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:

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: