Stub for accessing DOCP (discrete-time optimal control problem) interface of Hqp. More...

#include <Hqp_DocpStub.h>

Inheritance diagram for Hqp_DocpStub:

Public Member Functions
void	alloc_vars (VECP v, VECP v_min, VECP v_max, IVECP v_int, int n)
	allocate variables from implementation of setup_vars

Interface to be implemented by derived classes
virtual void	setup_horizon (int &k0, int &kf)
	Optional: setup optimization horizon [k0,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
	Required: setup variables for one stage k.

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)
	Optional: setup structure of Jacobians and Hessians for one stage k.

virtual void	init_simulation (int k, VECP x, VECP u)
	Optional: override values used during simulation of initial guess for one stage k.

virtual void	update_vals (int k, const VECP x, const VECP u, VECP f, Real &f0, VECP c)=0
	Required: evaluate system equations f, objective f0, and constraints c for one stage k.

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)
	Optional: evaluate equations, Jacobians and Hessians for one stage k.

Detailed Description

Stub for accessing DOCP (discrete-time optimal control problem) interface of Hqp.

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

Public Member Functions