IPmethod Class Reference

Implements different interior-point methods for solving NLPs. More...

#include <ip_method.hpp>

Inheritance diagram for IPmethod:

List of all members.

Public Member Functions
	IPmethod ()
	Default constructor.
	IPmethod (UserInteraction *_userInteraction)
	IPmethod (const NLP &nlp_)
	Default constructor.
	IPmethod (const IPmethod &rhs)
	Copy constructor (deep copy).
	~IPmethod ()
	Destructor.
IPmethod &	operator= (const IPmethod &rhs)
	Assignment operator (deep copy).
virtual returnValue	init (VariablesGrid *xd, VariablesGrid *xa, VariablesGrid *p, VariablesGrid *u, VariablesGrid *w)
	Initialization.
virtual returnValue	solve (int maxNumSteps)
	Starts execution.
virtual NLPsolver *	clone () const =0
virtual returnValue	solve (const Vector &x0_=emptyConstVector, const Vector &p_=emptyConstVector)
	Solves current real-time optimization problem.
virtual returnValue	step (const Vector &x0_=emptyConstVector, const Vector &p_=emptyConstVector)
	Executes a complete real-time step.
virtual returnValue	feedbackStep (const Vector &x0_, const Vector &p_=emptyConstVector)
	Executes a real-time feedback step.
virtual returnValue	performCurrentStep ()
	Executes a real-time preparation step.
virtual returnValue	prepareNextStep ()
	Executes a real-time preparation step.
virtual returnValue	shiftVariables (double timeShift, Vector lastX=emptyVector, Vector lastXA=emptyVector, Vector lastP=emptyVector, Vector lastU=emptyVector, Vector lastW=emptyVector)
	Applies a shift of the SQP data (for moving horizons)
virtual returnValue	getVarianceCovariance (Matrix &var)=0
	Returns a variance-covariance estimate if possible or an error message otherwise.
virtual returnValue	setReference (const VariablesGrid &ref)
	Sets the reference to be used in the LSQ tracking terms.
int	getNumberOfSteps () const
returnValue	resetNumberOfSteps ()
virtual returnValue	getDifferentialStates (VariablesGrid &xd_) const
virtual returnValue	getAlgebraicStates (VariablesGrid &xa_) const
virtual returnValue	getParameters (VariablesGrid &p_) const
virtual returnValue	getParameters (Vector &p_) const
virtual returnValue	getControls (VariablesGrid &u_) const
virtual returnValue	getFirstControl (Vector &u0_) const
virtual returnValue	getDisturbances (VariablesGrid &w_) const
virtual double	getObjectiveValue () const
virtual returnValue	getSensitivitiesX (BlockMatrix &_sens) const
virtual returnValue	getSensitivitiesXA (BlockMatrix &_sens) const
virtual returnValue	getSensitivitiesP (BlockMatrix &_sens) const
virtual returnValue	getSensitivitiesU (BlockMatrix &_sens) const
virtual returnValue	getSensitivitiesW (BlockMatrix &_sens) const
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	setupOptions ()
virtual returnValue	setupLogging ()
Protected Attributes
int	numberOfSteps
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.

---

Detailed Description

The class IPmethod implements different interior-point methods for solving nonlinear programming problems.

Author:

Boris Houska, Hans Joachim Ferreau

---

Constructor & Destructor Documentation

IPmethod::IPmethod

(

)

IPmethod::IPmethod

(

UserInteraction *

_userInteraction

)

IPmethod::IPmethod

(

const NLP &

nlp_

)

IPmethod::IPmethod

(

const IPmethod &

rhs

)

IPmethod::~IPmethod

(

)

---

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().

virtual NLPsolver* NLPsolver::clone

(

)

const [pure virtual, inherited]

Implemented in SCPmethod.

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

returnValue NLPsolver::feedbackStep	(	const Vector &	x0_,
		const Vector &	p_ = emptyConstVector
	)		[virtual, inherited]

Reimplemented in SCPmethod.

References ACADOERROR, and RET_SOLVER_NOT_SUTIABLE_FOR_REAL_TIME_MODE.

Referenced by RealTimeAlgorithm::performFeedbackStep().

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.

returnValue NLPsolver::getAlgebraicStates

(

VariablesGrid &

xa_

)

const [virtual, inherited]

Reimplemented in SCPmethod.

References ACADOERROR, and RET_NOT_IMPLEMENTED_YET.

Referenced by OptimizationAlgorithmBase::getAlgebraicStates().

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 NLPsolver::getControls

(

VariablesGrid &

u_

)

const [virtual, inherited]

Reimplemented in SCPmethod.

References ACADOERROR, and RET_NOT_IMPLEMENTED_YET.

Referenced by OptimizationAlgorithmBase::getControls().

returnValue NLPsolver::getDifferentialStates

(

VariablesGrid &

xd_

)

const [virtual, inherited]

Reimplemented in SCPmethod.

References ACADOERROR, and RET_NOT_IMPLEMENTED_YET.

Referenced by OptimizationAlgorithmBase::getDifferentialStates().

returnValue NLPsolver::getDisturbances

(

VariablesGrid &

w_

)

const [virtual, inherited]

Reimplemented in SCPmethod.

References ACADOERROR, and RET_NOT_IMPLEMENTED_YET.

Referenced by OptimizationAlgorithmBase::getDisturbances().

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 NLPsolver::getFirstControl

(

Vector &

u0_

)

const [virtual, inherited]

Reimplemented in SCPmethod.

References ACADOERROR, and RET_NOT_IMPLEMENTED_YET.

Referenced by RealTimeAlgorithm::performFeedbackStep().

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.

BEGIN_NAMESPACE_ACADO int NLPsolver::getNumberOfSteps

(

)

const [inline, inherited]

References NLPsolver::numberOfSteps.

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

double NLPsolver::getObjectiveValue

(

)

const [virtual, inherited]

Reimplemented in SCPmethod.

References ACADOERROR, and RET_NOT_IMPLEMENTED_YET.

Referenced by OptimizationAlgorithmBase::getObjectiveValue().

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().

returnValue NLPsolver::getParameters

(

VariablesGrid &

p_

)

const [virtual, inherited]

Reimplemented in SCPmethod.

References ACADOERROR, and RET_NOT_IMPLEMENTED_YET.

Referenced by OptimizationAlgorithmBase::getParameters().

returnValue NLPsolver::getParameters

(

Vector &

p_

)

const [virtual, inherited]

Reimplemented in SCPmethod.

References ACADOERROR, and RET_NOT_IMPLEMENTED_YET.

returnValue NLPsolver::getSensitivitiesP

(

BlockMatrix &

_sens

)

const [virtual, inherited]

Reimplemented in SCPmethod.

References ACADOERROR, and RET_NOT_IMPLEMENTED_YET.

Referenced by OptimizationAlgorithmBase::getSensitivitiesP().

returnValue NLPsolver::getSensitivitiesU

(

BlockMatrix &

_sens

)

const [virtual, inherited]

Reimplemented in SCPmethod.

References ACADOERROR, and RET_NOT_IMPLEMENTED_YET.

Referenced by OptimizationAlgorithmBase::getSensitivitiesU().

returnValue NLPsolver::getSensitivitiesW

(

BlockMatrix &

_sens

)

const [virtual, inherited]

Reimplemented in SCPmethod.

References ACADOERROR, and RET_NOT_IMPLEMENTED_YET.

Referenced by OptimizationAlgorithmBase::getSensitivitiesW().

returnValue NLPsolver::getSensitivitiesX

(

BlockMatrix &

_sens

)

const [virtual, inherited]

Reimplemented in SCPmethod.

References ACADOERROR, and RET_NOT_IMPLEMENTED_YET.

Referenced by OptimizationAlgorithmBase::getSensitivitiesX().

returnValue NLPsolver::getSensitivitiesXA

(

BlockMatrix &

_sens

)

const [virtual, inherited]

Reimplemented in SCPmethod.

References ACADOERROR, and RET_NOT_IMPLEMENTED_YET.

Referenced by OptimizationAlgorithmBase::getSensitivitiesXA().

virtual returnValue NLPsolver::getVarianceCovariance

(

Matrix &

var

)

[pure virtual, inherited]

Returns:

SUCCESSFUL_RETURN RET_MEMBER_NOT_INITIALISED

Implemented in SCPmethod.

Referenced by ParameterEstimationAlgorithm::getVarianceCovariance().

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.

virtual returnValue IPmethod::init	(	VariablesGrid *	xd,
		VariablesGrid *	xa,
		VariablesGrid *	p,
		VariablesGrid *	u,
		VariablesGrid *	w
	)		[virtual]

Implements NLPsolver.

IPmethod& IPmethod::operator=

(

const IPmethod &

rhs

)

returnValue NLPsolver::performCurrentStep

(

)

[virtual, inherited]

Reimplemented in SCPmethod.

References ACADOERROR, and RET_SOLVER_NOT_SUTIABLE_FOR_REAL_TIME_MODE.

Referenced by RealTimeAlgorithm::performPreparationStep().

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 NLPsolver::prepareNextStep

(

)

[virtual, inherited]

Reimplemented in SCPmethod.

References ACADOERROR, and RET_SOLVER_NOT_SUTIABLE_FOR_REAL_TIME_MODE.

Referenced by RealTimeAlgorithm::performPreparationStep().

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 NLPsolver::resetNumberOfSteps

(

)

[inline, inherited]

References NLPsolver::numberOfSteps, and SUCCESSFUL_RETURN.

Referenced by RealTimeAlgorithm::feedbackStep(), and RealTimeAlgorithm::solve().

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 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 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 NLPsolver::setReference

(

const VariablesGrid &

ref

)

[virtual, inherited]

If the objective
has also non-LSQ terms a error message will be returned (cf. objective.hpp).
This routine has been designed for real-time applications where the reference
is explicitly time-dependent.

Returns:

SUCCESSFUL_RETURN

Reimplemented in SCPmethod.

References ACADOERROR, and RET_SOLVER_NOT_SUTIABLE_FOR_REAL_TIME_MODE.

Referenced by RealTimeAlgorithm::setReference().

returnValue NLPsolver::setupLogging

(

)

[protected, virtual, inherited]

Reimplemented in SCPmethod.

References SUCCESSFUL_RETURN.

Referenced by NLPsolver::NLPsolver().

returnValue NLPsolver::setupOptions

(

)

[protected, virtual, inherited]

References AlgorithmicBase::addOption(), CONSTRAINT_SENSITIVITY, defaultConstraintSensitivity, defaultDiscretizationType, defaultDynamicHessianApproximation, defaultDynamicSensitivity, defaultGlobalizationStrategy, defaultHessianApproximation, defaultHessianProjectionFactor, defaultHotstartQP, defaultInfeasibleQPhandling, defaultInfeasibleQPrelaxation, defaultKKTtolerance, defaultKKTtoleranceSafeguard, defaultLevenbergMarguardt, defaultLinesearchTolerance, defaultMaxNumIterations, defaultMaxNumQPiterations, defaultMinLinesearchParameter, defaultObjectiveSensitivity, defaultPrintCopyright, defaultPrintlevel, defaultprintSCPmethodProfile, defaultSparseQPsolution, defaultTerminateAtConvergence, defaultUseRealtimeIterations, DISCRETIZATION_TYPE, DYNAMIC_HESSIAN_APPROXIMATION, DYNAMIC_SENSITIVITY, GLOBALIZATION_STRATEGY, HESSIAN_APPROXIMATION, HESSIAN_PROJECTION_FACTOR, HOTSTART_QP, INFEASIBLE_QP_HANDLING, INFEASIBLE_QP_RELAXATION, KKT_TOLERANCE, KKT_TOLERANCE_SAFEGUARD, LEVENBERG_MARQUARDT, LINESEARCH_TOLERANCE, MAX_NUM_ITERATIONS, MAX_NUM_QP_ITERATIONS, MIN_LINESEARCH_PARAMETER, OBJECTIVE_SENSITIVITY, PRINT_COPYRIGHT, PRINT_SCP_METHOD_PROFILE, PRINTLEVEL, SPARSE_QP_SOLUTION, SUCCESSFUL_RETURN, TERMINATE_AT_CONVERGENCE, and USE_REALTIME_ITERATIONS.

Referenced by NLPsolver::NLPsolver().

returnValue NLPsolver::shiftVariables	(	double	timeShift,
		Vector	lastX = emptyVector,
		Vector	lastXA = emptyVector,
		Vector	lastP = emptyVector,
		Vector	lastU = emptyVector,
		Vector	lastW = emptyVector
	)		[virtual, inherited]

Reimplemented in SCPmethod.

References ACADOERROR, and RET_SOLVER_NOT_SUTIABLE_FOR_REAL_TIME_MODE.

Referenced by RealTimeAlgorithm::shift().

virtual returnValue IPmethod::solve

(

int

maxNumSteps

)

[virtual]

returnValue NLPsolver::solve	(	const Vector &	x0_ = emptyConstVector,
		const Vector &	p_ = emptyConstVector
	)		[virtual, inherited]

Reimplemented in SCPmethod.

References ACADOERROR, and RET_SOLVER_NOT_SUTIABLE_FOR_REAL_TIME_MODE.

Referenced by OptimizationAlgorithm::solve(), and MHEalgorithm::solve().

returnValue NLPsolver::step	(	const Vector &	x0_ = emptyConstVector,
		const Vector &	p_ = emptyConstVector
	)		[virtual, inherited]

Reimplemented in SCPmethod.

References ACADOERROR, and RET_SOLVER_NOT_SUTIABLE_FOR_REAL_TIME_MODE.

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Member Data Documentation

int NLPsolver::numberOfSteps [protected, inherited]

Referenced by SCPmethod::computeHessianMatrix(), SCPmethod::feedbackStep(), NLPsolver::getNumberOfSteps(), SCPmethod::initializeHessianProjection(), NLPsolver::NLPsolver(), NLPsolver::operator=(), SCPmethod::performCurrentStep(), SCPmethod::printIteration(), NLPsolver::resetNumberOfSteps(), SCPmethod::solve(), and SCPmethod::step().

int AlgorithmicBase::outputLoggingIdx [protected, inherited]

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

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(), ExportGaussNewtonCN2::setupQPInterface(), ExportGaussNewtonForces::setupQPInterface(), ExportGaussNewtonCondensed::setupQPInterface(), CondensingBasedCPsolver::solveQP(), and AlgorithmicBase::~AlgorithmicBase().

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

• ip_method.hpp