Hqp_Docp Class Referenceabstract
Base class for Discrete-time Optimal Control Programs. More...
#include <Hqp_Docp.h>
Inheritance diagram for Hqp_Docp:
Public Member Functions | |
| Hqp_Docp () | |
| constructor | |
| ~Hqp_Docp () | |
| destructor | |
| void | horizon (int k0, int kf) |
| setup | |
| void | setup () |
| init task for given _k0 and _kf | |
| void | init_x () |
| set start variables | |
| void | simulate () |
| perform a simulation for current _x | |
| void | alloc_vars (VECP v, VECP v_min, VECP v_max, IVECP v_int, int n) |
| setup_vars() should call alloc_vars() to allocate variables and bounds | |
Interface for an optimal control problem. | |
| virtual void | setup_horizon (int &k0, int &kf) |
| virtual void | setup_vars (int k, VECP x, VECP x_min, VECP x_max, IVECP x_int, VECP u, VECP u_min, VECP u_max, IVECP u_int, VECP c, VECP c_min, VECP c_max)=0 |
| virtual void | setup_struct (int k, const VECP x, const VECP u, MATP fx, MATP fu, IVECP f_lin, VECP f0x, VECP f0u, int &f0_lin, MATP cx, MATP cu, IVECP c_lin, MATP Lxx, MATP Luu, MATP Lxu) |
| virtual void | init_simulation (int k, VECP x, VECP u) |
| virtual void | update_vals (int k, const VECP x, const VECP u, VECP f, Real &f0, VECP c)=0 |
| virtual void | update_grds (int k, const VECP x, const VECP u, MATP fx, MATP fu, VECP f0x, VECP f0u, MATP cx, MATP cu) |
| Update Jacobians. More... | |
| virtual void | update_hela (int k, const VECP x, const VECP u, const VECP vx, const VECP vc, MATP Lxx, MATP Luu, MATP Lxu) |
| virtual void | update_stage (int k, const VECP x, const VECP u, VECP f, Real &f0, VECP c, MATP fx, MATP fu, VECP f0x, VECP f0u, MATP cx, MATP cu, const VECP rf, const VECP rc, MATP Lxx, MATP Luu, MATP Lxu) |
Member access methods. | |
| const IVECP | nxs () const |
| number of states per stage k | |
| const IVECP | nus () const |
| number of control parameters per stage k | |
| int | fbd_evals () const |
| number of function evaluations | |
 Public Member Functions inherited from Hqp_SqpProgram | |
| Hqp_SqpProgram () | |
| constructor | |
| virtual | ~Hqp_SqpProgram () |
| destructor | |
| virtual Real | test () |
| Substract finite difference approximation for gradients from current linear approximation in qp and return maximum deviation. More... | |
| virtual void | qp_dump () |
| Write current linear quadratic appoximation in _qp to the file prg_qp_dump.out. More... | |
| virtual const char * | name ()=0 |
| program name | |
| virtual Hqp_Program * | qp () |
| current linear quadratic approximation | |
| virtual const VECP | s () const |
| current optimization step (solution of linear-quadratic sub-problem) | |
| virtual void | set_s (const VECP v) |
| set optimization step | |
| virtual const VECP | x () const |
| current vector of optimization variables | |
| virtual void | set_x (const VECP) |
| set vector of optimization variables | |
| virtual Real | f () const |
| current value of objective function | |
| virtual void | set_f (Real f) |
| set objective function value | |
| virtual Real | norm_inf () const |
| current violation of constraints | |
Static Public Attributes | |
| static const int | Periodical |
| equal initial and final states | |
Additional Inherited Members | |
| Protected Attributes inherited from Hqp_SqpProgram | |
| If_List | _ifList |
| interface elements | |
| Hqp_Program * | _qp |
| quadratic approximation | |
| VECP | _x |
| vector of optimization variables | |
| Real | _f |
| objective function value | |
Detailed Description
Base class for Discrete-time Optimal Control Programs.
Member Function Documentation
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virtual |
Update Jacobians.
The default implementation obtains finite differences.
The documentation for this class was generated from the following file:
