BlockMatrix Class Reference

Implements a very rudimentary block sparse matrix class. More...

#include <block_matrix.hpp>

List of all members.

Public Member Functions
	BlockMatrix ()
	Default constructor.
	BlockMatrix (uint _nRows, uint _nCols)
	Constructor which takes dimensions of the block matrix.
	BlockMatrix (const Matrix &value)
	Constructor which takes ...
	BlockMatrix (const BlockMatrix &rhs)
	Copy constructor (deep copy).
virtual	~BlockMatrix ()
	Destructor.
returnValue	init (uint _nRows, uint _nCols)
	Initializer.
BlockMatrix &	operator= (const BlockMatrix &rhs)
	Assignment operator (deep copy).
returnValue	setDense (uint rowIdx, uint colIdx, const Matrix &value)
	Set method that defines the value of a certain component.
returnValue	addDense (uint rowIdx, uint colIdx, const Matrix &value)
	Add method that adds a matrix to a certain component.
returnValue	getSubBlock (uint rowIdx, uint colIdx, Matrix &value) const
	Access method that returns the value of a certain component.
returnValue	getSubBlock (uint rowIdx, uint colIdx, Matrix &value, uint nR, uint nC) const
	Access method that returns the value of a certain component and requiring a given dimension.
BlockMatrix	operator+ (const BlockMatrix &arg) const
	Adds (element-wise) two matrices to a temporary object.
BlockMatrix &	operator+= (const BlockMatrix &arg)
	Adds (element-wise) a matrix to object.
BlockMatrix	operator- (const BlockMatrix &arg) const
	Subtracts (element-wise) a matrix from the object and and stores the result to a temporary object.
BlockMatrix	operator*= (double scalar)
	Subtracts (element-wise) a matrix from the object.
BlockMatrix	operator* (const BlockMatrix &arg) const
	Multiplies a matrix from the right to the matrix object and stores the result to a temporary object.
BlockMatrix	operator^ (const BlockMatrix &arg) const
	Multiplies a matrix from the right to the transposed matrix object and stores the result to a temporary object.
uint	getNumRows () const
	Returns number of block rows of the block matrix object.
uint	getNumCols () const
	Returns number of block columns of the block matrix object.
uint	getNumRows (uint rowIdx, uint colIdx) const
	Returns the number of rows of a specified sub-matrix.
uint	getNumCols (uint rowIdx, uint colIdx) const
	Returns number of block columns of a specified sub-matrix.
returnValue	setIdentity (uint rowIdx, uint colIdx, uint dim)
	Sets a specified sub block to the (dim x dim)-identity matrix.
returnValue	setZero (uint rowIdx, uint colIdx)
	Sets a specified sub block to the be a zero matrix.
BooleanType	isEmpty () const
	Returns whether the block matrix element is empty.
returnValue	setZero ()
	Sets everyting to zero.
returnValue	addRegularisation (uint rowIdx, uint colIdx, double eps)
	Sets all values to a given constant.
BlockMatrix	addRegularisation (double eps)
	Sets everyting to zero.
BlockMatrix	transpose () const
	Returns the transpose of the object.
BooleanType	isSquare () const
	Tests if object is a block-square matrix.
BooleanType	isSquare (uint rowIdx, uint colIdx) const
	Tests if a specified sub-matrix is a square matrix.
BlockMatrix	getAbsolute () const
	Returns the a block matrix whose components are the absolute values of the components of this object.
BlockMatrix	getPositive () const
	Returns the a block matrix whose components are equal to the components of this object, if they are positive or zero, but zero otherwise.
BlockMatrix	getNegative () const
	Returns the a block matrix whose components are equal to the components of this object, if they are negative or zero, but zero otherwise.
returnValue	print () const
	Prints object to standard ouput stream.
Protected Attributes
uint	nRows
	Number of rows.
uint	nCols
	Number of columns.
Matrix **	elements
SubBlockMatrixType **	types

---

Detailed Description

The class BlockMatrix is a very rudimentary block sparse matrix class. It is only intended to provide a convenient way to deal with linear algebra objects and to provide a wrapper for more efficient implementations. It should not be used for efficiency-critical operations.

Author:

Boris Houska, Hans Joachim Ferreau,

---

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO BlockMatrix::BlockMatrix

(

)

References elements, nCols, nRows, and types.

BlockMatrix::BlockMatrix	(	uint	_nRows,
		uint	_nCols
	)

Parameters:

_nRows	Number of block rows.
_nCols	Number of block columns.

References elements, nCols, nRows, SBMT_ZERO, types, and uint.

BlockMatrix::BlockMatrix

(

const Matrix &

value

)

References elements, nCols, nRows, setDense(), and types.

BlockMatrix::BlockMatrix

(

const BlockMatrix &

rhs

)

Parameters:

rhs	Right-hand side object.

References elements, nCols, nRows, types, and uint.

BlockMatrix::~BlockMatrix

(

)

[virtual]

References elements, nRows, types, and uint.

---

Member Function Documentation

returnValue BlockMatrix::addDense	(	uint	rowIdx,
		uint	colIdx,
		const Matrix &	value
	)

Returns:

SUCCESSFUL_RETURN

Parameters:

rowIdx	Row index of the component.
colIdx	Column index of the component.

References ASSERT, elements, getNumCols(), getNumRows(), SBMT_DENSE, SBMT_ONE, setDense(), SUCCESSFUL_RETURN, and types.

Referenced by SCPevaluation::evaluateLagrangeGradient(), BoundaryConstraint::evaluateSensitivities(), LSQTerm::evaluateSensitivities(), PointConstraint::evaluateSensitivities(), PathConstraint::evaluateSensitivities(), CoupledPathConstraint::evaluateSensitivities(), AlgebraicConsistencyConstraint::evaluateSensitivities(), ShootingMethod::evaluateSensitivities(), LSQTerm::evaluateSensitivitiesGN(), and LSQEndTerm::evaluateSensitivitiesGN().

returnValue BlockMatrix::addRegularisation	(	uint	rowIdx,
		uint	colIdx,
		double	eps
	)		[inline]

Returns:

SUCCESSFUL_RETURN

References ASSERT, elements, getNumCols(), getNumRows(), SBMT_ZERO, VectorspaceElement::setAll(), SUCCESSFUL_RETURN, and types.

Referenced by addRegularisation().

BlockMatrix BlockMatrix::addRegularisation

(

double

eps

)

[inline]

Returns:

SUCCESSFUL_RETURN

References addRegularisation(), getNumCols(), getNumRows(), and uint.

BlockMatrix BlockMatrix::getAbsolute

(

)

const

References elements, getNumRows(), nCols, nRows, SBMT_DENSE, SBMT_ONE, setDense(), setIdentity(), types, and uint.

Referenced by SCPmeritFunction::evaluate(), and SCPevaluation::getKKTtolerance().

BlockMatrix BlockMatrix::getNegative

(

)

const

References elements, nCols, nRows, SBMT_DENSE, setDense(), types, and uint.

Referenced by SCPmeritFunction::evaluate(), and SCPevaluation::getKKTtolerance().

uint BlockMatrix::getNumCols

(

)

const [inline]

Returns:

Number of columns.

References nCols.

Referenced by addDense(), addRegularisation(), getNumCols(), getNumRows(), getSubBlock(), isEmpty(), isSquare(), operator*(), operator*=(), operator+(), operator+=(), operator-(), operator^(), print(), setDense(), setIdentity(), setZero(), and transpose().

uint BlockMatrix::getNumCols	(	uint	rowIdx,
		uint	colIdx
	)		const [inline]

Returns:

Number of columns.

References ASSERT, elements, getNumCols(), Matrix::getNumCols(), and getNumRows().

uint BlockMatrix::getNumRows

(

)

const [inline]

Returns:

Number of rows.

References nRows.

Referenced by addDense(), addRegularisation(), CondensingBasedCPsolver::condense(), BoundaryConstraint::evaluateSensitivities(), PointConstraint::evaluateSensitivities(), CoupledPathConstraint::evaluateSensitivities(), PathConstraint::evaluateSensitivities(), LSQTerm::evaluateSensitivities(), AlgebraicConsistencyConstraint::evaluateSensitivities(), LSQTerm::evaluateSensitivitiesGN(), LSQEndTerm::evaluateSensitivitiesGN(), CondensingBasedCPsolver::expand(), getAbsolute(), SCPmethod::getAnySensitivities(), getNumCols(), getNumRows(), getPositive(), getSubBlock(), isEmpty(), isSquare(), operator*(), operator*=(), operator+(), operator+=(), operator-(), operator^(), print(), setDense(), setIdentity(), setZero(), and transpose().

uint BlockMatrix::getNumRows	(	uint	rowIdx,
		uint	colIdx
	)		const [inline]

Returns:

Number of rows.

References ASSERT, elements, getNumCols(), getNumRows(), and Matrix::getNumRows().

BlockMatrix BlockMatrix::getPositive

(

)

const

References elements, getNumRows(), nCols, nRows, SBMT_DENSE, SBMT_ONE, setDense(), setIdentity(), types, and uint.

Referenced by SCPmeritFunction::evaluate(), and SCPevaluation::getKKTtolerance().

BEGIN_NAMESPACE_ACADO returnValue BlockMatrix::getSubBlock	(	uint	rowIdx,
		uint	colIdx,
		Matrix &	value
	)		const [inline]

Returns:

SUCCESSFUL_RETURN

Parameters:

rowIdx	Row index of the component.
colIdx	Column index of the component.

References ASSERT, elements, getNumCols(), getNumRows(), and SUCCESSFUL_RETURN.

Referenced by OCPiterate::applyStep(), CondensingBasedCPsolver::computeCondensingOperator(), CondensingBasedCPsolver::condense(), SCPevaluation::evaluateLagrangeGradient(), BoundaryConstraint::evaluateSensitivities(), PointConstraint::evaluateSensitivities(), CoupledPathConstraint::evaluateSensitivities(), PathConstraint::evaluateSensitivities(), MayerTerm::evaluateSensitivities(), LSQTerm::evaluateSensitivities(), AlgebraicConsistencyConstraint::evaluateSensitivities(), ShootingMethod::evaluateSensitivities(), Constraint::evaluateSensitivities(), LSQTerm::evaluateSensitivitiesGN(), LSQEndTerm::evaluateSensitivitiesGN(), ShootingMethod::evaluateSensitivitiesLifted(), CondensingBasedCPsolver::expand(), CondensingBasedCPsolver::generateBoundVectors(), CondensingBasedCPsolver::generateConstraintBlockLine(), CondensingBasedCPsolver::generateConstraintVectors(), CondensingBasedCPsolver::generateHessianBlockLine(), CondensingBasedCPsolver::generateObjectiveGradient(), CondensingBasedCPsolver::generateStateBoundBlockLine(), CondensingBasedCPsolver::generateStateBoundVectors(), SCPmethod::getAnySensitivities(), IntegrationAlgorithm::getBackwardSensitivities(), Constraint::getBackwardSensitivities(), Constraint::getConstraintResiduum(), IntegrationAlgorithm::getForwardSensitivities(), Constraint::getForwardSensitivities(), BFGSupdate::getSubBlockLine(), and BFGSupdate::setSubBlockLine().

returnValue BlockMatrix::getSubBlock	(	uint	rowIdx,
		uint	colIdx,
		Matrix &	value,
		uint	nR,
		uint	nC
	)		const

Returns:

SUCCESSFUL_RETURN

Parameters:

rowIdx	Row index of the component.
colIdx	Column index of the component.

References ASSERT, elements, getNumCols(), getNumRows(), Matrix::init(), SBMT_ZERO, VectorspaceElement::setZero(), SUCCESSFUL_RETURN, and types.

returnValue BlockMatrix::init	(	uint	_nRows,
		uint	_nCols
	)

References elements, nCols, nRows, SBMT_ZERO, SUCCESSFUL_RETURN, types, and uint.

Referenced by BoundaryConstraint::evaluate(), PointConstraint::evaluate(), CoupledPathConstraint::evaluate(), PathConstraint::evaluate(), AlgebraicConsistencyConstraint::evaluate(), BoundaryConstraint::evaluateSensitivities(), PointConstraint::evaluateSensitivities(), CoupledPathConstraint::evaluateSensitivities(), PathConstraint::evaluateSensitivities(), MayerTerm::evaluateSensitivities(), LSQTerm::evaluateSensitivities(), AlgebraicConsistencyConstraint::evaluateSensitivities(), ShootingMethod::evaluateSensitivities(), LSQTerm::evaluateSensitivitiesGN(), LSQEndTerm::evaluateSensitivitiesGN(), ShootingMethod::evaluateSensitivitiesLifted(), CondensingBasedCPsolver::expand(), SCPmethod::getAnySensitivities(), Constraint::getBackwardSensitivities(), Constraint::getBoundResiduum(), Constraint::getConstraintResiduum(), Constraint::getForwardSensitivities(), DynamicDiscretization::getResiduum(), CondensingBasedCPsolver::initializeCondensingOperator(), and SCPmethod::setup().

BooleanType BlockMatrix::isEmpty

(

)

const [inline]

References BT_FALSE, BT_TRUE, getNumCols(), and getNumRows().

Referenced by ShootingMethod::evaluateSensitivities(), ShootingMethod::evaluateSensitivitiesLifted(), IntegrationAlgorithm::getBackwardSensitivities(), IntegrationAlgorithm::getForwardSensitivities(), and BandedCP::isLP().

BooleanType BlockMatrix::isSquare

(

)

const [inline]

Returns:

BT_TRUE iff block matrix object is square.

References BT_FALSE, BT_TRUE, getNumCols(), and getNumRows().

BooleanType BlockMatrix::isSquare	(	uint	rowIdx,
		uint	colIdx
	)		const [inline]

Returns:

BT_TRUE iff submatrix object is square.

References ASSERT, elements, getNumCols(), getNumRows(), and Matrix::isSquare().

BlockMatrix BlockMatrix::operator*

(

const BlockMatrix &

arg

)

const

Returns:

Temporary object containing result of multiplication.

Parameters:

arg	Block Matrix Factor.

References ASSERT, elements, getNumCols(), getNumRows(), SBMT_DENSE, SBMT_ONE, SBMT_ZERO, types, and uint.

BlockMatrix BlockMatrix::operator*=

(

double

scalar

)

Returns:

Reference to object after subtraction. Multiplies each component of the object with a given scalar.

Reference to object after multiplication.

Parameters:

scalar

Scalar factor.

References elements, getNumCols(), getNumRows(), SBMT_DENSE, SBMT_ZERO, types, and uint.

BlockMatrix BlockMatrix::operator+

(

const BlockMatrix &

arg

)

const

Returns:

Temporary object containing the sum of the block matrices.

Parameters:

arg	Second summand.

References ASSERT, elements, getNumCols(), getNumRows(), SBMT_DENSE, SBMT_ZERO, types, and uint.

BlockMatrix & BlockMatrix::operator+=

(

const BlockMatrix &

arg

)

Returns:

Reference to object after addition.

Parameters:

arg	Second summand.

References ASSERT, elements, getNumCols(), getNumRows(), SBMT_DENSE, SBMT_ZERO, types, and uint.

BlockMatrix BlockMatrix::operator-

(

const BlockMatrix &

arg

)

const

Returns:

Temporary object containing the difference of the matrices.

Parameters:

arg	Subtrahend.

References ASSERT, elements, getNumCols(), Matrix::getNumCols(), getNumRows(), Matrix::getNumRows(), SBMT_DENSE, SBMT_ZERO, VectorspaceElement::setZero(), types, and uint.

BlockMatrix & BlockMatrix::operator=

(

const BlockMatrix &

rhs

)

Parameters:

rhs	Right-hand side object.

References elements, nCols, nRows, types, and uint.

BlockMatrix BlockMatrix::operator^

(

const BlockMatrix &

arg

)

const

Returns:

Temporary object containing result of multiplication.

Parameters:

arg	Block Matrix Factor.

References ASSERT, elements, getNumCols(), getNumRows(), SBMT_DENSE, SBMT_ONE, SBMT_ZERO, Matrix::transpose(), types, and uint.

returnValue BlockMatrix::print

(

)

const

Returns:

SUCCESSFUL_RETURN

References acadoPrintf(), elements, getNumCols(), getNumRows(), VectorspaceElement::print(), SBMT_DENSE, SBMT_ONE, SBMT_ZERO, SUCCESSFUL_RETURN, types, and uint.

returnValue BlockMatrix::setDense	(	uint	rowIdx,
		uint	colIdx,
		const Matrix &	value
	)

Returns:

SUCCESSFUL_RETURN

Parameters:

rowIdx	Row index of the component.
colIdx	Column index of the component.

References ASSERT, elements, getNumCols(), getNumRows(), SBMT_DENSE, SUCCESSFUL_RETURN, and types.

Referenced by addDense(), BlockMatrix(), CondensingBasedCPsolver::computeCondensingOperator(), PointConstraint::computeForwardSensitivityBlock(), AlgebraicConsistencyConstraint::computeForwardSensitivityBlock(), CondensingBasedCPsolver::condense(), BoundaryConstraint::evaluate(), PointConstraint::evaluate(), CoupledPathConstraint::evaluate(), PathConstraint::evaluate(), AlgebraicConsistencyConstraint::evaluate(), SCPevaluation::evaluateLagrangeGradient(), BoundaryConstraint::evaluateSensitivities(), PointConstraint::evaluateSensitivities(), CoupledPathConstraint::evaluateSensitivities(), PathConstraint::evaluateSensitivities(), MayerTerm::evaluateSensitivities(), LSQTerm::evaluateSensitivities(), AlgebraicConsistencyConstraint::evaluateSensitivities(), ShootingMethod::evaluateSensitivities(), LSQTerm::evaluateSensitivitiesGN(), LSQEndTerm::evaluateSensitivitiesGN(), ShootingMethod::evaluateSensitivitiesLifted(), CondensingBasedCPsolver::expand(), getAbsolute(), SCPmethod::getAnySensitivities(), Constraint::getBackwardSensitivities(), Constraint::getBoundResiduum(), Constraint::getConstraintResiduum(), Constraint::getForwardSensitivities(), getNegative(), getPositive(), DynamicDiscretization::getResiduum(), BFGSupdate::getSubBlockLine(), and BFGSupdate::setSubBlockLine().

returnValue BlockMatrix::setIdentity	(	uint	rowIdx,
		uint	colIdx,
		uint	dim
	)		[inline]

Returns:

SUCCESSFUL_RETURN

Parameters:

rowIdx	row index of the sub block
colIdx	column index of the sub block
dim	dimension of the sub block

References ASSERT, elements, getNumCols(), getNumRows(), Matrix::init(), SBMT_ONE, Matrix::setIdentity(), and types.

Referenced by getAbsolute(), getPositive(), ConstantHessian::initHessian(), ExactHessian::initHessian(), CondensingBasedCPsolver::initializeCondensingOperator(), DynamicDiscretization::setUnitBackwardSeed(), Objective::setUnitBackwardSeed(), Constraint::setUnitBackwardSeed(), ConstraintElement::setUnitForwardSeed(), and DynamicDiscretization::setUnitForwardSeed().

returnValue BlockMatrix::setZero	(	uint	rowIdx,
		uint	colIdx
	)		[inline]

Returns:

SUCCESSFUL_RETURN

References ASSERT, elements, getNumCols(), getNumRows(), SBMT_ZERO, VectorspaceElement::setZero(), and types.

Referenced by BFGSupdate::applyBlockDiagonalUpdate(), SCPevaluation::evaluate(), SCPevaluation::evaluateSensitivities(), Objective::evaluateSensitivitiesGN(), and CondensingBasedCPsolver::initializeCondensingOperator().

returnValue BlockMatrix::setZero

(

)

[inline]

Returns:

SUCCESSFUL_RETURN

References getNumCols(), getNumRows(), SUCCESSFUL_RETURN, and uint.

BlockMatrix BlockMatrix::transpose

(

)

const

References elements, getNumCols(), getNumRows(), Matrix::transpose(), types, and uint.

Referenced by BFGSupdate::applyUpdate(), and SCPevaluation::evaluateLagrangeGradient().

---

Member Data Documentation

Matrix** BlockMatrix::elements [protected]

Referenced by addDense(), addRegularisation(), BlockMatrix(), getAbsolute(), getNegative(), getNumCols(), getNumRows(), getPositive(), getSubBlock(), init(), isSquare(), operator*(), operator*=(), operator+(), operator+=(), operator-(), operator=(), operator^(), print(), setDense(), setIdentity(), setZero(), transpose(), and ~BlockMatrix().

uint BlockMatrix::nCols [protected]

Referenced by BlockMatrix(), getAbsolute(), getNegative(), getNumCols(), getPositive(), init(), and operator=().

uint BlockMatrix::nRows [protected]

Referenced by BlockMatrix(), getAbsolute(), getNegative(), getNumRows(), getPositive(), init(), operator=(), and ~BlockMatrix().

SubBlockMatrixType** BlockMatrix::types [protected]

Referenced by addDense(), addRegularisation(), BlockMatrix(), getAbsolute(), getNegative(), getPositive(), getSubBlock(), init(), operator*(), operator*=(), operator+(), operator+=(), operator-(), operator=(), operator^(), print(), setDense(), setIdentity(), setZero(), transpose(), and ~BlockMatrix().

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

• block_matrix.hpp
• block_matrix.ipp
• block_matrix.cpp