Base class for formulating nonlinear programs. More...

#include <Hqp_SqpProgram.h>

Inheritance diagram for Hqp_SqpProgram:

Public Member Functions
	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

Methods to define a program
virtual void	setup ()=0
	(Re)-allocate _x and _qp and set up sparsity patterns in _qp. More...

virtual void	init_x ()=0
	Set start variables for optimization in _x. More...

virtual void	update_fbd ()=0
	Update values of objective and constraints in _f, _qp->b, _qp->d for current _x. More...

virtual void	update (const VECP y, const VECP z)=0
	Update everything, including values and derivatives, in _f and _qp for current _x. More...

virtual void	reinit_bd ()
	Re-initialize constants in constraints (_qp->b, _qp->d) for current _x. More...

Member access methods
virtual Hqp_Program *	qp ()
	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

Protected Attributes
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 formulating nonlinear programs.

Member Function Documentation

virtual void Hqp_SqpProgram::init_x ( )

pure virtual

Set start variables for optimization in _x.

Implemented in Hqp_Docp.

virtual void Hqp_SqpProgram::qp_dump ( )

virtual

Write current linear quadratic appoximation in _qp to the file prg_qp_dump.out.

virtual void Hqp_SqpProgram::reinit_bd ( )

virtual

Re-initialize constants in constraints (_qp->b, _qp->d) for current _x.

virtual void Hqp_SqpProgram::setup ( )

pure virtual

(Re)-allocate _x and _qp and set up sparsity patterns in _qp.

Implemented in Hqp_Docp.

virtual Real Hqp_SqpProgram::test ( )

virtual

Substract finite difference approximation for gradients from current linear approximation in qp and return maximum deviation.

The finite difference approximation is done at the current solution x and the obtained deviations are stored in _qp->c, _qp->A, and _qp->C.

virtual void Hqp_SqpProgram::update	(	const VECP	y,
		const VECP	z
	)

pure virtual

Update everything, including values and derivatives, in _f and _qp for current _x.

virtual void Hqp_SqpProgram::update_fbd ( )

pure virtual

Update values of objective and constraints in _f, _qp->b, _qp->d for current _x.

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