YANE - Short Software Guide 1.0.1


Implementation details of the main() function

The computing loop

The main program runs one or more for loops for the variable/s

Here, the variables

        int * shootingHorizonIndex = new int [ HORIZONMAX - 1 ];
        int * shootingVarIndex = new int [ model->dimensionState() ];
        double * shootingValue = new double [ ( HORIZONMAX - 1 ) * model->dimensionState() ];
        shootingValue[0] = -PI;
        shootingValue[1] = -PI;
        shootingValue[2] = -PI;

are used to allocate and define the shooting nodes.

Computing the closed loop cost

To compute the closed loop cost the double arrays trajectory and valuefunction are required. Upon call of odemanager->getObjFunValues these arrays contain the open loop trajectory and the corresponding values of the cost functional for all open loop sampling instances.

Jürgen Pannek <juergen.pannek@googlemail.com>