NLP Class Reference

Data class for defining static optimization problems. More...

#include <nlp.hpp>

Inheritance diagram for NLP:

List of all members.

Public Member Functions
	NLP ()
	Default constructor.
	NLP (const NLP &rhs)
	Copy constructor (deep copy).
virtual	~NLP ()
	Destructor.
NLP &	operator= (const NLP &rhs)
	Assignment operator (deep copy).
returnValue	minimize (const Expression &arg)
returnValue	minimize (const int &multiObjectiveIdx, const Expression &arg)
returnValue	minimizeMayerTerm (const Expression &arg)
	Adds an expression as a the Mayer term to be minimized.
returnValue	minimizeMayerTerm (const int &multiObjectiveIdx, const Expression &arg)
	Adds an expression as a the Mayer term to be minimized.
returnValue	maximizeMayerTerm (const Expression &arg)
	Adds an expression as a the Mayer term to be maximized.
returnValue	minimizeLagrangeTerm (const Expression &arg)
	Adds an expression as a the Lagrange term to be minimized.
returnValue	maximizeLagrangeTerm (const Expression &arg)
	Adds an expression as a the Lagrange term to be maximized.
returnValue	subjectTo (const DifferentialEquation &differentialEquation_)
	Adds an differential equation (as a continuous equality constraint).
returnValue	subjectTo (const ConstraintComponent &component)
	Adds a (continuous) constraint.
returnValue	subjectTo (const int index_, const ConstraintComponent &component)
returnValue	subjectTo (const TimeHorizonElement index_, const ConstraintComponent &component)
	Adds a (discrete) contraint.
returnValue	subjectTo (const double lb_, const Expression &arg1, const Expression &arg2, const double ub_)
	Add a coupled boundary constraint.
returnValue	subjectTo (const double lb_, const Expression *arguments, const double ub_)
	Add a custom constraint.
int	getNumberOfMayerTerms () const
returnValue	setDimensions (uint _NX1, uint _NX2, uint _NX3, uint _NDX, uint _NDX3, uint _NXA, uint _NXA3, uint _NU, uint _NP)
	Assigns the model dimensions to be used by the integrator.
returnValue	setDimensions (uint _NX1, uint _NX2, uint _NX3, uint _NDX, uint _NDX3, uint _NXA, uint _NXA3, uint _NU)
returnValue	setDimensions (uint _NX1, uint _NX2, uint _NX3, uint _NDX, uint _NXA, uint _NU, uint _NP)
	Assigns the model dimensions to be used by the integrator.
returnValue	setDimensions (uint _NX1, uint _NX2, uint _NX3, uint _NDX, uint _NXA, uint _NU)
returnValue	setDimensions (uint _NX, uint _NDX, uint _NXA, uint _NU, uint _NP)
	Assigns the model dimensions to be used by the integrator.
returnValue	setDimensions (uint _NX, uint _NDX, uint _NXA, uint _NU)
returnValue	setDimensions (uint _NX, uint _NU, uint _NP)
	Assigns the model dimensions to be used by the integrator.
returnValue	setDimensions (uint _NX, uint _NU)
returnValue	setModel (const DifferentialEquation &_f)
	Assigns Differential Equation to be used by the integrator.
returnValue	setModel (const String &fileName, const String &_rhs_ODE, const String &_diffs_rhs_ODE)
	Assigns the model to be used by the integrator.
returnValue	setNARXmodel (const uint _delay, const Matrix &_parms)
	Assigns a polynomial NARX model to be used by the integrator.
returnValue	setLinearInput (const Matrix &A1_, const Matrix &B1_)
returnValue	setLinearInput (const Matrix &M1_, const Matrix &A1_, const Matrix &B1_)
returnValue	setLinearOutput (const Matrix &A3_, const OutputFcn &rhs_)
returnValue	setLinearOutput (const Matrix &M3_, const Matrix &A3_, const OutputFcn &rhs_)
returnValue	setLinearOutput (const Matrix &A3_, const String &_rhs3, const String &_diffs_rhs3)
returnValue	setLinearOutput (const Matrix &M3_, const Matrix &A3_, const String &_rhs3, const String &_diffs_rhs3)
uint	addOutput (const OutputFcn &outputEquation_, const Vector &measurements)
	Adds an output function.
uint	addOutput (const OutputFcn &outputEquation_, const uint numberMeasurements)
	Adds an output function.
uint	addOutput (const String &output, const String &diffs_output, const uint dim, const Vector &measurements)
	Adds an output function.
uint	addOutput (const String &output, const String &diffs_output, const uint dim, const uint numberMeasurements)
	Adds an output function.
uint	addOutput (const String &output, const String &diffs_output, const uint dim, const Vector &measurements, const String &colInd, const String &rowPtr)
	Adds an output function.
uint	addOutput (const String &output, const String &diffs_output, const uint dim, const uint numberMeasurements, const String &colInd, const String &rowPtr)
	Adds an output function.
returnValue	setIntegrationGrid (const Grid &_ocpGrid, const uint _numSteps)
	Sets integration grid.
returnValue	setupOutput (const Vector &numberMeasurements)
	Sets up the output functions.
returnValue	getModel (DifferentialEquation &_f) const
	Returns the differential equations in the model.
BooleanType	hasOutputs () const
BooleanType	hasDifferentialEquation () const
BooleanType	modelDimensionsSet () const
BooleanType	hasEquidistantControlGrid () const
BooleanType	exportRhs () const
uint	getNX () const
	Returns number of differential states.
uint	getNDX () const
	Returns number of differential state derivatives.
uint	getNXA () const
	Returns number of algebraic states.
uint	getNU () const
	Returns number of control inputs.
uint	getNP () const
	Returns number of parameters.
uint	getN () const
	Returns number of control intervals.
returnValue	setN (const uint N_)
	Sets the number of shooting intervals.
Vector	getDimOutputs () const
	Returns the dimensions of the different output functions.
Vector	getNumMeas () const
	Returns the number of measurements for the different output functions.
ModelData &	getModelData ()
	Returns the model data object.
returnValue	setModelData (const ModelData &data)
	Sets the model data object.
const String	getFileNameModel () const
Least Squares terms.
Adds a Least Square term of the form \begin{equation*} \frac{1}{2} \sum_i \Vert h(t_i,x(t_i),u(t_i),p(t_i),...) - r \Vert^2_{S_{i}} \end{equation*} Here the sum is over all grid points of the objective grid. The Matrix \( S \) is assumed to be symmetric and positive (semi-) definite. The Function \( r \) is called reference and can be specified by the user. The function \( h \) is a standard Function. See also: function_.hpp Returns: SUCCESSFUL_RETURN
returnValue	minimizeLSQ (const Matrix &S, const Function &h, const Vector &r)
returnValue	minimizeLSQ (const Function &h, const Vector &r)
returnValue	minimizeLSQ (const Function &h)
returnValue	minimizeLSQ (const MatrixVariablesGrid &S, const Function &h, const VariablesGrid &r)
returnValue	minimizeLSQ (const Matrix &S, const Function &h, const VariablesGrid &r)
returnValue	minimizeLSQ (const Function &h, const VariablesGrid &r)
returnValue	minimizeLSQ (const MatrixVariablesGrid &S, const Function &h, const char *rFilename)
returnValue	minimizeLSQ (const Matrix &S, const Function &h, const char *rFilename)
returnValue	minimizeLSQ (const Function &h, const char *rFilename)
returnValue	minimizeLSQ (const ExportVariable &S, const Function &h)
returnValue	minimizeLSQ (const ExportVariable &S, const String &h)
Least Squares end terms.
Adds an Least Square term that is only evaluated at the end: \begin{equation*} \frac{1}{2} \Vert( m(T,x(T),u(T),p(T),...) - r )\Vert^2_S \end{equation*} where \( S \) is a weighting matrix, \( r \) a reference vector and \( T \) the time at the last objective grid point. The function \( m \) is a standard Function. Returns: SUCCESSFUL_RETURN
returnValue	minimizeLSQEndTerm (const Matrix &S, const Function &m, const Vector &r)
returnValue	minimizeLSQEndTerm (const Function &m, const Vector &r)
returnValue	minimizeLSQEndTerm (const ExportVariable &S)
returnValue	minimizeLSQEndTerm (const ExportVariable &S, const Function &m)
returnValue	minimizeLSQEndTerm (const ExportVariable &S, const String &m)
Helper functions.
BooleanType	hasObjective () const
BooleanType	hasConstraint () const
returnValue	getGrid (Grid &grid_) const
returnValue	getObjective (Objective &objective_) const
returnValue	getObjective (const int &multiObjectiveIdx, Expression **arg) const
returnValue	getConstraint (Constraint &constraint_) const
returnValue	setObjective (const Objective &objective_)
returnValue	setConstraint (const Constraint &constraint_)
returnValue	setNumberIntegrationSteps (const uint numSteps)
virtual BooleanType	hasEquidistantGrid () const
	Returns whether the ocp grid is equidistant.
double	getStartTime () const
double	getEndTime () const
Set linear terms in the LSQ formulation.
returnValue	minimizeLSQLinearTerms (const Vector &Slx, const Vector &Slu)
	Applicable only for automatic code generation.
returnValue	minimizeLSQLinearTerms (const ExportVariable &Slx, const ExportVariable &Slu)
	Applicable only for automatic code generation.
Protected Member Functions
void	setupGrid (double tStart, double tEnd, int N)
void	setupGrid (const Vector &times)
void	copy (const OCP &rhs)
Protected Attributes
Grid	grid
	Common discretization grid.
Objective	objective
	The Objective.
Constraint	constraint
	The Constraints.
int	nMayer
Expression **	mayerTerms
ModelData	modelData
	The model data.

---

Detailed Description

The class NLP is a data class for defining static optimization problems.

Author:

Boris Houska, Hans Joachim Ferreau

---

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO NLP::NLP

(

)

NLP::NLP

(

const NLP &

rhs

)

NLP::~NLP

(

)

[virtual]

---

Member Function Documentation

uint ModelContainer::addOutput	(	const OutputFcn &	outputEquation_,
		const Vector &	measurements
	)		[inherited]

Parameters:

outputEquation_	an output function to be added
measurements	the measurement points per interval

Returns:

SUCCESSFUL_RETURN

References ModelData::addOutput(), Vector::append(), and ModelContainer::modelData.

uint ModelContainer::addOutput	(	const OutputFcn &	outputEquation_,
		const uint	numberMeasurements
	)		[inherited]

Parameters:

outputEquation_	an output function to be added
numberMeasurements	the number of measurements per interval

Returns:

SUCCESSFUL_RETURN

References ModelData::addOutput(), and ModelContainer::modelData.

uint ModelContainer::addOutput	(	const String &	output,
		const String &	diffs_output,
		const uint	dim,
		const Vector &	measurements
	)		[inherited]

Parameters:

output	The output function to be added.
diffs_output	The derivatives of the output function to be added.
dim	The dimension of the output function.
measurements	The measurement points per interval

Returns:

SUCCESSFUL_RETURN

References ModelData::addOutput(), Vector::append(), and ModelContainer::modelData.

uint ModelContainer::addOutput	(	const String &	output,
		const String &	diffs_output,
		const uint	dim,
		const uint	numberMeasurements
	)		[inherited]

Parameters:

output	The output function to be added.
diffs_output	The derivatives of the output function to be added.
dim	The dimension of the output function.
numberMeasurements	The number of measurements per interval

Returns:

SUCCESSFUL_RETURN

References ModelData::addOutput(), and ModelContainer::modelData.

uint ModelContainer::addOutput	(	const String &	output,
		const String &	diffs_output,
		const uint	dim,
		const Vector &	measurements,
		const String &	colInd,
		const String &	rowPtr
	)		[inherited]

Parameters:

output	The output function to be added.
diffs_output	The derivatives of the output function to be added.
dim	The dimension of the output function.
measurements	The measurement points per interval
colInd	Vector stores the column indices of the elements for Compressed Row Storage (CRS).
rowPtr	Vector stores the locations that start a row for Compressed Row Storage (CRS).

Returns:

SUCCESSFUL_RETURN

References ModelData::addOutput(), Vector::append(), and ModelContainer::modelData.

uint ModelContainer::addOutput	(	const String &	output,
		const String &	diffs_output,
		const uint	dim,
		const uint	numberMeasurements,
		const String &	colInd,
		const String &	rowPtr
	)		[inherited]

Parameters:

output	The output function to be added.
diffs_output	The derivatives of the output function to be added.
dim	The dimension of the output function.
numberMeasurements	The number of measurements per interval
colInd	Vector stores the column indices of the elements for Compressed Row Storage (CRS).
rowPtr	Vector stores the locations that start a row for Compressed Row Storage (CRS).

Returns:

SUCCESSFUL_RETURN

References ModelData::addOutput(), and ModelContainer::modelData.

void OCP::copy

(

const OCP &

rhs

)

[protected, inherited]

References OCP::constraint, OCP::grid, ModelContainer::modelData, and OCP::objective.

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

BooleanType ModelContainer::exportRhs

(

)

const [inherited]

References ModelData::exportRhs(), and ModelContainer::modelData.

returnValue OCP::getConstraint

(

Constraint &

constraint_

)

const [inherited]

References OCP::constraint, and SUCCESSFUL_RETURN.

Referenced by OptimizationAlgorithmBase::extractOCPdata(), ExportNLPSolver::setConstraints(), and MultiObjectiveAlgorithm::solve().

Vector ModelContainer::getDimOutputs

(

)

const [inherited]

Returns:

dimensions of the different output functions.

References ModelData::getDimOutputs(), and ModelContainer::modelData.

Referenced by SIMexport::exportAcadoHeader().

double OCP::getEndTime

(

)

const [inherited]

References Grid::getLastTime(), and OCP::grid.

Referenced by OptimizationAlgorithmBase::getEndTime().

const String ModelContainer::getFileNameModel

(

)

const [inherited]

References ModelData::getFileNameModel(), and ModelContainer::modelData.

returnValue OCP::getGrid

(

Grid &

grid_

)

const [inherited]

References OCP::grid, and SUCCESSFUL_RETURN.

Referenced by MultiObjectiveAlgorithm::evaluateObjectives(), OptimizationAlgorithmBase::extractOCPdata(), MultiObjectiveAlgorithm::formulateOCP(), ExportNLPSolver::setConstraints(), and MultiObjectiveAlgorithm::solveSingleObjective().

returnValue ModelContainer::getModel

(

DifferentialEquation &

_f

)

const [inherited]

Returns:

SUCCESSFUL_RETURN

References ModelData::getModel(), ModelContainer::modelData, and SUCCESSFUL_RETURN.

Referenced by OCPexport::checkConsistency(), and OptimizationAlgorithmBase::extractOCPdata().

ModelData & ModelContainer::getModelData

(

)

[inherited]

Returns:

the model data object.

References ModelContainer::modelData.

Referenced by OCPexport::setup().

uint ModelContainer::getN

(

)

const [inherited]

Returns:

Number of control intervals

References ModelData::getN(), and ModelContainer::modelData.

Referenced by SIMexport::exportAcadoHeader(), OCPexport::exportAcadoHeader(), OCPexport::exportCode(), and OCPexport::setup().

uint ModelContainer::getNDX

(

)

const [inherited]

Returns:

Number of differential state derivatives

References ModelData::getNDX(), and ModelContainer::modelData.

Referenced by SIMexport::exportAcadoHeader(), OCPexport::exportAcadoHeader(), OCPexport::exportCode(), and OCPexport::setup().

uint ModelContainer::getNP

(

)

const [inherited]

Returns:

Number of parameters

References ModelData::getNP(), and ModelContainer::modelData.

Referenced by SIMexport::exportAcadoHeader(), OCPexport::exportAcadoHeader(), OCPexport::exportCode(), and OCPexport::setup().

uint ModelContainer::getNU

(

)

const [inherited]

Returns:

Number of control inputs

References ModelData::getNU(), and ModelContainer::modelData.

Referenced by SIMexport::exportAcadoHeader(), OCPexport::exportAcadoHeader(), OCPexport::exportCode(), and OCPexport::setup().

BEGIN_NAMESPACE_ACADO int MultiObjectiveFunctionality::getNumberOfMayerTerms

(

)

const [inline, inherited]

References MultiObjectiveFunctionality::nMayer.

Referenced by MultiObjectiveAlgorithm::MultiObjectiveAlgorithm().

Vector ModelContainer::getNumMeas

(

)

const [inherited]

Returns:

number of measurements for the different output functions.

References ModelData::getNumMeas(), and ModelContainer::modelData.

Referenced by SIMexport::exportAcadoHeader().

uint ModelContainer::getNX

(

)

const [inherited]

Returns:

Number of differential states

References ModelData::getNX(), and ModelContainer::modelData.

Referenced by SIMexport::exportAcadoHeader(), OCPexport::exportAcadoHeader(), OCPexport::exportCode(), and OCPexport::setup().

uint ModelContainer::getNXA

(

)

const [inherited]

Returns:

Number of algebraic states

References ModelData::getNXA(), and ModelContainer::modelData.

Referenced by SIMexport::exportAcadoHeader(), OCPexport::exportAcadoHeader(), OCPexport::exportCode(), and OCPexport::setup().

returnValue OCP::getObjective

(

Objective &

objective_

)

const [inherited]

References OCP::objective, and SUCCESSFUL_RETURN.

Referenced by OptimizationAlgorithmBase::extractOCPdata(), OCP::getObjective(), OCPexport::setup(), MultiObjectiveAlgorithm::solve(), and MultiObjectiveAlgorithm::solveSingleObjective().

returnValue OCP::getObjective	(	const int &	multiObjectiveIdx,
		Expression **	arg
	)		const [inherited]

Reimplemented from MultiObjectiveFunctionality.

References OCP::getObjective().

double OCP::getStartTime

(

)

const [inherited]

References Grid::getFirstTime(), and OCP::grid.

Referenced by OptimizationAlgorithmBase::getStartTime().

BooleanType OCP::hasConstraint

(

)

const [inherited]

References BT_FALSE, BT_TRUE, OCP::constraint, and Constraint::isEmpty().

Referenced by OptimizationAlgorithmBase::extractOCPdata().

BooleanType ModelContainer::hasDifferentialEquation

(

)

const [inherited]

References BT_FALSE, BT_TRUE, Function::getDim(), ModelData::getModel(), and ModelContainer::modelData.

Referenced by OptimizationAlgorithmBase::extractOCPdata().

BooleanType ModelContainer::hasEquidistantControlGrid

(

)

const [inherited]

References ModelData::hasEquidistantControlGrid(), and ModelContainer::modelData.

Referenced by OCP::setNumberIntegrationSteps().

BooleanType OCP::hasEquidistantGrid

(

)

const [virtual, inherited]

Returns:

BT_TRUE iff the OCP grid is equidistant, BT_FALSE otherwise.

References ModelData::getNumSteps(), VectorspaceElement::isEmpty(), and ModelContainer::modelData.

BooleanType OCP::hasObjective

(

)

const [inherited]

References BT_FALSE, BT_TRUE, Objective::isEmpty(), and OCP::objective.

Referenced by OCPexport::checkConsistency(), and OptimizationAlgorithmBase::extractOCPdata().

BooleanType ModelContainer::hasOutputs

(

)

const [inherited]

References BT_FALSE, BT_TRUE, ModelData::getOutputExpressions(), and ModelContainer::modelData.

Referenced by SIMexport::setReference().

returnValue OCP::maximizeLagrangeTerm

(

const Expression &

arg

)

[inherited]

Returns:

SUCCESSFUL_RETURN

References LagrangeTerm::addLagrangeTerm(), and OCP::objective.

returnValue OCP::maximizeMayerTerm

(

const Expression &

arg

)

[inherited]

Note that this function is introduced for convenience only. A call of the form maximizeMayerTerm( arg ) is equivalent to calling minimizeMayerTerm( -arg ).

Returns:

SUCCESSFUL_RETURN

References Objective::addMayerTerm(), and OCP::objective.

returnValue NLP::minimize

(

const Expression &

arg

)

References OCP::minimizeMayerTerm().

returnValue NLP::minimize	(	const int &	multiObjectiveIdx,
		const Expression &	arg
	)

References OCP::minimizeMayerTerm().

returnValue OCP::minimizeLagrangeTerm

(

const Expression &

arg

)

[inherited]

Returns:

SUCCESSFUL_RETURN

References LagrangeTerm::addLagrangeTerm(), and OCP::objective.

returnValue OCP::minimizeLSQ	(	const Matrix &	S,
		const Function &	h,
		const Vector &	r
	)		[inherited]

Parameters:

S	a weighting matrix
h	the LSQ-Function
r	the reference

References ACADOERROR, Objective::addLSQ(), BT_FALSE, Matrix::isPositiveSemiDefinite(), OCP::objective, and RET_NONPOSITIVE_WEIGHT.

Referenced by OCP::minimizeLSQ().

returnValue OCP::minimizeLSQ	(	const Function &	h,
		const Vector &	r
	)		[inherited]

Parameters:

h	the LSQ-Function
r	the reference

References Function::getDim(), OCP::minimizeLSQ(), and Matrix::setIdentity().

returnValue OCP::minimizeLSQ

(

const Function &

h

)

[inherited]

Parameters:

h	the LSQ-Function

References Function::getDim(), OCP::minimizeLSQ(), Matrix::setIdentity(), and VectorspaceElement::setZero().

returnValue OCP::minimizeLSQ	(	const MatrixVariablesGrid &	S,
		const Function &	h,
		const VariablesGrid &	r
	)		[inherited]

Parameters:

S	a weighting matrix
h	the LSQ-Function
r	the reference

References Objective::addLSQ(), and OCP::objective.

returnValue OCP::minimizeLSQ	(	const Matrix &	S,
		const Function &	h,
		const VariablesGrid &	r
	)		[inherited]

Parameters:

S	a weighting matrix
h	the LSQ-Function
r	the reference

References ACADOERROR, Objective::addLSQ(), BT_FALSE, Matrix::isPositiveSemiDefinite(), OCP::objective, and RET_NONPOSITIVE_WEIGHT.

returnValue OCP::minimizeLSQ	(	const Function &	h,
		const VariablesGrid &	r
	)		[inherited]

Parameters:

h	the LSQ-Function
r	the reference

References Objective::addLSQ(), and OCP::objective.

returnValue OCP::minimizeLSQ	(	const MatrixVariablesGrid &	S,
		const Function &	h,
		const char *	rFilename
	)		[inherited]

Parameters:

S	a weighting matrix
h	the LSQ-Function
rFilename	filename where the reference is stored

References ACADOERROR, BT_TRUE, Grid::isEmpty(), OCP::minimizeLSQ(), readFromFile(), and RET_FILE_CAN_NOT_BE_OPENED.

returnValue OCP::minimizeLSQ	(	const Matrix &	S,
		const Function &	h,
		const char *	rFilename
	)		[inherited]

Parameters:

S	a weighting matrix
h	the LSQ-Function
rFilename	filename where the reference is stored

References ACADOERROR, BT_TRUE, Grid::isEmpty(), OCP::minimizeLSQ(), readFromFile(), and RET_FILE_CAN_NOT_BE_OPENED.

returnValue OCP::minimizeLSQ	(	const Function &	h,
		const char *	rFilename
	)		[inherited]

Parameters:

h	the LSQ-Function
rFilename	filename where the reference is stored

References ACADOERROR, BT_TRUE, Grid::isEmpty(), OCP::minimizeLSQ(), readFromFile(), and RET_FILE_CAN_NOT_BE_OPENED.

returnValue OCP::minimizeLSQ	(	const ExportVariable &	S,
		const Function &	h
	)		[inherited]

Note:

Applicable only for automatic code generation.

Warning:

Experimental.

Parameters:

S	a weighting matrix
h	the LSQ-Function

References Objective::addLSQ(), and OCP::objective.

returnValue OCP::minimizeLSQ	(	const ExportVariable &	S,
		const String &	h
	)		[inherited]

Parameters:

S	a weighting matrix
h	the externally defined LSQ-Function

References Objective::addLSQ(), and OCP::objective.

returnValue OCP::minimizeLSQEndTerm	(	const Matrix &	S,
		const Function &	m,
		const Vector &	r
	)		[inherited]

Parameters:

S	a weighting matrix
m	the LSQ-Function
r	the reference

References ACADOERROR, Objective::addLSQEndTerm(), BT_FALSE, Matrix::isPositiveSemiDefinite(), OCP::objective, and RET_NONPOSITIVE_WEIGHT.

Referenced by OCP::minimizeLSQEndTerm().

returnValue OCP::minimizeLSQEndTerm	(	const Function &	m,
		const Vector &	r
	)		[inherited]

Parameters:

m	the LSQ-Function
r	the reference

References Function::getDim(), OCP::minimizeLSQEndTerm(), and Matrix::setIdentity().

returnValue OCP::minimizeLSQEndTerm

(

const ExportVariable &

S

)

[inherited]

Note:

Applicable only for automatic code generation.

Warning:

This function will be deprecated in the next release.

Parameters:

S	a weighting matrix for differential states

returnValue OCP::minimizeLSQEndTerm	(	const ExportVariable &	S,
		const Function &	m
	)		[inherited]

Note:

Applicable only for automatic code generation.

Warning:

Experimental.

Parameters:

S	a weighting matrix
m	the LSQ-Function

References Objective::addLSQEndTerm(), and OCP::objective.

returnValue OCP::minimizeLSQEndTerm	(	const ExportVariable &	S,
		const String &	m
	)		[inherited]

Note:

Applicable only for automatic code generation.

Warning:

Experimental.

Parameters:

S	a weighting matrix
m	the externally defined LSQ-Function

References Objective::addLSQEndTerm(), and OCP::objective.

returnValue OCP::minimizeLSQLinearTerms	(	const Vector &	Slx,
		const Vector &	Slu
	)		[inherited]

Note:

Experimental.

Parameters:

Slx	a weighting vector for differential states.
Slu	a weighting vector for controls.

References Objective::addLSQLinearTerms(), and OCP::objective.

returnValue OCP::minimizeLSQLinearTerms	(	const ExportVariable &	Slx,
		const ExportVariable &	Slu
	)		[inherited]

Note:

Experimental.

Parameters:

Slx	a weighting vector for differential states.
Slu	a weighting vector for controls.

References Objective::addLSQLinearTerms(), and OCP::objective.

returnValue OCP::minimizeMayerTerm

(

const Expression &

arg

)

[inherited]

Returns:

SUCCESSFUL_RETURN

References Objective::addMayerTerm(), and OCP::objective.

Referenced by minimize(), and OCP::minimizeMayerTerm().

returnValue OCP::minimizeMayerTerm	(	const int &	multiObjectiveIdx,
		const Expression &	arg
	)		[inherited]

In this version the number of the objective can be specified as well. This functionality is needed for multi-objective optimal control problems.

Returns:

SUCCESSFUL_RETURN

Reimplemented from MultiObjectiveFunctionality.

References OCP::minimizeMayerTerm().

BooleanType ModelContainer::modelDimensionsSet

(

)

const [inherited]

References ModelContainer::modelData, and ModelData::modelDimensionsSet().

Referenced by SIMexport::exportCode().

NLP & NLP::operator=

(

const NLP &

rhs

)

returnValue OCP::setConstraint

(

const Constraint &

constraint_

)

[inherited]

References OCP::constraint, and SUCCESSFUL_RETURN.

Referenced by MultiObjectiveAlgorithm::solve().

returnValue ModelContainer::setDimensions	(	uint	_NX1,
		uint	_NX2,
		uint	_NX3,
		uint	_NDX,
		uint	_NDX3,
		uint	_NXA,
		uint	_NXA3,
		uint	_NU,
		uint	_NP
	)		[inherited]

Parameters:

[in]	_NX1	Number of differential states in linear input subsystem.
[in]	_NX2	Number of differential states in nonlinear subsystem.
[in]	_NX3	Number of differential states in linear output subsystem.
[in]	_NDX	Number of differential states derivatives.
[in]	_NDX3	Number of differential states derivatives in the linear output subsystem.
[in]	_NXA	Number of algebraic states.
[in]	_NXA3	Number of algebraic states in the linear output subsystem.
[in]	_NU	Number of control inputs
[in]	_NP	Number of parameters

Returns:

SUCCESSFUL_RETURN

References ModelContainer::modelData, and ModelData::setDimensions().

Referenced by ModelContainer::setDimensions().

returnValue ModelContainer::setDimensions	(	uint	_NX1,
		uint	_NX2,
		uint	_NX3,
		uint	_NDX,
		uint	_NDX3,
		uint	_NXA,
		uint	_NXA3,
		uint	_NU
	)		[inherited]

References ModelContainer::setDimensions().

returnValue ModelContainer::setDimensions	(	uint	_NX1,
		uint	_NX2,
		uint	_NX3,
		uint	_NDX,
		uint	_NXA,
		uint	_NU,
		uint	_NP
	)		[inherited]

Parameters:

[in]	_NX1	Number of differential states in linear input subsystem.
[in]	_NX2	Number of differential states in nonlinear subsystem.
[in]	_NX3	Number of differential states in linear output subsystem.
[in]	_NDX	Number of differential states derivatives.
[in]	_NXA	Number of algebraic states.
[in]	_NU	Number of control inputs
[in]	_NP	Number of parameters

Returns:

SUCCESSFUL_RETURN

References ModelContainer::setDimensions().

returnValue ModelContainer::setDimensions	(	uint	_NX1,
		uint	_NX2,
		uint	_NX3,
		uint	_NDX,
		uint	_NXA,
		uint	_NU
	)		[inherited]

References ModelContainer::setDimensions().

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

Parameters:

[in]	_NX	Number of differential states.
[in]	_NDX	Number of differential states derivatives.
[in]	_NXA	Number of algebraic states.
[in]	_NU	Number of control inputs
[in]	_NP	Number of parameters

Returns:

SUCCESSFUL_RETURN

References ModelContainer::setDimensions().

returnValue ModelContainer::setDimensions	(	uint	_NX,
		uint	_NDX,
		uint	_NXA,
		uint	_NU
	)		[inherited]

References ModelContainer::setDimensions().

returnValue ModelContainer::setDimensions	(	uint	_NX,
		uint	_NU,
		uint	_NP
	)		[inherited]

Parameters:

[in]	_NX	Number of differential states.
[in]	_NU	Number of control inputs
[in]	_NP	Number of parameters

Returns:

SUCCESSFUL_RETURN

References ModelContainer::setDimensions().

returnValue ModelContainer::setDimensions	(	uint	_NX,
		uint	_NU
	)		[inherited]

References ModelContainer::setDimensions().

returnValue ModelContainer::setIntegrationGrid	(	const Grid &	_ocpGrid,
		const uint	_numSteps
	)		[inherited]

Parameters:

[in]	_ocpGrid	Evaluation grid for optimal control.
[in]	numSteps	The number of integration steps along the horizon.

Returns:

SUCCESSFUL_RETURN

References ModelContainer::modelData, and ModelData::setIntegrationGrid().

Referenced by OCP::setNumberIntegrationSteps().

returnValue ModelContainer::setLinearInput	(	const Matrix &	A1_,
		const Matrix &	B1_
	)		[inherited]

Parameters:

[in]

.

Returns:

SUCCESSFUL_RETURN

References eye(), Matrix::getNumRows(), ModelContainer::modelData, and ModelData::setLinearInput().

returnValue ModelContainer::setLinearInput	(	const Matrix &	M1_,
		const Matrix &	A1_,
		const Matrix &	B1_
	)		[inherited]

Parameters:

[in]

.

Returns:

SUCCESSFUL_RETURN

References ModelContainer::modelData, and ModelData::setLinearInput().

returnValue ModelContainer::setLinearOutput	(	const Matrix &	A3_,
		const OutputFcn &	rhs_
	)		[inherited]

Parameters:

[in]

.

Returns:

SUCCESSFUL_RETURN

References eye(), Matrix::getNumRows(), ModelContainer::modelData, and ModelData::setLinearOutput().

returnValue ModelContainer::setLinearOutput	(	const Matrix &	M3_,
		const Matrix &	A3_,
		const OutputFcn &	rhs_
	)		[inherited]

Parameters:

[in]

.

Returns:

SUCCESSFUL_RETURN

References ModelContainer::modelData, and ModelData::setLinearOutput().

returnValue ModelContainer::setLinearOutput	(	const Matrix &	A3_,
		const String &	_rhs3,
		const String &	_diffs_rhs3
	)		[inherited]

Parameters:

[in]

.

Returns:

SUCCESSFUL_RETURN

References eye(), Matrix::getNumRows(), ModelContainer::modelData, and ModelData::setLinearOutput().

returnValue ModelContainer::setLinearOutput	(	const Matrix &	M3_,
		const Matrix &	A3_,
		const String &	_rhs3,
		const String &	_diffs_rhs3
	)		[inherited]

Parameters:

[in]

.

Returns:

SUCCESSFUL_RETURN

References ModelContainer::modelData, and ModelData::setLinearOutput().

returnValue ModelContainer::setModel

(

const DifferentialEquation &

_f

)

[inherited]

Parameters:

[in]

f

Differential equation.

Returns:

SUCCESSFUL_RETURN

References ModelContainer::modelData, and ModelData::setModel().

returnValue ModelContainer::setModel	(	const String &	fileName,
		const String &	_rhs_ODE,
		const String &	_diffs_rhs_ODE
	)		[inherited]

Parameters:

[in]	_rhs_ODE	Name of the function, evaluating the ODE right-hand side.
[in]	_diffs_rhs_ODE	Name of the function, evaluating the derivatives of the ODE right-hand side.

Returns:

SUCCESSFUL_RETURN

References ModelContainer::modelData, and ModelData::setModel().

returnValue ModelContainer::setModelData

(

const ModelData &

data

)

[inherited]

Parameters:

[in]

data

the model data object.

Returns:

SUCCESSFUL_RETURN

References ModelContainer::modelData, and SUCCESSFUL_RETURN.

returnValue ModelContainer::setN

(

const uint

N_

)

[inherited]

Parameters:

[in]

N_

The number of shooting intervals.

Returns:

SUCCESSFUL_RETURN

References ModelContainer::modelData, ModelData::setN(), and SUCCESSFUL_RETURN.

Referenced by OCP::OCP(), OCP::setupGrid(), and SIMexport::SIMexport().

returnValue ModelContainer::setNARXmodel	(	const uint	_delay,
		const Matrix &	_parms
	)		[inherited]

Parameters:

[in]	delay	The delay for the states in the NARX model.
[in]	parms	The parameters defining the polynomial NARX model.

Returns:

SUCCESSFUL_RETURN

References ModelContainer::modelData, and ModelData::setNARXmodel().

returnValue OCP::setNumberIntegrationSteps

(

const uint

numSteps

)

[inherited]

References OCP::grid, ModelContainer::hasEquidistantControlGrid(), ModelContainer::setIntegrationGrid(), and SUCCESSFUL_RETURN.

Referenced by OCPexport::setup().

returnValue OCP::setObjective

(

const Objective &

objective_

)

[inherited]

References OCP::objective, and SUCCESSFUL_RETURN.

Referenced by MultiObjectiveAlgorithm::formulateOCP(), and MultiObjectiveAlgorithm::solveSingleObjective().

void OCP::setupGrid	(	double	tStart,
		double	tEnd,
		int	N
	)		[protected, inherited]

References OCP::constraint, Grid::getNumIntervals(), OCP::grid, Constraint::init(), Objective::init(), Grid::init(), OCP::objective, and ModelContainer::setN().

Referenced by OCP::OCP().

void OCP::setupGrid

(

const Vector &

times

)

[protected, inherited]

References OCP::constraint, Grid::getNumIntervals(), OCP::grid, Constraint::init(), Objective::init(), Grid::init(), OCP::objective, and ModelContainer::setN().

returnValue ModelContainer::setupOutput

(

const Vector &

numberMeasurements

)

[inherited]

Parameters:

numberMeasurements

the number of measurements per horizon for each output function

Returns:

SUCCESSFUL_RETURN

returnValue OCP::subjectTo

(

const DifferentialEquation &

differentialEquation_

)

[inherited]

Parameters:

differentialEquation_	the differential equation to be added
n_	the number of control intervals

Returns:

SUCCESSFUL_RETURN

References ModelContainer::modelData, ModelData::setModel(), and SUCCESSFUL_RETURN.

Referenced by MultiObjectiveAlgorithm::formulateOCP().

returnValue OCP::subjectTo

(

const ConstraintComponent &

component

)

[inherited]

Returns:

SUCCESSFUL_RETURN
RET_INFEASIBLE_CONSTRAINT
Adds a (discrete) constraint.

SUCCESSFUL_RETURN
RET_INFEASIBLE_CONSTRAINT

References Constraint::add(), OCP::constraint, ConstraintComponent::getDim(), SUCCESSFUL_RETURN, and uint.

returnValue OCP::subjectTo	(	const int	index_,
		const ConstraintComponent &	component
	)		[inherited]

References Constraint::add(), OCP::constraint, ConstraintComponent::getDim(), SUCCESSFUL_RETURN, and uint.

returnValue OCP::subjectTo	(	const TimeHorizonElement	index_,
		const ConstraintComponent &	component
	)		[inherited]

Returns:

SUCCESSFUL_RETURN
RET_INFEASIBLE_CONSTRAINT

References ACADO_TRY, ACADOERROR, Constraint::add(), AT_END, AT_START, OCP::constraint, ConstraintComponent::getDim(), Grid::getLastIndex(), OCP::grid, RET_UNKNOWN_BUG, SUCCESSFUL_RETURN, and uint.

returnValue OCP::subjectTo	(	const double	lb_,
		const Expression &	arg1,
		const Expression &	arg2,
		const double	ub_
	)		[inherited]

Coupled boundary constraints of general form

\begin{equation*} \text{lb} \leq h_1( t_0,x(t_0),u(t_0),p,... ) + h_2( t_e,x(t_e),u(t_e),p,... ) \leq \text{ub} \end{equation*}

where \( t_0 \) is the first and \( t_e \) the last time point in the grid. Adds a constraint of the form

lb <= arg1(0) + arg2(T) <= ub 

with constant lower and upper bounds.

Returns:

SUCCESSFUL_RETURN
RET_INFEASIBLE_CONSTRAINT

References Constraint::add(), and OCP::constraint.

returnValue OCP::subjectTo	(	const double	lb_,
		const Expression *	arguments,
		const double	ub_
	)		[inherited]

Adds a constraint of the form

\begin{equation*} \text{lb} <= \sum_i h_i(t_i, x(t_i), u(t_i), p, ...) <= \text{ub} \end{equation*}

with constant lower and upper bounds.

Returns:

SUCCESSFUL_RETURN
RET_INFEASIBLE_CONSTRAINT

References Constraint::add(), and OCP::constraint.

---

Member Data Documentation

Constraint OCP::constraint [protected, inherited]

Referenced by OCP::copy(), OCP::getConstraint(), OCP::hasConstraint(), OCP::OCP(), OCP::setConstraint(), OCP::setupGrid(), and OCP::subjectTo().

Grid OCP::grid [protected, inherited]

Referenced by OCP::copy(), OCP::getEndTime(), OCP::getGrid(), OCP::getStartTime(), OCP::OCP(), OCP::setNumberIntegrationSteps(), OCP::setupGrid(), and OCP::subjectTo().

Expression** MultiObjectiveFunctionality::mayerTerms [protected, inherited]

Referenced by MultiObjectiveFunctionality::getObjective(), MultiObjectiveFunctionality::minimizeMayerTerm(), MultiObjectiveFunctionality::MultiObjectiveFunctionality(), MultiObjectiveFunctionality::operator=(), and MultiObjectiveFunctionality::~MultiObjectiveFunctionality().

ModelData ModelContainer::modelData [protected, inherited]

Referenced by ModelContainer::addOutput(), SIMexport::checkConsistency(), OCP::copy(), SIMexport::exportAndRun(), SIMexport::exportEvaluation(), SIMexport::exportMakefile(), ModelContainer::exportRhs(), SIMexport::exportTest(), ModelContainer::getDimOutputs(), ModelContainer::getFileNameModel(), ModelContainer::getModel(), ModelContainer::getModelData(), ModelContainer::getN(), ModelContainer::getNDX(), ModelContainer::getNP(), ModelContainer::getNU(), ModelContainer::getNumMeas(), ModelContainer::getNX(), ModelContainer::getNXA(), ModelContainer::hasDifferentialEquation(), ModelContainer::hasEquidistantControlGrid(), OCP::hasEquidistantGrid(), ModelContainer::hasOutputs(), ModelContainer::modelDimensionsSet(), OCP::OCP(), ModelContainer::setDimensions(), ModelContainer::setIntegrationGrid(), ModelContainer::setLinearInput(), ModelContainer::setLinearOutput(), ModelContainer::setModel(), ModelContainer::setModelData(), ModelContainer::setN(), ModelContainer::setNARXmodel(), SIMexport::setup(), and OCP::subjectTo().

int MultiObjectiveFunctionality::nMayer [protected, inherited]

Referenced by MultiObjectiveFunctionality::getNumberOfMayerTerms(), MultiObjectiveFunctionality::getObjective(), MultiObjectiveFunctionality::minimizeMayerTerm(), MultiObjectiveFunctionality::MultiObjectiveFunctionality(), MultiObjectiveFunctionality::operator=(), and MultiObjectiveFunctionality::~MultiObjectiveFunctionality().

Objective OCP::objective [protected, inherited]

Referenced by OCP::copy(), OCP::getObjective(), OCP::hasObjective(), OCP::maximizeLagrangeTerm(), OCP::maximizeMayerTerm(), OCP::minimizeLagrangeTerm(), OCP::minimizeLSQ(), OCP::minimizeLSQEndTerm(), OCP::minimizeLSQLinearTerms(), OCP::minimizeMayerTerm(), OCP::OCP(), OCP::setObjective(), and OCP::setupGrid().

---

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

• nlp.hpp
• nlp.cpp