HQP  1.9.6
Hqp_Omuses Class Reference

Extend DOCP interface with treatment of continuous-time differential algebraic equations (DAE) and multiple sample periods per stage. More...

#include <Hqp_Omuses.h>

Inheritance diagram for Hqp_Omuses:
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Public Member Functions

void setup_stages ()
 setup stages of optimization problem
 
- Public Member Functions inherited from Hqp_DocpStub
void alloc_vars (VECP v, VECP v_min, VECP v_max, IVECP v_int, int n)
 allocate variables from implementation of setup_vars
 

Protected Member Functions

void resetup_integrator ()
 Setup integrator for all stages. More...
 
Implement interface of Hqp_Docp_stub
void setup_horizon (int &k0, int &kf)
 Optional: setup optimization horizon [k0,kf].
 
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)
 Required: setup variables for one stage k.
 
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)
 Optional: setup structure of Jacobians and Hessians for one stage k.
 
void init_simulation (int k, VECP x, VECP u)
 Optional: override values used during simulation of initial guess for one stage k.
 
void update_vals (int k, const VECP x, const VECP u, VECP f, Real &f0, VECP c)
 Required: evaluate system equations f, objective f0, and constraints c for one stage k.
 
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)
 Optional: evaluate equations, Jacobians and Hessians for one stage k.
 

Protected Attributes

If_List _ifList
 interface elements
 
Omu_Program_prg
 problem definition
 
Omu_Integrator_integrator
 integrator
 
bool _stages_ok
 setup_stages() was called separately
 
MATP _IS
 help matrix
 
bool _ad
 flag about use of automatic differentiation
 
double _fscale
 scaling of optimization criterion
 
int _hela_setup
 setup structure of Hessian of Lagrangian
 
Omu_SVarVec_xs
 state information from problem setup
 
Omu_VarVec_us
 control information from problem setup
 
Omu_VarVec_css
 constraint information from problem setup
 
Omu_SVec_x0s
 initial states before integration
 
Omu_SVec_xfs
 final states after integration
 
Omu_DepVec_xts
 continuous time states from consistic
 
Omu_DepVec_Fs
 continuous time model equations from continuous
 
Omu_DepVec_fs
 discrete time states from update
 
Omu_Dep_f0s
 objective from update
 
Omu_DepVec_cs
 constraints from update
 

Detailed Description

Extend DOCP interface with treatment of continuous-time differential algebraic equations (DAE) and multiple sample periods per stage.

Member Function Documentation

void Hqp_Omuses::resetup_integrator ( )
protected

Setup integrator for all stages.

This is required if the integrator is exchanged after problem setup.


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