNLPSolver::setupAuxiliaryFunctions().

ExportVariable ExportNLPSolver::state [protected, inherited]

Referenced by getCode(), ExportGaussNewtonCondensed::getCode(), ExportGaussNewtonQpDunes::getCode(), ExportGaussNewtonForces::getCode(), ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setupArrivalCostCalculation(), ExportNLPSolver::setupAuxiliaryFunctions(), and ExportNLPSolver::setupSimulation().

ExportVariable ExportGaussNewtonCN2::T [protected]

Referenced by setupVariables().

ExportVariable ExportNLPSolver::u [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setupArrivalCostCalculation(), ExportNLPSolver::setupAuxiliaryFunctions(), setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), ExportGaussNewtonForces::setupConstraintsEvaluation(), setupConstraintsEvaluation(), ExportGaussNewtonCondensed::setupConstraintsEvaluation(), ExportGaussNewtonQpDunes::setupEvaluation(), ExportGaussNewtonForces::setupEvaluation(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), setupObjectiveEvaluation(), ExportGaussNewtonCondensed::setupObjectiveEvaluation(), and ExportNLPSolver::setupSimulation().

ExportVariable ExportGaussNewtonCN2::ub [protected]

Referenced by getDataDeclarations(), setupConstraintsEvaluation(), setupEvaluation(), setupQPInterface(), and setupVariables().

ExportVariable ExportGaussNewtonCN2::ubA [protected]

Referenced by getDataDeclarations(), setupConstraintsEvaluation(), setupEvaluation(), setupQPInterface(), and setupVariables().

ExportVariable ExportGaussNewtonCN2::ubAValues [protected]

Referenced by getDataDeclarations().

VariablesGrid ExportNLPSolver::uBounds [protected, inherited]

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

ExportVariable ExportGaussNewtonCN2::ubValues [protected]

Referenced by getDataDeclarations(), and setupConstraintsEvaluation().

ExportFunction ExportNLPSolver::updateArrivalCost [protected, inherited]

Referenced by ExportGaussNewtonCondensed::getCode(), ExportGaussNewtonCondensed::getFunctionDeclarations(), and ExportNLPSolver::setupArrivalCostCalculation().

BooleanType AlgorithmicBase::useModuleStandalone [protected, inherited]

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

UserInteraction* AlgorithmicBase::userInteraction [protected, inherited]

Referenced by AlgorithmicBase::addLogRecord(), AlgorithmicBase::addOption(), AlgorithmicBase::addOptionsList(), AlgorithmicBase::AlgorithmicBase(), AlgorithmicBase::get(), AlgorithmicBase::getAll(), ExplicitRungeKuttaExport::getCode(), AlgorithmicBase::getFirst(), ExplicitRungeKuttaExport::getFunctionDeclarations(), AlgorithmicBase::getLast(), AlgorithmicBase::getOptions(), AlgorithmicBase::haveOptionsChanged(), AlgorithmicBase::operator=(), AlgorithmicBase::plot(), AlgorithmicBase::printLogRecord(), AlgorithmicBase::replot(), AlgorithmicBase::set(), AlgorithmicBase::setAll(), ExplicitRungeKuttaExport::setDifferentialEquation(), AlgorithmicBase::setLast(), AlgorithmicBase::setOptions(), ExportGaussElim::setup(), ExportHouseholderQR::setup(), ImplicitRungeKuttaExport::setup(), SCPmethod::setup(), setupQPInterface(), ExportGaussNewtonForces::setupQPInterface(), ExportGaussNewtonCondensed::setupQPInterface(), CondensingBasedCPsolver::solveQP(), and AlgorithmicBase::~AlgorithmicBase().

ExportVariable ExportGaussNewtonCN2::W1 [protected]

Referenced by getDataDeclarations(), and setupCondensing().

ExportVariable ExportGaussNewtonCN2::w1 [protected]

Referenced by getDataDeclarations(), and setupCondensing().

ExportVariable ExportGaussNewtonCN2::W2 [protected]

Referenced by getDataDeclarations(), and setupCondensing().

ExportVariable ExportGaussNewtonCN2::w2 [protected]

Referenced by getDataDeclarations(), and setupCondensing().

ExportVariable ExportNLPSolver::x [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setupArrivalCostCalculation(), ExportNLPSolver::setupAuxiliaryFunctions(), setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), ExportGaussNewtonForces::setupConstraintsEvaluation(), setupConstraintsEvaluation(), ExportGaussNewtonCondensed::setupConstraintsEvaluation(), ExportGaussNewtonQpDunes::setupEvaluation(), ExportGaussNewtonForces::setupEvaluation(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), setupObjectiveEvaluation(), ExportGaussNewtonCondensed::setupObjectiveEvaluation(), and ExportNLPSolver::setupSimulation().

ExportVariable ExportGaussNewtonCN2::x0 [protected]

Referenced by getDataDeclarations(), setupCondensing(), and setupVariables().

ExportVariable ExportNLPSolver::xAC [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setObjective(), ExportNLPSolver::setupArrivalCostCalculation(), and ExportGaussNewtonCondensed::setupCondensing().

VariablesGrid ExportNLPSolver::xBounds [protected, inherited]

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

std::vector< unsigned > ExportNLPSolver::xBoundsIdx [protected, inherited]

Referenced by getNumStateBounds(), ExportGaussNewtonCondensed::getNumStateBounds(), ExportNLPSolver::setConstraints(), setupConstraintsEvaluation(), and ExportGaussNewtonCondensed::setupConstraintsEvaluation().

ExportVariable ExportGaussNewtonCN2::xVars [protected]

Referenced by getDataDeclarations(), setupCondensing(), setupEvaluation(), setupQPInterface(), and setupVariables().

ExportVariable ExportNLPSolver::y [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setupArrivalCostCalculation(), ExportNLPSolver::setupAuxiliaryFunctions(), setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), ExportGaussNewtonQpDunes::setupEvaluation(), ExportGaussNewtonForces::setupEvaluation(), and ExportNLPSolver::setupResidualVariables().

ExportVariable ExportNLPSolver::yN [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setupAuxiliaryFunctions(), setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), ExportGaussNewtonQpDunes::setupEvaluation(), ExportGaussNewtonForces::setupEvaluation(), and ExportNLPSolver::setupResidualVariables().

ExportVariable ExportGaussNewtonCN2::yVars [protected]

Referenced by getDataDeclarations(), setupEvaluation(), setupQPInterface(), and setupVariables().

ExportVariable ExportNLPSolver::z [protected, inherited]

Referenced by ExportNLPSolver::getDataDeclarations(), ExportNLPSolver::setupArrivalCostCalculation(), ExportNLPSolver::setupAuxiliaryFunctions(), and ExportNLPSolver::setupSimulation().

ExportFunction ExportGaussNewtonCN2::zeroBlockH00 [protected]

Referenced by setupMultiplicationRoutines().

ExportFunction ExportGaussNewtonCN2::zeroBlockH10 [protected]

Referenced by setupMultiplicationRoutines().

ExportFunction ExportGaussNewtonCN2::zeroBlockH11 [protected]

Referenced by setupMultiplicationRoutines().

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

• export_gauss_newton_cn2.hpp
• export_gauss_newton_cn2.cpp