Hqp_DocpSpec Class Reference

Hold pointers to functions provided by an application using HQP. More...

#include <Hqp.h>

Public Member Functions
	Hqp_DocpSpec ()
	Constructor initializes all pointers with NULL. More...

Public Attributes
void(*	setup_horizon )(void *clientdata, int &k0, int &kf)
	Obligatory: setup discrete control horizon. More...
void(*	setup_vars )(void *clientdata, 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)
	Obligatory: setup variables per control interval. More...
void(*	setup_struct )(void *clientdata, 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 sparse structure and mark linear constraints per control interval. More...
void(*	init_simulation )(void *clientdata, int k, VECP x, VECP u)
	Optional: initialize variables via initial-value simulation. More...
void(*	update_vals )(void *clientdata, int k, const VECP x, const VECP u, VECP f, Real &f0, VECP c)
	Obligatory: update objective and constraints per control interval. More...
void(*	update_stage )(void *clientdata, 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: update objective, constraints and derivatives per control interval. More...

Detailed Description

Hold pointers to functions provided by an application using HQP.

Constructor & Destructor Documentation

Hqp_DocpSpec::Hqp_DocpSpec ( )

inline

Constructor initializes all pointers with NULL.

References init_simulation, setup_horizon, setup_struct, setup_vars, update_stage, and update_vals.

Member Data Documentation

void(* Hqp_DocpSpec::init_simulation)(void *clientdata, int k, VECP x, VECP u)

Optional: initialize variables via initial-value simulation.

Referenced by Hqp_DocpSpec().

void(* Hqp_DocpSpec::setup_horizon)(void *clientdata, int &k0, int &kf)

Obligatory: setup discrete control horizon.

Referenced by Hqp_DocpSpec().

void(* Hqp_DocpSpec::setup_struct)(void *clientdata, 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 sparse structure and mark linear constraints per control interval.

Referenced by Hqp_DocpSpec().

void(* Hqp_DocpSpec::setup_vars)(void *clientdata, 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)

Obligatory: setup variables per control interval.

Referenced by Hqp_DocpSpec().

void(* Hqp_DocpSpec::update_stage)(void *clientdata, 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: update objective, constraints and derivatives per control interval.

Referenced by Hqp_DocpSpec().

void(* Hqp_DocpSpec::update_vals)(void *clientdata, int k, const VECP x, const VECP u, VECP f, Real &f0, VECP c)

Obligatory: update objective and constraints per control interval.

Referenced by Hqp_DocpSpec().

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

• Hqp.h