HQP  1.9.6
Hqp_SqpProgram Class Referenceabstract

Base class for formulating nonlinear programs. More...

#include <Hqp_SqpProgram.h>

Inheritance diagram for Hqp_SqpProgram:
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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_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
 

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: