ACADO Toolkit
1.2.0beta
Toolkit for Automatic Control and Dynamic Optimization
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User-interface to formulate and solve optimal control problems with multiple objectives. More...
#include <multi_objective_algorithm.hpp>
Public Member Functions | |
MultiObjectiveAlgorithm () | |
Default constructor. | |
MultiObjectiveAlgorithm (const OCP &ocp_) | |
Default constructor. | |
MultiObjectiveAlgorithm (const MultiObjectiveAlgorithm &arg) | |
Copy constructor (deep copy). | |
virtual | ~MultiObjectiveAlgorithm () |
Destructor. | |
MultiObjectiveAlgorithm & | operator= (const MultiObjectiveAlgorithm &arg) |
Assignment operator (deep copy). | |
virtual returnValue | solve () |
Starts execution. | |
virtual returnValue | solveSingleObjective (const int &number) |
Starts the optimization of one objective specified by the the number. | |
returnValue | setParetoFrontDiscretization (const int &N_) |
Defines the descretization of the Pareto front (for the 2-dimensional case) . | |
returnValue | getParetoFront (VariablesGrid &paretoFront) const |
Returns the Pareto front . | |
returnValue | getParetoFrontWithFilter (VariablesGrid &paretoFront) const |
Returns the filtered Pareto front . | |
Matrix | getPayOffMatrix () const |
Returns the pay-off matrix. | |
Matrix | getNormalizedPayOffMatrix () const |
Returns the normalized pay-off matrix. | |
Vector | getUtopiaVector () const |
Returns the utopia vector. | |
Vector | getNadirVector () const |
Returns the nadir vector. | |
Vector | getNormalizationVector () const |
Returns the normalisation vector = difference between nadir vector and utopia vector. | |
Matrix | getUtopiaPlaneVectors () const |
Returns the utopia plane vectors . | |
returnValue | printInfo () |
Prints general Info (statistics) . | |
Matrix | getWeights () const |
Returns the weights . | |
returnValue | getWeights (const char *fileName) const |
Prints the weights into a file (with pre-ordering) . | |
returnValue | getWeightsWithFilter (const char *fileName) const |
Prints the weights into a file (with pre-ordering) and after applying the Pareto filter. | |
returnValue | getAllDifferentialStates (const char *fileName) const |
returnValue | getAllAlgebraicStates (const char *fileName) const |
returnValue | getAllParameters (const char *fileName) const |
returnValue | getAllControls (const char *fileName) const |
returnValue | getAllDisturbances (const char *fileName) const |
virtual returnValue | init () |
Initializes the (internal) optimization algorithm part of the RealTimeAlgorithm. | |
returnValue | initializeDifferentialStates (const char *fileName, BooleanType autoinit=BT_FALSE) |
Initialization of the optimization variables. | |
returnValue | initializeDifferentialStates (const VariablesGrid &xd_init_, BooleanType autoinit=BT_FALSE) |
returnValue | initializeAlgebraicStates (const char *fileName, BooleanType autoinit=BT_FALSE) |
returnValue | initializeAlgebraicStates (const VariablesGrid &xa_init_, BooleanType autoinit=BT_FALSE) |
returnValue | initializeParameters (const char *fileName) |
returnValue | initializeParameters (const VariablesGrid &u_init_) |
returnValue | initializeControls (const char *fileName) |
returnValue | initializeControls (const VariablesGrid &p_init_) |
returnValue | initializeDisturbances (const char *fileName) |
returnValue | initializeDisturbances (const VariablesGrid &w_init_) |
returnValue | simulateStatesForInitialization () |
Use this call to overwrite all states by a single shooting initialization. | |
returnValue | getDifferentialStates (VariablesGrid &xd_) const |
returnValue | getDifferentialStates (const char *fileName) const |
returnValue | getAlgebraicStates (VariablesGrid &xa_) const |
returnValue | getAlgebraicStates (const char *fileName) const |
returnValue | getParameters (VariablesGrid &u_) const |
returnValue | getParameters (Vector &u_) const |
returnValue | getParameters (const char *fileName) const |
returnValue | getControls (VariablesGrid &p_) const |
returnValue | getControls (const char *fileName) const |
returnValue | getDisturbances (VariablesGrid &w_) const |
returnValue | getDisturbances (const char *fileName) const |
double | getObjectiveValue (const char *fileName) const |
double | getObjectiveValue () const |
returnValue | getSensitivitiesX (BlockMatrix &_sens) const |
returnValue | getSensitivitiesXA (BlockMatrix &_sens) const |
returnValue | getSensitivitiesP (BlockMatrix &_sens) const |
returnValue | getSensitivitiesU (BlockMatrix &_sens) const |
returnValue | getSensitivitiesW (BlockMatrix &_sens) const |
virtual uint | getNX () const |
Returns number of differential states. | |
virtual uint | getNXA () const |
Returns number of algebraic states. | |
virtual uint | getNP () const |
Returns number of parameters. | |
virtual uint | getNU () const |
Returns number of controls. | |
virtual uint | getNW () const |
Returns number of disturbances. | |
double | getStartTime () const |
double | getEndTime () const |
virtual int | operator<< (PlotWindow &_window) |
Adds a window to the plot collection. | |
virtual int | operator<< (LogRecord &_record) |
Adds a record to the log collection. | |
virtual int | addPlotWindow (PlotWindow &_window) |
Adds a window to the plot collection. | |
returnValue | addOptionsList () |
Adds an additional OptionsList to internal array. | |
returnValue | get (OptionsName name, int &value) const |
Returns value of an existing option item of integer type. | |
returnValue | get (OptionsName name, double &value) const |
Returns value of an existing option item of double type. | |
returnValue | get (uint idx, OptionsName name, int &value) const |
Returns value of an existing option item of integer type within the option list of given index. | |
returnValue | get (uint idx, OptionsName name, double &value) const |
Returns value of an existing option item of double type within the option list of given index. | |
returnValue | set (OptionsName name, int value) |
Sets value of an existing option item of integer type to a given value. | |
returnValue | set (OptionsName name, double value) |
Sets value of an existing option item of double type to a given value. | |
returnValue | set (uint idx, OptionsName name, int value) |
Sets value of an existing option item of integer type within the option list of given index to a given value. | |
returnValue | set (uint idx, OptionsName name, double value) |
Sets value of an existing option item of double type within the option list of given index to a given value. | |
returnValue | setOptions (const Options &arg) |
Assigns a given Options object to this object. | |
returnValue | setOptions (uint idx, const Options &arg) |
Assigns the option list with given index of a given Options object to option list with given index of this object. | |
Options | getOptions (uint idx) const |
Returns an Options object containing exactly the option list with given index. | |
uint | getNumOptionsLists () const |
Returns total number of option lists. | |
returnValue | printOptionsList () const |
Prints a list of all available options of all option lists. | |
returnValue | printOptionsList (uint idx) const |
Prints a list of all available options of option list with given index. | |
int | addLogRecord (LogRecord &record) |
Adds a record to the log collection. | |
returnValue | getLogRecord (uint idx, LogRecord &_record) const |
Returns the record with given index from the log collection. | |
returnValue | getLogRecord (LogRecord &_record) const |
Returns the record with certain index from the log collection. | |
returnValue | updateLogRecord (LogRecord &_record) const |
Updates all items with the record given as argument. | |
returnValue | getAll (LogName _name, MatrixVariablesGrid &values) const |
Gets all numerical values at all time instants of the item with given name. | |
returnValue | getFirst (LogName _name, Matrix &firstValue) const |
Gets numerical value at first time instant of the item with given name. | |
returnValue | getFirst (LogName _name, VariablesGrid &firstValue) const |
Gets numerical value at first time instant of the item with given name (converts internally used Matrix into VariablesGrid). | |
returnValue | getLast (LogName _name, Matrix &lastValue) const |
Gets numerical value at last time instant of the item with given name. | |
returnValue | getLast (LogName _name, VariablesGrid &lastValue) const |
Gets numerical value at last time instant of the item with given name (converts internally used Matrix into VariablesGrid). | |
uint | getNumLogRecords () const |
Returns number of records contained in the log collection. | |
returnValue | printLoggingInfo () const |
Prints information on all records and their items on screen. | |
returnValue | printNumDoubles () const |
returnValue | getPlotWindow (uint idx, PlotWindow &_window) const |
Returns the window with given index from the plot collection. | |
returnValue | getPlotWindow (PlotWindow &_window) const |
Returns the window with certain index from the plot collection. | |
virtual returnValue | plot (PlotFrequency _frequency=PLOT_IN_ANY_CASE) |
Plots all windows of the plot collection, each one into a new figure. | |
virtual returnValue | replot (PlotFrequency _frequency=PLOT_IN_ANY_CASE) |
Plots all windows of the plot collection, each one into the corresponding existing figure, if possible. | |
uint | getNumPlotWindows () const |
Returns number of windows contained in the plot collection. | |
Protected Member Functions | |
virtual returnValue | setupOptions () |
Sets-up default options. | |
virtual returnValue | initializeNlpSolver (const OCPiterate &_userInit) |
virtual returnValue | initializeObjective (Objective *F) |
returnValue | formulateOCP (double *idx, OCP *ocp_, Expression **arg) |
Reformulates the OCP problem for the multi-objective case. | |
returnValue | evaluateObjectives (VariablesGrid &xd_, VariablesGrid &xa_, VariablesGrid &p_, VariablesGrid &u_, VariablesGrid &w_, Expression **arg1) |
Evaluates the objectives. | |
returnValue | printAuxiliaryRoutine (const char *fileName, VariablesGrid *x_) const |
returnValue | init (UserInteraction *_userIteraction) |
Initializes everything. | |
virtual returnValue | setupLogging () |
Sets-up default logging information. | |
virtual returnValue | allocateNlpSolver (Objective *F, DynamicDiscretization *G, Constraint *H) |
returnValue | clear () |
BooleanType | isLinearQuadratic (Objective *F, DynamicDiscretization *G, Constraint *H) const |
virtual returnValue | extractOCPdata (Objective **objective, DifferentialEquation ***differentialEquation, Constraint **constraint, Grid &unionGrid) |
virtual returnValue | setupObjective (Objective *objective, DifferentialEquation **differentialEquation, Constraint *constraint, Grid unionGrid) |
virtual returnValue | setupDifferentialEquation (Objective *objective, DifferentialEquation **differentialEquation, Constraint *constraint, Grid unionGrid) |
virtual returnValue | setupDynamicDiscretization (UserInteraction *_userIteraction, Objective *objective, DifferentialEquation **differentialEquation, Constraint *constraint, Grid unionGrid, DynamicDiscretization **dynamicDiscretization) |
virtual returnValue | determineDimensions (Objective *const _objective, DifferentialEquation **const _differentialEquation, Constraint *const _constraint, uint &_nx, uint &_nxa, uint &_np, uint &_nu, uint &_nw) const |
virtual returnValue | initializeOCPiterate (Constraint *const _constraint, const Grid &_unionGrid, uint nx, uint nxa, uint np, uint nu, uint nw) |
virtual returnValue | getPlotDataFromMemberLoggings (PlotWindow &_window) const |
Copies all collected logging information required to plot a given window. | |
BlockStatus | getStatus () const |
Gets current status of user interface. | |
returnValue | setStatus (BlockStatus _status) |
Sets status of user interface. | |
returnValue | clearOptionsList () |
Clears all option lists from array. | |
BooleanType | haveOptionsChanged () const |
Determines whether options of at least one option list have been modified. | |
BooleanType | haveOptionsChanged (uint idx) const |
Determines whether options of option list with given index have been modified. | |
returnValue | declareOptionsUnchanged () |
Declares all options of all option lists to be unchanged. | |
returnValue | declareOptionsUnchanged (uint idx) |
Declares all options of option list with given index to be unchanged. | |
returnValue | addOption (OptionsName name, int value) |
Add an option item with a given integer default value to the all option lists. | |
returnValue | addOption (OptionsName name, double value) |
Add an option item with a given double default value to the all option lists. | |
returnValue | addOption (uint idx, OptionsName name, int value) |
Add an option item with a given integer default value to option list with given index. | |
returnValue | addOption (uint idx, OptionsName name, double value) |
Add an option item with a given double default value to option list with given index. | |
Protected Attributes | |
int | N |
int | m |
Matrix | vertices |
Matrix | result |
int | count |
VariablesGrid * | xResults |
VariablesGrid * | xaResults |
VariablesGrid * | pResults |
VariablesGrid * | uResults |
VariablesGrid * | wResults |
NLPsolver * | nlpSolver |
OCP * | ocp |
OCPiterate | iter |
OCPiterate | userInit |
BlockStatus | status |
Current status of the user interface, see documentation of BlockStatus for details. | |
OptionsList ** | optionsList |
Array consisting of OptionsLists. | |
uint | nOptionsList |
Total number of OptionsLists. | |
LogCollection | logCollection |
Log collection containing a singly-linked list of log records. | |
int | logIdx |
Index of a certain log record to be optionally used within derived classes. | |
PlotCollection | plotCollection |
Plot collection containing a singly-linked list of plot windows. |
The class MultiObjectiveAlgorithm serves as a user-interface to formulate and solve optimal control problems with multiple objectives.
MultiObjectiveAlgorithm::MultiObjectiveAlgorithm | ( | const OCP & | ocp_ | ) |
References count, MultiObjectiveFunctionality::getNumberOfMayerTerms(), m, N, OptimizationAlgorithmBase::ocp, pResults, setupOptions(), uResults, wResults, xaResults, and xResults.
MultiObjectiveAlgorithm::~MultiObjectiveAlgorithm | ( | ) | [virtual] |
int Logging::addLogRecord | ( | LogRecord & | record | ) | [inherited] |
[in] | record | Record to be added. |
References LogCollection::addLogRecord(), and Logging::logCollection.
Referenced by AlgorithmicBase::addLogRecord(), UserInteraction::addPlotWindow(), Logging::operator<<(), IntegrationAlgorithm::setupLogging(), Controller::setupLogging(), and Process::setupLogging().
returnValue Options::addOption | ( | OptionsName | name, |
int | value | ||
) | [protected, inherited] |
[in] | name | Name of new option item. |
[in] | value | Default value of new option. |
References OptionsList::add(), Options::getNumOptionsLists(), Options::optionsList, SUCCESSFUL_RETURN, and uint.
Referenced by AlgorithmicBase::addOption(), OptimizationAlgorithm::setupOptions(), ExportModule::setupOptions(), setupOptions(), RealTimeAlgorithm::setupOptions(), SimulationEnvironment::setupOptions(), IntegrationAlgorithm::setupOptions(), Controller::setupOptions(), and Process::setupOptions().
returnValue Options::addOption | ( | OptionsName | name, |
double | value | ||
) | [protected, inherited] |
[in] | name | Name of new option item. |
[in] | value | Default value of new option. |
References OptionsList::add(), Options::getNumOptionsLists(), Options::optionsList, SUCCESSFUL_RETURN, and uint.
returnValue Options::addOption | ( | uint | idx, |
OptionsName | name, | ||
int | value | ||
) | [protected, inherited] |
[in] | idx | Index of option list. |
[in] | name | Name of new option item. |
[in] | value | Default value of new option. |
References ACADOERROR, OptionsList::add(), Options::getNumOptionsLists(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.
returnValue Options::addOption | ( | uint | idx, |
OptionsName | name, | ||
double | value | ||
) | [protected, inherited] |
[in] | idx | Index of option list. |
[in] | name | Name of new option item. |
[in] | value | Default value of new option. |
References ACADOERROR, OptionsList::add(), Options::getNumOptionsLists(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.
returnValue Options::addOptionsList | ( | ) | [inherited] |
References Options::nOptionsList, Options::optionsList, and SUCCESSFUL_RETURN.
Referenced by AlgorithmicBase::addOptionsList().
int UserInteraction::addPlotWindow | ( | PlotWindow & | _window | ) | [virtual, inherited] |
This function is overloaded here in order to add the plotDataRecord required to plot the window to the log collection.
[in] | _window | Window to be added. |
Reimplemented from Plotting.
References Logging::addLogRecord(), PlotWindow::getPlotDataRecord(), and PlotWindow::setPlotDataRecord().
Referenced by UserInteraction::operator<<().
returnValue OptimizationAlgorithm::allocateNlpSolver | ( | Objective * | F, |
DynamicDiscretization * | G, | ||
Constraint * | H | ||
) | [protected, virtual, inherited] |
Implements OptimizationAlgorithmBase.
References OptimizationAlgorithmBase::isLinearQuadratic(), OptimizationAlgorithmBase::nlpSolver, and SUCCESSFUL_RETURN.
returnValue OptimizationAlgorithmBase::clear | ( | ) | [protected, inherited] |
Reimplemented in RealTimeAlgorithm.
References OCPiterate::allocateAll(), OCPiterate::clear(), OptimizationAlgorithmBase::iter, OptimizationAlgorithmBase::nlpSolver, OptimizationAlgorithmBase::ocp, SUCCESSFUL_RETURN, and OptimizationAlgorithmBase::userInit.
Referenced by OptimizationAlgorithmBase::operator=(), and OptimizationAlgorithmBase::~OptimizationAlgorithmBase().
returnValue Options::clearOptionsList | ( | ) | [protected, inherited] |
References Options::getNumOptionsLists(), Options::optionsList, SUCCESSFUL_RETURN, and uint.
Referenced by Options::operator=(), and Options::~Options().
returnValue Options::declareOptionsUnchanged | ( | ) | [protected, inherited] |
References OptionsList::declareOptionsUnchanged(), Options::getNumOptionsLists(), Options::optionsList, SUCCESSFUL_RETURN, and uint.
Referenced by OptimizationAlgorithm::init(), and RealTimeAlgorithm::init().
returnValue Options::declareOptionsUnchanged | ( | uint | idx | ) | [protected, inherited] |
[in] | idx | Index of option list. |
References ACADOERROR, OptionsList::declareOptionsUnchanged(), Options::getNumOptionsLists(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.
returnValue OptimizationAlgorithmBase::determineDimensions | ( | Objective *const | _objective, |
DifferentialEquation **const | _differentialEquation, | ||
Constraint *const | _constraint, | ||
uint & | _nx, | ||
uint & | _nxa, | ||
uint & | _np, | ||
uint & | _nu, | ||
uint & | _nw | ||
) | const [protected, virtual, inherited] |
References acadoMax(), OptimizationAlgorithmBase::getNP(), Objective::getNP(), Constraint::getNP(), OptimizationAlgorithmBase::getNU(), Objective::getNU(), Constraint::getNU(), DifferentialEquation::getNumDynamicEquations(), OptimizationAlgorithmBase::getNW(), Objective::getNW(), Constraint::getNW(), OptimizationAlgorithmBase::getNX(), Objective::getNX(), Constraint::getNX(), OptimizationAlgorithmBase::getNXA(), Objective::getNXA(), Constraint::getNXA(), RET_INCOMPATIBLE_DIMENSIONS, and SUCCESSFUL_RETURN.
Referenced by OptimizationAlgorithmBase::init().
returnValue MultiObjectiveAlgorithm::evaluateObjectives | ( | VariablesGrid & | xd_, |
VariablesGrid & | xa_, | ||
VariablesGrid & | p_, | ||
VariablesGrid & | u_, | ||
VariablesGrid & | w_, | ||
Expression ** | arg1 | ||
) | [protected] |
References Objective::addMayerTerm(), BT_FALSE, count, Objective::evaluate(), OCP::getGrid(), Objective::getObjectiveValue(), Grid::isEmpty(), m, OptimizationAlgorithmBase::ocp, result, and SUCCESSFUL_RETURN.
Referenced by solve().
returnValue OptimizationAlgorithmBase::extractOCPdata | ( | Objective ** | objective, |
DifferentialEquation *** | differentialEquation, | ||
Constraint ** | constraint, | ||
Grid & | unionGrid | ||
) | [protected, virtual, inherited] |
References ACADOERROR, BT_TRUE, OCP::getConstraint(), OCP::getGrid(), ModelContainer::getModel(), OCP::getObjective(), OCP::hasConstraint(), ModelContainer::hasDifferentialEquation(), OCP::hasObjective(), Constraint::init(), OptimizationAlgorithmBase::initializeObjective(), OptimizationAlgorithmBase::ocp, RET_NO_VALID_OBJECTIVE, and SUCCESSFUL_RETURN.
Referenced by OptimizationAlgorithmBase::init().
returnValue MultiObjectiveAlgorithm::formulateOCP | ( | double * | idx, |
OCP * | ocp_, | ||
Expression ** | arg | ||
) | [protected] |
References Objective::addMayerTerm(), AT_END, OCP::getGrid(), Matrix::getInverse(), getNormalizationVector(), getNormalizedPayOffMatrix(), getPayOffMatrix(), getUtopiaPlaneVectors(), getUtopiaVector(), m, OptimizationAlgorithmBase::ocp, PARETO_FRONT_GENERATION, PFG_ENHANCED_NORMALIZED_NORMAL_CONSTRAINT, PFG_NORMAL_BOUNDARY_INTERSECTION, PFG_NORMALIZED_NORMAL_CONSTRAINT, PFG_UNKNOWN, PFG_WEIGHTED_SUM, VectorspaceElement::setAll(), OCP::setObjective(), VectorspaceElement::setZero(), OCP::subjectTo(), and SUCCESSFUL_RETURN.
Referenced by solve().
returnValue Options::get | ( | OptionsName | name, |
int & | value | ||
) | const [inherited] |
[in] | name | Name of option item. |
[out] | value | Value of option. |
References OptionsList::get(), and Options::optionsList.
Referenced by createDiagonallyImplicitRKExport(), createImplicitRungeKuttaExport(), AlgorithmicBase::get(), ExplicitRungeKuttaExport::getCode(), ExplicitRungeKuttaExport::getFunctionDeclarations(), ExplicitRungeKuttaExport::setDifferentialEquation(), ExportHouseholderQR::setup(), ExportGaussElim::setup(), ImplicitRungeKuttaExport::setup(), and OptimizationAlgorithmBase::setupDynamicDiscretization().
returnValue Options::get | ( | OptionsName | name, |
double & | value | ||
) | const [inherited] |
[in] | name | Name of option item. |
[out] | value | Value of option. |
References OptionsList::get(), and Options::optionsList.
returnValue Options::get | ( | uint | idx, |
OptionsName | name, | ||
int & | value | ||
) | const [inherited] |
[in] | idx | Index of option list. |
[in] | name | Name of option item. |
[out] | value | Value of option. |
References ACADOERROR, OptionsList::get(), Options::getNumOptionsLists(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.
returnValue Options::get | ( | uint | idx, |
OptionsName | name, | ||
double & | value | ||
) | const [inherited] |
[in] | idx | Index of option list. |
[in] | name | Name of option item. |
[out] | value | Value of option. |
References ACADOERROR, OptionsList::get(), Options::getNumOptionsLists(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.
returnValue OptimizationAlgorithmBase::getAlgebraicStates | ( | VariablesGrid & | xa_ | ) | const [inherited] |
References ACADOWARNING, NLPsolver::getAlgebraicStates(), OptimizationAlgorithmBase::nlpSolver, and RET_MEMBER_NOT_INITIALISED.
Referenced by solve(), and solveSingleObjective().
returnValue OptimizationAlgorithmBase::getAlgebraicStates | ( | const char * | fileName | ) | const [inherited] |
BEGIN_NAMESPACE_ACADO returnValue Logging::getAll | ( | LogName | _name, |
MatrixVariablesGrid & | values | ||
) | const [inline, inherited] |
If this item exists in more than one record, the first one is choosen as they are expected to have identical values anyhow.
[in] | _name | Internal name of item. |
[out] | values | All numerical values at all time instants of given item. |
References ACADOERROR, BT_TRUE, LogCollection::getAll(), LogCollection::hasNonEmptyItem(), Logging::logCollection, and RET_LOG_ENTRY_DOESNT_EXIST.
Referenced by AlgorithmicBase::getAll(), SimulationEnvironment::getProcessAlgebraicStates(), SimulationEnvironment::getProcessDifferentialStates(), and SimulationEnvironment::getProcessIntermediateStates().
returnValue MultiObjectiveAlgorithm::getAllAlgebraicStates | ( | const char * | fileName | ) | const [inline] |
References printAuxiliaryRoutine(), and xaResults.
returnValue MultiObjectiveAlgorithm::getAllControls | ( | const char * | fileName | ) | const [inline] |
References printAuxiliaryRoutine(), and uResults.
returnValue MultiObjectiveAlgorithm::getAllDifferentialStates | ( | const char * | fileName | ) | const [inline] |
References printAuxiliaryRoutine(), and xResults.
returnValue MultiObjectiveAlgorithm::getAllDisturbances | ( | const char * | fileName | ) | const [inline] |
References printAuxiliaryRoutine(), and wResults.
returnValue MultiObjectiveAlgorithm::getAllParameters | ( | const char * | fileName | ) | const [inline] |
References pResults, and printAuxiliaryRoutine().
returnValue OptimizationAlgorithmBase::getControls | ( | VariablesGrid & | p_ | ) | const [inherited] |
References ACADOWARNING, NLPsolver::getControls(), OptimizationAlgorithmBase::nlpSolver, and RET_MEMBER_NOT_INITIALISED.
Referenced by solve(), and solveSingleObjective().
returnValue OptimizationAlgorithmBase::getControls | ( | const char * | fileName | ) | const [inherited] |
returnValue OptimizationAlgorithmBase::getDifferentialStates | ( | VariablesGrid & | xd_ | ) | const [inherited] |
References ACADOWARNING, NLPsolver::getDifferentialStates(), OptimizationAlgorithmBase::nlpSolver, and RET_MEMBER_NOT_INITIALISED.
Referenced by solve(), and solveSingleObjective().
returnValue OptimizationAlgorithmBase::getDifferentialStates | ( | const char * | fileName | ) | const [inherited] |
returnValue OptimizationAlgorithmBase::getDisturbances | ( | VariablesGrid & | w_ | ) | const [inherited] |
References ACADOWARNING, NLPsolver::getDisturbances(), OptimizationAlgorithmBase::nlpSolver, and RET_MEMBER_NOT_INITIALISED.
Referenced by solve(), and solveSingleObjective().
returnValue OptimizationAlgorithmBase::getDisturbances | ( | const char * | fileName | ) | const [inherited] |
double OptimizationAlgorithmBase::getEndTime | ( | ) | const [inherited] |
References OCP::getEndTime(), INFTY, and OptimizationAlgorithmBase::ocp.
Referenced by RealTimeAlgorithm::getLengthPredictionHorizon().
returnValue Logging::getFirst | ( | LogName | _name, |
Matrix & | firstValue | ||
) | const [inline, inherited] |
If this item exists in more than one record, the first one is choosen as they are expected to have identical values anyhow.
[in] | _name | Internal name of item. |
[out] | firstValue | Numerical value at first time instant of given item. |
References ACADOERROR, BT_TRUE, LogCollection::getFirst(), LogCollection::hasNonEmptyItem(), Logging::logCollection, and RET_LOG_ENTRY_DOESNT_EXIST.
Referenced by AlgorithmicBase::getFirst().
returnValue Logging::getFirst | ( | LogName | _name, |
VariablesGrid & | firstValue | ||
) | const [inline, inherited] |
If this item exists in more than one record, the first one is choosen as they are expected to have identical values anyhow.
[in] | _name | Internal name of item. |
[out] | firstValue | Numerical value at first time instant of given item. |
References ACADOERROR, BT_TRUE, LogCollection::getFirst(), LogCollection::hasNonEmptyItem(), Logging::logCollection, and RET_LOG_ENTRY_DOESNT_EXIST.
returnValue Logging::getLast | ( | LogName | _name, |
Matrix & | lastValue | ||
) | const [inline, inherited] |
If this item exists in more than one record, the first one is choosen as they are expected to have identical values anyhow.
[in] | _name | Internal name of item. |
[out] | lastValue | Numerical value at last time instant of given item. |
References ACADOERROR, BT_TRUE, LogCollection::getLast(), LogCollection::hasNonEmptyItem(), Logging::logCollection, and RET_LOG_ENTRY_DOESNT_EXIST.
Referenced by AlgorithmicBase::getLast().
returnValue Logging::getLast | ( | LogName | _name, |
VariablesGrid & | lastValue | ||
) | const [inline, inherited] |
If this item exists in more than one record, the first one is choosen as they are expected to have identical values anyhow.
[in] | _name | Internal name of item. |
[out] | lastValue | Numerical value at last time instant of given item. |
References ACADOERROR, BT_TRUE, LogCollection::getLast(), LogCollection::hasNonEmptyItem(), Logging::logCollection, and RET_LOG_ENTRY_DOESNT_EXIST.
returnValue Logging::getLogRecord | ( | uint | idx, |
LogRecord & | _record | ||
) | const [inherited] |
[in] | idx | Index of desired record. |
[out] | _record | Desired record. |
References ACADOERROR, Logging::getNumLogRecords(), Logging::logCollection, RET_INDEX_OUT_OF_BOUNDS, and SUCCESSFUL_RETURN.
Referenced by Logging::getLogRecord().
returnValue Logging::getLogRecord | ( | LogRecord & | _record | ) | const [inherited] |
This index is not provided when calling the function, but rather obtained by using the alias index of the record. If the record is no alias record, the error RET_INDEX_OUT_OF_BOUNDS is thrown.
[out] | _record | Desired record. |
References LogRecord::getAliasIdx(), and Logging::getLogRecord().
Vector MultiObjectiveAlgorithm::getNadirVector | ( | ) | const [inline] |
References acadoMax(), m, max(), and vertices.
Referenced by getNormalizationVector().
Vector MultiObjectiveAlgorithm::getNormalizationVector | ( | ) | const [inline] |
References getNadirVector(), and getUtopiaVector().
Referenced by formulateOCP(), and getNormalizedPayOffMatrix().
Matrix MultiObjectiveAlgorithm::getNormalizedPayOffMatrix | ( | ) | const [inline] |
References getNormalizationVector(), getPayOffMatrix(), and m.
Referenced by formulateOCP(), and getUtopiaPlaneVectors().
uint OptimizationAlgorithmBase::getNP | ( | ) | const [virtual, inherited] |
Reimplemented in RealTimeAlgorithm.
References OCPiterate::getNP(), and OptimizationAlgorithmBase::iter.
Referenced by OptimizationAlgorithmBase::determineDimensions(), and RealTimeAlgorithm::init().
uint OptimizationAlgorithmBase::getNU | ( | ) | const [virtual, inherited] |
Reimplemented in RealTimeAlgorithm.
References OCPiterate::getNU(), and OptimizationAlgorithmBase::iter.
Referenced by OptimizationAlgorithmBase::determineDimensions(), and RealTimeAlgorithm::init().
uint Logging::getNumLogRecords | ( | ) | const [inherited] |
References LogCollection::getNumLogRecords(), and Logging::logCollection.
Referenced by Logging::getLogRecord().
BEGIN_NAMESPACE_ACADO uint Options::getNumOptionsLists | ( | ) | const [inline, inherited] |
References Options::nOptionsList.
Referenced by Options::addOption(), Options::clearOptionsList(), Options::declareOptionsUnchanged(), Options::get(), Options::getOptions(), Options::haveOptionsChanged(), Options::printOptionsList(), Options::set(), and Options::setOptions().
uint Plotting::getNumPlotWindows | ( | ) | const [inline, inherited] |
References PlotCollection::getNumPlotWindows(), and Plotting::plotCollection.
Referenced by Plotting::getPlotWindow().
uint OptimizationAlgorithmBase::getNW | ( | ) | const [virtual, inherited] |
Reimplemented in RealTimeAlgorithm.
References OCPiterate::getNW(), and OptimizationAlgorithmBase::iter.
Referenced by OptimizationAlgorithmBase::determineDimensions().
uint OptimizationAlgorithmBase::getNX | ( | ) | const [virtual, inherited] |
Reimplemented in RealTimeAlgorithm.
References OCPiterate::getNX(), and OptimizationAlgorithmBase::iter.
Referenced by OptimizationAlgorithmBase::determineDimensions().
uint OptimizationAlgorithmBase::getNXA | ( | ) | const [virtual, inherited] |
Reimplemented in RealTimeAlgorithm.
References OCPiterate::getNXA(), and OptimizationAlgorithmBase::iter.
Referenced by OptimizationAlgorithmBase::determineDimensions().
double OptimizationAlgorithmBase::getObjectiveValue | ( | const char * | fileName | ) | const [inherited] |
References acadoFPrintf(), OptimizationAlgorithmBase::getObjectiveValue(), and SUCCESSFUL_RETURN.
double OptimizationAlgorithmBase::getObjectiveValue | ( | ) | const [inherited] |
References ACADOWARNING, NLPsolver::getObjectiveValue(), OptimizationAlgorithmBase::nlpSolver, and RET_MEMBER_NOT_INITIALISED.
Referenced by OptimizationAlgorithmBase::getObjectiveValue().
Options Options::getOptions | ( | uint | idx | ) | const [inherited] |
[in] | idx | Index of option list. |
References ACADOERROR, Options::getNumOptionsLists(), Options::Options(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.
Referenced by AlgorithmicBase::getOptions().
returnValue OptimizationAlgorithmBase::getParameters | ( | VariablesGrid & | u_ | ) | const [inherited] |
References ACADOWARNING, NLPsolver::getParameters(), OptimizationAlgorithmBase::nlpSolver, and RET_MEMBER_NOT_INITIALISED.
Referenced by solve(), and solveSingleObjective().
returnValue OptimizationAlgorithmBase::getParameters | ( | Vector & | u_ | ) | const [inherited] |
returnValue OptimizationAlgorithmBase::getParameters | ( | const char * | fileName | ) | const [inherited] |
returnValue MultiObjectiveAlgorithm::getParetoFront | ( | VariablesGrid & | paretoFront | ) | const [inline] |
paretoFront | The pareto front in form of a VariablesGrid. |
References ACADOERROR, count, VectorspaceElement::getDim(), VariablesGrid::init(), m, result, RET_MEMBER_NOT_INITIALISED, and SUCCESSFUL_RETURN.
returnValue MultiObjectiveAlgorithm::getParetoFrontWithFilter | ( | VariablesGrid & | paretoFront | ) | const [inline] |
paretoFront | The pareto front in form of a VariablesGrid. |
References ACADOERROR, count, EPS, VectorspaceElement::getDim(), VariablesGrid::init(), m, result, RET_MEMBER_NOT_INITIALISED, and SUCCESSFUL_RETURN.
Matrix MultiObjectiveAlgorithm::getPayOffMatrix | ( | ) | const [inline] |
returnValue UserInteraction::getPlotDataFromMemberLoggings | ( | PlotWindow & | _window | ) | const [protected, virtual, inherited] |
This function is overloaded within the UserInterface class to syncronize the logging information collected elsewhere within the algorithm with the one stored within the given window for plotting.
[in] | _window | Window to be plotted. |
Reimplemented from Plotting.
References PlotWindow::getPlotDataRecord(), PlotWindow::setPlotDataRecord(), SUCCESSFUL_RETURN, and Logging::updateLogRecord().
returnValue Plotting::getPlotWindow | ( | uint | idx, |
PlotWindow & | _window | ||
) | const [inline, inherited] |
[in] | idx | Index of desired window. |
[out] | _window | Desired window. |
References ACADOERROR, Plotting::getNumPlotWindows(), Plotting::getPlotDataFromMemberLoggings(), Plotting::plotCollection, and RET_INDEX_OUT_OF_BOUNDS.
Referenced by Plotting::getPlotWindow(), Plotting::plot(), and Plotting::replot().
returnValue Plotting::getPlotWindow | ( | PlotWindow & | _window | ) | const [inline, inherited] |
This index is not provided when calling the function, but rather obtained by using the alias index of the window. If the window is no alias window, the error RET_INDEX_OUT_OF_BOUNDS is thrown.
[out] | _window | Desired window. |
References PlotWindow::getAliasIdx(), and Plotting::getPlotWindow().
returnValue OptimizationAlgorithmBase::getSensitivitiesP | ( | BlockMatrix & | _sens | ) | const [inherited] |
References NLPsolver::getSensitivitiesP(), and OptimizationAlgorithmBase::nlpSolver.
returnValue OptimizationAlgorithmBase::getSensitivitiesU | ( | BlockMatrix & | _sens | ) | const [inherited] |
References NLPsolver::getSensitivitiesU(), and OptimizationAlgorithmBase::nlpSolver.
returnValue OptimizationAlgorithmBase::getSensitivitiesW | ( | BlockMatrix & | _sens | ) | const [inherited] |
References NLPsolver::getSensitivitiesW(), and OptimizationAlgorithmBase::nlpSolver.
returnValue OptimizationAlgorithmBase::getSensitivitiesX | ( | BlockMatrix & | _sens | ) | const [inherited] |
References NLPsolver::getSensitivitiesX(), and OptimizationAlgorithmBase::nlpSolver.
returnValue OptimizationAlgorithmBase::getSensitivitiesXA | ( | BlockMatrix & | _sens | ) | const [inherited] |
References NLPsolver::getSensitivitiesXA(), and OptimizationAlgorithmBase::nlpSolver.
double OptimizationAlgorithmBase::getStartTime | ( | ) | const [inherited] |
References OCP::getStartTime(), INFTY, and OptimizationAlgorithmBase::ocp.
Referenced by RealTimeAlgorithm::getLengthPredictionHorizon().
BlockStatus UserInteraction::getStatus | ( | ) | const [protected, inherited] |
References UserInteraction::status.
Referenced by RealTimeAlgorithm::feedbackStep(), OptimizationAlgorithm::init(), RealTimeAlgorithm::init(), RealTimeAlgorithm::performFeedbackStep(), RealTimeAlgorithm::performPreparationStep(), OCPexport::printDimensionsQP(), Process::run(), SimulationEnvironment::setController(), Controller::setEstimator(), RealTimeAlgorithm::setReference(), Controller::setReferenceTrajectory(), OCPexport::setup(), OptimizationAlgorithm::solve(), RealTimeAlgorithm::solve(), LinearStateFeedback::step(), FeedforwardLaw::step(), PIDcontroller::step(), Sensor::step(), SimulationEnvironment::step(), Controller::step(), Process::step(), and Actuator::step().
Matrix MultiObjectiveAlgorithm::getUtopiaPlaneVectors | ( | ) | const [inline] |
References getNormalizedPayOffMatrix(), and m.
Referenced by formulateOCP().
Vector MultiObjectiveAlgorithm::getUtopiaVector | ( | ) | const [inline] |
Matrix MultiObjectiveAlgorithm::getWeights | ( | ) | const [inline] |
References WeightGeneration::getWeights(), m, N, PARETO_FRONT_DISCRETIZATION, VectorspaceElement::setAll(), and VectorspaceElement::setZero().
Referenced by getWeights(), getWeightsWithFilter(), printAuxiliaryRoutine(), and solveSingleObjective().
returnValue MultiObjectiveAlgorithm::getWeights | ( | const char * | fileName | ) | const [inline] |
References getWeights(), and SUCCESSFUL_RETURN.
returnValue MultiObjectiveAlgorithm::getWeightsWithFilter | ( | const char * | fileName | ) | const [inline] |
References ACADOERROR, count, EPS, VectorspaceElement::getDim(), Matrix::getNumRows(), getWeights(), m, result, RET_MEMBER_NOT_INITIALISED, and SUCCESSFUL_RETURN.
BooleanType Options::haveOptionsChanged | ( | ) | const [protected, inherited] |
References BT_FALSE, BT_TRUE, Options::getNumOptionsLists(), Options::optionsList, and uint.
Referenced by AlgorithmicBase::haveOptionsChanged(), OptimizationAlgorithm::init(), RealTimeAlgorithm::init(), and OptimizationAlgorithm::solve().
BooleanType Options::haveOptionsChanged | ( | uint | idx | ) | const [protected, inherited] |
[in] | idx | Index of option list. |
References ACADOERROR, BT_FALSE, Options::getNumOptionsLists(), OptionsList::haveOptionsChanged(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.
returnValue OptimizationAlgorithm::init | ( | ) | [virtual, inherited] |
References BS_READY, BT_FALSE, Options::declareOptionsUnchanged(), UserInteraction::getStatus(), Options::haveOptionsChanged(), UserInteraction::setStatus(), and SUCCESSFUL_RETURN.
Referenced by MHEalgorithm::init(), OptimizationAlgorithm::solve(), and MHEalgorithm::solve().
returnValue OptimizationAlgorithmBase::init | ( | UserInteraction * | _userIteraction | ) | [protected, inherited] |
References ACADOERROR, OptimizationAlgorithmBase::allocateNlpSolver(), OptimizationAlgorithmBase::determineDimensions(), MatrixVariablesGrid::disableAutoInit(), OptimizationAlgorithmBase::extractOCPdata(), OptimizationAlgorithmBase::initializeNlpSolver(), OptimizationAlgorithmBase::initializeOCPiterate(), OptimizationAlgorithmBase::iter, OCPiterate::p, RET_OPTALG_INIT_FAILED, OptimizationAlgorithmBase::setupDifferentialEquation(), OptimizationAlgorithmBase::setupDynamicDiscretization(), OptimizationAlgorithmBase::setupObjective(), SUCCESSFUL_RETURN, OCPiterate::u, uint, and OCPiterate::w.
returnValue OptimizationAlgorithmBase::initializeAlgebraicStates | ( | const char * | fileName, |
BooleanType | autoinit = BT_FALSE |
||
) | [inherited] |
References BT_TRUE, Grid::isEmpty(), and RET_FILE_CAN_NOT_BE_OPENED.
returnValue OptimizationAlgorithmBase::initializeAlgebraicStates | ( | const VariablesGrid & | xa_init_, |
BooleanType | autoinit = BT_FALSE |
||
) | [inherited] |
returnValue OptimizationAlgorithmBase::initializeControls | ( | const char * | fileName | ) | [inherited] |
Reimplemented in RealTimeAlgorithm.
References BT_TRUE, Grid::isEmpty(), and RET_FILE_CAN_NOT_BE_OPENED.
returnValue OptimizationAlgorithmBase::initializeControls | ( | const VariablesGrid & | p_init_ | ) | [inherited] |
Reimplemented in RealTimeAlgorithm.
References SUCCESSFUL_RETURN, OCPiterate::u, and OptimizationAlgorithmBase::userInit.
returnValue OptimizationAlgorithmBase::initializeDifferentialStates | ( | const char * | fileName, |
BooleanType | autoinit = BT_FALSE |
||
) | [inherited] |
References BT_TRUE, Grid::isEmpty(), and RET_FILE_CAN_NOT_BE_OPENED.
returnValue OptimizationAlgorithmBase::initializeDifferentialStates | ( | const VariablesGrid & | xd_init_, |
BooleanType | autoinit = BT_FALSE |
||
) | [inherited] |
returnValue OptimizationAlgorithmBase::initializeDisturbances | ( | const char * | fileName | ) | [inherited] |
References BT_TRUE, Grid::isEmpty(), and RET_FILE_CAN_NOT_BE_OPENED.
returnValue OptimizationAlgorithmBase::initializeDisturbances | ( | const VariablesGrid & | w_init_ | ) | [inherited] |
References SUCCESSFUL_RETURN, OptimizationAlgorithmBase::userInit, and OCPiterate::w.
returnValue MultiObjectiveAlgorithm::initializeNlpSolver | ( | const OCPiterate & | _userInit | ) | [protected, virtual] |
Reimplemented from OptimizationAlgorithm.
returnValue MultiObjectiveAlgorithm::initializeObjective | ( | Objective * | F | ) | [protected, virtual] |
Reimplemented from OptimizationAlgorithm.
References SUCCESSFUL_RETURN.
returnValue OptimizationAlgorithmBase::initializeOCPiterate | ( | Constraint *const | _constraint, |
const Grid & | _unionGrid, | ||
uint | nx, | ||
uint | nxa, | ||
uint | np, | ||
uint | nu, | ||
uint | nw | ||
) | [protected, virtual, inherited] |
References ACADOERROR, OCPiterate::clear(), MatrixVariablesGrid::getAutoInit(), Constraint::getBounds(), VectorspaceElement::getDim(), Grid::getNumPoints(), Grid::getTime(), VariablesGrid::getVector(), VariablesGrid::initializeFromBounds(), OptimizationAlgorithmBase::iter, MatrixVariablesGrid::linearInterpolation(), OCPiterate::p, VariablesGrid::setAllVectors(), MatrixVariablesGrid::setAutoInit(), SUCCESSFUL_RETURN, OCPiterate::u, uint, OptimizationAlgorithmBase::userInit, VT_ALGEBRAIC_STATE, VT_CONTROL, VT_DIFFERENTIAL_STATE, VT_DISTURBANCE, VT_PARAMETER, OCPiterate::w, OCPiterate::x, and OCPiterate::xa.
Referenced by OptimizationAlgorithmBase::init().
returnValue OptimizationAlgorithmBase::initializeParameters | ( | const char * | fileName | ) | [inherited] |
References BT_TRUE, Grid::isEmpty(), and RET_FILE_CAN_NOT_BE_OPENED.
returnValue OptimizationAlgorithmBase::initializeParameters | ( | const VariablesGrid & | u_init_ | ) | [inherited] |
References OCPiterate::p, SUCCESSFUL_RETURN, and OptimizationAlgorithmBase::userInit.
BooleanType OptimizationAlgorithmBase::isLinearQuadratic | ( | Objective * | F, |
DynamicDiscretization * | G, | ||
Constraint * | H | ||
) | const [protected, inherited] |
References BT_FALSE, BT_TRUE, DynamicDiscretization::isAffine(), Constraint::isAffine(), and Objective::isQuadratic().
Referenced by OptimizationAlgorithm::allocateNlpSolver(), and RealTimeAlgorithm::allocateNlpSolver().
int UserInteraction::operator<< | ( | PlotWindow & | _window | ) | [virtual, inherited] |
This function is overloaded here in order to add the plotDataRecord required to plot the window to the log collection.
[in] | _window | Window to be added. |
Reimplemented from Plotting.
References UserInteraction::addPlotWindow().
Referenced by UserInteraction::operator<<().
int UserInteraction::operator<< | ( | LogRecord & | _record | ) | [virtual, inherited] |
[in] | record | Record to be added. |
Reimplemented from Logging.
References UserInteraction::operator<<().
MultiObjectiveAlgorithm & MultiObjectiveAlgorithm::operator= | ( | const MultiObjectiveAlgorithm & | arg | ) |
returnValue Plotting::plot | ( | PlotFrequency | _frequency = PLOT_IN_ANY_CASE | ) | [virtual, inherited] |
[in] | _frequency | Frequency determining at which time instants the window is to be plotted. |
References ACADOERROR, PlotCollection::first, PlotWindow::getNext(), Plotting::getPlotWindow(), PlotWindow::plot(), PLOT_NEVER, Plotting::plotCollection, RET_PLOTTING_FAILED, and SUCCESSFUL_RETURN.
Referenced by IntegrationAlgorithm::evaluate(), and AlgorithmicBase::plot().
returnValue MultiObjectiveAlgorithm::printAuxiliaryRoutine | ( | const char * | fileName, |
VariablesGrid * | x_ | ||
) | const [inline, protected] |
References Matrix::getNumCols(), getWeights(), MAX_LENGTH_STRING, and SUCCESSFUL_RETURN.
Referenced by getAllAlgebraicStates(), getAllControls(), getAllDifferentialStates(), getAllDisturbances(), and getAllParameters().
returnValue MultiObjectiveAlgorithm::printInfo | ( | ) | [inline] |
References acadoPrintf(), and SUCCESSFUL_RETURN.
returnValue Logging::printLoggingInfo | ( | ) | const [inherited] |
References LogCollection::getNumLogRecords(), Logging::logCollection, SUCCESSFUL_RETURN, and uint.
returnValue Logging::printNumDoubles | ( | ) | const [inherited] |
References LogCollection::getNumDoubles(), Logging::logCollection, and SUCCESSFUL_RETURN.
returnValue Options::printOptionsList | ( | ) | const [inherited] |
References Options::getNumOptionsLists(), Options::optionsList, OptionsList::printOptionsList(), SUCCESSFUL_RETURN, and uint.
returnValue Options::printOptionsList | ( | uint | idx | ) | const [inherited] |
[in] | idx | Index of option list. |
References ACADOERROR, Options::getNumOptionsLists(), Options::optionsList, OptionsList::printOptionsList(), and RET_INDEX_OUT_OF_BOUNDS.
returnValue Plotting::replot | ( | PlotFrequency | _frequency = PLOT_IN_ANY_CASE | ) | [virtual, inherited] |
[in] | _frequency | Frequency determining at which time instants the window is to be plotted. |
Reimplemented in Process.
References ACADOERROR, PlotCollection::first, PlotWindow::getNext(), Plotting::getPlotWindow(), PLOT_NEVER, Plotting::plotCollection, PlotWindow::replot(), RET_PLOTTING_FAILED, and SUCCESSFUL_RETURN.
Referenced by AlgorithmicBase::replot(), and RealTimeAlgorithm::solve().
returnValue Options::set | ( | OptionsName | name, |
int | value | ||
) | [inherited] |
[in] | name | Name of option item. |
[in] | value | New value of option. |
References Options::optionsList, and OptionsList::set().
Referenced by AlgorithmicBase::set().
returnValue Options::set | ( | OptionsName | name, |
double | value | ||
) | [inherited] |
[in] | name | Name of option item. |
[in] | value | New value of option. |
References Options::optionsList, and OptionsList::set().
returnValue Options::set | ( | uint | idx, |
OptionsName | name, | ||
int | value | ||
) | [inherited] |
[in] | idx | Index of option list. |
[in] | name | Name of option item. |
[in] | value | New value of option. |
References ACADOERROR, Options::getNumOptionsLists(), Options::optionsList, RET_INDEX_OUT_OF_BOUNDS, and OptionsList::set().
returnValue Options::set | ( | uint | idx, |
OptionsName | name, | ||
double | value | ||
) | [inherited] |
[in] | idx | Index of option list. |
[in] | name | Name of option item. |
[in] | value | New value of option. |
References ACADOERROR, Options::getNumOptionsLists(), Options::optionsList, RET_INDEX_OUT_OF_BOUNDS, and OptionsList::set().
returnValue Options::setOptions | ( | const Options & | arg | ) | [inherited] |
[in] | arg | New Options object to be assigned. |
References Options::operator=(), and SUCCESSFUL_RETURN.
Referenced by AlgorithmicBase::setOptions().
returnValue Options::setOptions | ( | uint | idx, |
const Options & | arg | ||
) | [inherited] |
[in] | idx | Index of option list. |
[in] | arg | Options object containing the option list to be assigned. |
References ACADOERROR, Options::getNumOptionsLists(), Options::optionsList, RET_INDEX_OUT_OF_BOUNDS, and SUCCESSFUL_RETURN.
BEGIN_NAMESPACE_ACADO returnValue MultiObjectiveAlgorithm::setParetoFrontDiscretization | ( | const int & | N_ | ) | [inline] |
N | the number of descretization intervals |
References N, and SUCCESSFUL_RETURN.
returnValue UserInteraction::setStatus | ( | BlockStatus | _status | ) | [protected, inherited] |
[in] | _status | New status of user interface |
References UserInteraction::status, and SUCCESSFUL_RETURN.
Referenced by Controller::Controller(), DynamicEstimator::DynamicEstimator(), Estimator::Estimator(), FeedforwardLaw::FeedforwardLaw(), KalmanFilter::init(), OptimizationAlgorithm::init(), DynamicEstimator::init(), Estimator::init(), LinearStateFeedback::init(), FeedforwardLaw::init(), RealTimeAlgorithm::init(), TransferDevice::init(), PIDcontroller::init(), SimulationEnvironment::init(), Controller::init(), Process::init(), Process::initializeStartValues(), IntegrationAlgorithm::IntegrationAlgorithm(), KalmanFilter::KalmanFilter(), LinearStateFeedback::LinearStateFeedback(), OCPexport::OCPexport(), UserInteraction::operator=(), OptimizationAlgorithm::OptimizationAlgorithm(), RealTimeAlgorithm::performFeedbackStep(), RealTimeAlgorithm::performPreparationStep(), PIDcontroller::PIDcontroller(), Process::Process(), RealTimeAlgorithm::RealTimeAlgorithm(), Process::setActuator(), Controller::setControlLaw(), SimulationEnvironment::setController(), Process::setDynamicSystem(), Controller::setEstimator(), SimulationEnvironment::setProcess(), Process::setProcessDisturbance(), Controller::setReferenceTrajectory(), Process::setSensor(), OCPexport::setup(), SIMexport::setup(), SIMexport::SIMexport(), SimulationEnvironment::SimulationEnvironment(), solve(), solveSingleObjective(), TransferDevice::TransferDevice(), and UserInteraction::UserInteraction().
returnValue OptimizationAlgorithmBase::setupDifferentialEquation | ( | Objective * | objective, |
DifferentialEquation ** | differentialEquation, | ||
Constraint * | constraint, | ||
Grid | unionGrid | ||
) | [protected, virtual, inherited] |
References Constraint::add(), Grid::getNumPoints(), and SUCCESSFUL_RETURN.
Referenced by OptimizationAlgorithmBase::init().
returnValue OptimizationAlgorithmBase::setupDynamicDiscretization | ( | UserInteraction * | _userIteraction, |
Objective * | objective, | ||
DifferentialEquation ** | differentialEquation, | ||
Constraint * | constraint, | ||
Grid | unionGrid, | ||
DynamicDiscretization ** | dynamicDiscretization | ||
) | [protected, virtual, inherited] |
References BACKWARD_SENSITIVITY, BT_FALSE, BT_TRUE, DYNAMIC_SENSITIVITY, FORWARD_SENSITIVITY, Options::get(), INT_BDF, INT_DISCRETE, INTEGRATOR_TYPE, and SUCCESSFUL_RETURN.
Referenced by OptimizationAlgorithmBase::init().
returnValue OptimizationAlgorithm::setupLogging | ( | ) | [protected, virtual, inherited] |
Reimplemented from Logging.
References SUCCESSFUL_RETURN.
Referenced by OptimizationAlgorithm::OptimizationAlgorithm().
returnValue OptimizationAlgorithmBase::setupObjective | ( | Objective * | objective, |
DifferentialEquation ** | differentialEquation, | ||
Constraint * | constraint, | ||
Grid | unionGrid | ||
) | [protected, virtual, inherited] |
References Objective::init().
Referenced by OptimizationAlgorithmBase::init().
returnValue MultiObjectiveAlgorithm::setupOptions | ( | ) | [protected, virtual] |
Reimplemented from OptimizationAlgorithm.
References Options::addOption(), defaultParetoFrontDiscretization, defaultParetoFrontGeneration, defaultParetoFrontHotstart, PARETO_FRONT_DISCRETIZATION, PARETO_FRONT_GENERATION, PARETO_FRONT_HOTSTART, and SUCCESSFUL_RETURN.
Referenced by MultiObjectiveAlgorithm().
This function takes the initial state and controls and overwrite all states apart from the first one by simulation.
References MatrixVariablesGrid::enableAutoInit(), SUCCESSFUL_RETURN, OptimizationAlgorithmBase::userInit, OCPiterate::x, and OCPiterate::xa.
returnValue MultiObjectiveAlgorithm::solve | ( | ) | [virtual] |
Reimplemented from OptimizationAlgorithm.
References ACADOERROR, acadoGetTime(), acadoPrintf(), ASSERT, BS_NOT_INITIALIZED, BT_FALSE, BT_TRUE, count, EPS, evaluateObjectives(), fabs(), formulateOCP(), OptimizationAlgorithmBase::getAlgebraicStates(), OCP::getConstraint(), OptimizationAlgorithmBase::getControls(), OptimizationAlgorithmBase::getDifferentialStates(), OptimizationAlgorithmBase::getDisturbances(), NLPsolver::getNumberOfSteps(), Matrix::getNumCols(), Matrix::getNumRows(), OCP::getObjective(), OptimizationAlgorithmBase::getParameters(), WeightGeneration::getWeights(), Matrix::init(), m, N, OptimizationAlgorithmBase::nlpSolver, OptimizationAlgorithmBase::ocp, OCPiterate::p, PARETO_FRONT_DISCRETIZATION, PARETO_FRONT_GENERATION, PARETO_FRONT_HOTSTART, PFG_WEIGHTED_SUM, pResults, PRINT_COPYRIGHT, result, VectorspaceElement::setAll(), OCP::setConstraint(), UserInteraction::setStatus(), VectorspaceElement::setZero(), SUCCESSFUL_RETURN, OCPiterate::u, uResults, OptimizationAlgorithmBase::userInit, vertices, OCPiterate::w, wResults, OCPiterate::x, OCPiterate::xa, xaResults, and xResults.
Referenced by solveSingleObjective().
returnValue MultiObjectiveAlgorithm::solveSingleObjective | ( | const int & | number | ) | [virtual] |
number | The number of the objective to be optimized |
References ACADOERROR, acadoGetTime(), acadoPrintf(), Objective::addMayerTerm(), ASSERT, BS_NOT_INITIALIZED, BT_FALSE, BT_TRUE, EPS, Objective::evaluate(), fabs(), OptimizationAlgorithmBase::getAlgebraicStates(), OptimizationAlgorithmBase::getControls(), OptimizationAlgorithmBase::getDifferentialStates(), VectorspaceElement::getDim(), OptimizationAlgorithmBase::getDisturbances(), OCP::getGrid(), NLPsolver::getNumberOfSteps(), Matrix::getNumCols(), OCP::getObjective(), Objective::getObjectiveValue(), OptimizationAlgorithmBase::getParameters(), getWeights(), INFTY, Matrix::init(), Grid::isEmpty(), m, N, OptimizationAlgorithmBase::nlpSolver, OptimizationAlgorithmBase::ocp, OCPiterate::p, PARETO_FRONT_DISCRETIZATION, PARETO_FRONT_HOTSTART, pResults, VectorspaceElement::setAll(), OCP::setObjective(), UserInteraction::setStatus(), solve(), SUCCESSFUL_RETURN, OCPiterate::u, uResults, OptimizationAlgorithmBase::userInit, vertices, OCPiterate::w, wResults, OCPiterate::x, OCPiterate::xa, xaResults, and xResults.
returnValue Logging::updateLogRecord | ( | LogRecord & | _record | ) | const [inherited] |
In doing so, it is checked for each item whether it is contained within one of of the records of the collection; and if so, the numerical values are copied into the argument record.
[in,out] | _record | Record to be updated |
References Logging::logCollection, and LogCollection::updateLogRecord().
Referenced by UserInteraction::getPlotDataFromMemberLoggings(), and SimulationEnvironment::getSampledProcessOutput().
int MultiObjectiveAlgorithm::count [protected] |
OCPiterate OptimizationAlgorithmBase::iter [protected, inherited] |
Referenced by OptimizationAlgorithmBase::clear(), OptimizationAlgorithmBase::getNP(), OptimizationAlgorithmBase::getNU(), OptimizationAlgorithmBase::getNW(), OptimizationAlgorithmBase::getNX(), OptimizationAlgorithmBase::getNXA(), ParameterEstimationAlgorithm::getParameterVarianceCovariance(), OptimizationAlgorithmBase::init(), OptimizationAlgorithmBase::initializeOCPiterate(), OptimizationAlgorithmBase::operator=(), and OptimizationAlgorithmBase::OptimizationAlgorithmBase().
LogCollection Logging::logCollection [protected, inherited] |
Referenced by Logging::addLogRecord(), Logging::getAll(), Logging::getFirst(), Logging::getLast(), Logging::getLogRecord(), Logging::getNumLogRecords(), Logging::Logging(), Controller::obtainEstimates(), Logging::operator=(), Controller::preparationStep(), Logging::printLoggingInfo(), AlgorithmicBase::printLogRecord(), Logging::printNumDoubles(), AlgorithmicBase::setAll(), AlgorithmicBase::setLast(), Process::simulate(), Controller::step(), Process::step(), and Logging::updateLogRecord().
int Logging::logIdx [protected, inherited] |
Referenced by Logging::Logging(), Logging::operator=(), and IntegrationAlgorithm::setupLogging().
int MultiObjectiveAlgorithm::m [protected] |
Referenced by evaluateObjectives(), formulateOCP(), getNadirVector(), getNormalizedPayOffMatrix(), getParetoFront(), getParetoFrontWithFilter(), getPayOffMatrix(), getUtopiaPlaneVectors(), getUtopiaVector(), getWeights(), getWeightsWithFilter(), MultiObjectiveAlgorithm(), operator=(), solve(), and solveSingleObjective().
int MultiObjectiveAlgorithm::N [protected] |
Referenced by getWeights(), MultiObjectiveAlgorithm(), operator=(), setParetoFrontDiscretization(), solve(), and solveSingleObjective().
NLPsolver* OptimizationAlgorithmBase::nlpSolver [protected, inherited] |
Referenced by OptimizationAlgorithm::allocateNlpSolver(), RealTimeAlgorithm::allocateNlpSolver(), OptimizationAlgorithmBase::clear(), RealTimeAlgorithm::feedbackStep(), OptimizationAlgorithmBase::getAlgebraicStates(), OptimizationAlgorithmBase::getControls(), OptimizationAlgorithmBase::getDifferentialStates(), OptimizationAlgorithmBase::getDisturbances(), OptimizationAlgorithmBase::getObjectiveValue(), OptimizationAlgorithmBase::getParameters(), OptimizationAlgorithmBase::getSensitivitiesP(), OptimizationAlgorithmBase::getSensitivitiesU(), OptimizationAlgorithmBase::getSensitivitiesW(), OptimizationAlgorithmBase::getSensitivitiesX(), OptimizationAlgorithmBase::getSensitivitiesXA(), ParameterEstimationAlgorithm::getVarianceCovariance(), OptimizationAlgorithm::initializeNlpSolver(), RealTimeAlgorithm::initializeNlpSolver(), OptimizationAlgorithmBase::operator=(), OptimizationAlgorithmBase::OptimizationAlgorithmBase(), RealTimeAlgorithm::performFeedbackStep(), RealTimeAlgorithm::performPreparationStep(), RealTimeAlgorithm::setReference(), RealTimeAlgorithm::shift(), solve(), OptimizationAlgorithm::solve(), MHEalgorithm::solve(), RealTimeAlgorithm::solve(), and solveSingleObjective().
uint Options::nOptionsList [protected, inherited] |
Referenced by Options::addOptionsList(), Options::getNumOptionsLists(), Options::operator=(), and Options::Options().
OCP* OptimizationAlgorithmBase::ocp [protected, inherited] |
Referenced by OptimizationAlgorithmBase::clear(), evaluateObjectives(), OptimizationAlgorithmBase::extractOCPdata(), formulateOCP(), OptimizationAlgorithmBase::getEndTime(), OptimizationAlgorithmBase::getStartTime(), MultiObjectiveAlgorithm(), OptimizationAlgorithmBase::operator=(), OptimizationAlgorithmBase::OptimizationAlgorithmBase(), solve(), and solveSingleObjective().
OptionsList** Options::optionsList [protected, inherited] |
Referenced by Options::addOption(), Options::addOptionsList(), Options::clearOptionsList(), Options::declareOptionsUnchanged(), Options::get(), Options::getOptions(), Options::haveOptionsChanged(), Options::operator=(), Options::Options(), Options::printOptionsList(), Options::set(), and Options::setOptions().
PlotCollection Plotting::plotCollection [protected, inherited] |
VariablesGrid* MultiObjectiveAlgorithm::pResults [protected] |
Referenced by getAllParameters(), MultiObjectiveAlgorithm(), operator=(), solve(), solveSingleObjective(), and ~MultiObjectiveAlgorithm().
Matrix MultiObjectiveAlgorithm::result [protected] |
BlockStatus UserInteraction::status [protected, inherited] |
VariablesGrid* MultiObjectiveAlgorithm::uResults [protected] |
Referenced by getAllControls(), MultiObjectiveAlgorithm(), operator=(), solve(), solveSingleObjective(), and ~MultiObjectiveAlgorithm().
OCPiterate OptimizationAlgorithmBase::userInit [protected, inherited] |
Referenced by OptimizationAlgorithmBase::clear(), OptimizationAlgorithmBase::initializeAlgebraicStates(), OptimizationAlgorithmBase::initializeControls(), OptimizationAlgorithmBase::initializeDifferentialStates(), OptimizationAlgorithmBase::initializeDisturbances(), OptimizationAlgorithmBase::initializeOCPiterate(), OptimizationAlgorithmBase::initializeParameters(), OptimizationAlgorithmBase::operator=(), OptimizationAlgorithmBase::OptimizationAlgorithmBase(), OptimizationAlgorithmBase::simulateStatesForInitialization(), solve(), and solveSingleObjective().
Matrix MultiObjectiveAlgorithm::vertices [protected] |
Referenced by getNadirVector(), getPayOffMatrix(), getUtopiaVector(), MultiObjectiveAlgorithm(), operator=(), solve(), and solveSingleObjective().
VariablesGrid* MultiObjectiveAlgorithm::wResults [protected] |
Referenced by getAllDisturbances(), MultiObjectiveAlgorithm(), operator=(), solve(), solveSingleObjective(), and ~MultiObjectiveAlgorithm().
VariablesGrid* MultiObjectiveAlgorithm::xaResults [protected] |
Referenced by getAllAlgebraicStates(), MultiObjectiveAlgorithm(), operator=(), solve(), solveSingleObjective(), and ~MultiObjectiveAlgorithm().
VariablesGrid* MultiObjectiveAlgorithm::xResults [protected] |