BandedCP Class Reference

Data class for storing conic programs arising from optimal control. More...

#include <banded_cp.hpp>

List of all members.

Public Member Functions
	BandedCP ()
	Default constructor.
	BandedCP (const BandedCP &rhs)
	Copy constructor (deep copy).
virtual	~BandedCP ()
	Destructor.
BandedCP &	operator= (const BandedCP &rhs)
	Assignment operator (deep copy).
BooleanType	isLP () const
	Returns whether or not the conic program is an LP.
BooleanType	isQP () const
	Returns whether or not the conic program is an LP.
BooleanType	isSDP () const
	Returns whether or not the conic program is an SDP.
Public Attributes
int	nS
	Number of SDP constraints.
BlockMatrix	hessian
	the Hessian matrix
BlockMatrix	objectiveGradient
	the gradient of the objective
BlockMatrix	lowerBoundResiduum
	lower residuum of the bounds
BlockMatrix	upperBoundResiduum
	upper residuum of the bounds
BlockMatrix	dynGradient
	the sensitivities of the ODE/DAE
BlockMatrix	dynResiduum
	residuum of the ODE/DAE
BlockMatrix	constraintGradient
	the gradient of the constraints
BlockMatrix	lowerConstraintResiduum
	lower residuum of the constraints
BlockMatrix	upperConstraintResiduum
	upper residuum of the constraints
BlockMatrix **	B
	SDP constraint tensor.
BlockMatrix *	lbB
	SDP lower bounds.
BlockMatrix *	ubB
	SDP upper bounds.
BlockMatrix	deltaX
	Primal solution of the banded QP.
BlockMatrix	lambdaBound
	Dual solution w.r.t.
BlockMatrix	lambdaDynamic
	Dual solution w.r.t.
BlockMatrix	lambdaConstraint
	Dual solution w.r.t.
BlockMatrix **	ylbB
	Dual solution, SDB lower bound.
BlockMatrix **	yubB
	Dual solution, SDP upper bound.
Protected Member Functions
void	copy (const BandedCP &rhs)
void	clean ()

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Detailed Description

The class BandedCP (banded conic programs) is a data class to store conic programs that arise in the context of optimal control.

Author:

Boris Houska, Hans Joachim Ferreau

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Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO BandedCP::BandedCP

(

)

References B, lbB, nS, ubB, ylbB, and yubB.

BandedCP::BandedCP

(

const BandedCP &

rhs

)

References copy().

BandedCP::~BandedCP

(

)

[virtual]

References clean().

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Member Function Documentation

void BandedCP::clean

(

)

[protected]

Referenced by operator=(), and ~BandedCP().

void BandedCP::copy

(

const BandedCP &

rhs

)

[protected]

References constraintGradient, deltaX, dynGradient, dynResiduum, hessian, lambdaBound, lambdaConstraint, lambdaDynamic, lowerBoundResiduum, lowerConstraintResiduum, objectiveGradient, upperBoundResiduum, and upperConstraintResiduum.

Referenced by BandedCP(), and operator=().

BEGIN_NAMESPACE_ACADO BooleanType BandedCP::isLP

(

)

const [inline]

References BT_FALSE, BT_TRUE, hessian, BlockMatrix::isEmpty(), and isQP().

BooleanType BandedCP::isQP

(

)

const [inline]

References BT_FALSE, BT_TRUE, isSDP(), and nS.

Referenced by isLP().

BooleanType BandedCP::isSDP

(

)

const [inline]

References BT_TRUE.

Referenced by isQP().

BandedCP & BandedCP::operator=

(

const BandedCP &

rhs

)

References clean(), and copy().

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Member Data Documentation

BlockMatrix** BandedCP::B

Referenced by BandedCP().

BlockMatrix BandedCP::constraintGradient

Referenced by CondensingBasedCPsolver::condense(), copy(), SCPevaluation::evaluateLagrangeGradient(), SCPevaluation::evaluateSensitivities(), and CondensingBasedCPsolver::expand().

BlockMatrix BandedCP::deltaX

Referenced by SCPstep::applyStep(), SCPmethod::computeHessianMatrix(), copy(), SCPmeritFunction::evaluate(), CondensingBasedCPsolver::expand(), and SCPevaluation::getKKTtolerance().

BlockMatrix BandedCP::dynGradient

Referenced by CondensingBasedCPsolver::computeCondensingOperator(), copy(), SCPevaluation::evaluateLagrangeGradient(), SCPevaluation::evaluateSensitivities(), CondensingBasedCPsolver::expand(), and SCPmethod::getAnySensitivities().

BlockMatrix BandedCP::dynResiduum

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

BlockMatrix BandedCP::hessian

Referenced by SCPmethod::computeHessianMatrix(), CondensingBasedCPsolver::condense(), copy(), SCPevaluation::evaluateSensitivities(), CondensingBasedCPsolver::expand(), isLP(), and SCPmethod::setup().

BlockMatrix BandedCP::lambdaBound

bounds

Referenced by copy(), SCPmeritFunction::evaluate(), SCPevaluation::evaluateLagrangeGradient(), CondensingBasedCPsolver::expand(), and SCPevaluation::getKKTtolerance().

BlockMatrix BandedCP::lambdaConstraint

constraints

Referenced by copy(), SCPmeritFunction::evaluate(), SCPevaluation::evaluateLagrangeGradient(), SCPevaluation::evaluateSensitivities(), CondensingBasedCPsolver::expand(), SCPevaluation::getKKTtolerance(), and SCPmethod::setup().

BlockMatrix BandedCP::lambdaDynamic

constraints

Referenced by copy(), SCPmeritFunction::evaluate(), SCPevaluation::evaluateLagrangeGradient(), SCPevaluation::evaluateSensitivities(), CondensingBasedCPsolver::expand(), SCPevaluation::getKKTtolerance(), and SCPmethod::setup().

BlockMatrix* BandedCP::lbB

Referenced by BandedCP().

BlockMatrix BandedCP::lowerBoundResiduum

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

BlockMatrix BandedCP::lowerConstraintResiduum

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

int BandedCP::nS

Referenced by BandedCP(), and isQP().

BlockMatrix BandedCP::objectiveGradient

Referenced by CondensingBasedCPsolver::condense(), copy(), SCPevaluation::evaluateLagrangeGradient(), SCPevaluation::evaluateSensitivities(), CondensingBasedCPsolver::expand(), and SCPevaluation::getKKTtolerance().

BlockMatrix* BandedCP::ubB

Referenced by BandedCP().

BlockMatrix BandedCP::upperBoundResiduum

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

BlockMatrix BandedCP::upperConstraintResiduum

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

BlockMatrix** BandedCP::ylbB

Referenced by BandedCP().

BlockMatrix** BandedCP::yubB

Referenced by BandedCP().

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

• banded_cp.hpp
• banded_cp.ipp
• banded_cp.cpp