HQP  1.9.6
Hqp_Docp Class Referenceabstract

Base class for Discrete-time Optimal Control Programs. More...

#include <Hqp_Docp.h>

Inheritance diagram for Hqp_Docp:
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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
 
int simulate (IF_DEF_ARGS)
 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_Programqp ()
 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

virtual void Hqp_Docp::update_grds ( int  k,
const VECP  x,
const VECP  u,
MATP  fx,
MATP  fu,
VECP  f0x,
VECP  f0u,
MATP  cx,
MATP  cu 
)
virtual

Update Jacobians.

The default implementation obtains finite differences.


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