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YANE-Framework 1.1.0
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YANE-Framework 1.1.0
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Implementation of a parenting manager class for solving control systems and computing their derivatives.
Public Member Functions | |
| virtual void | calcObjectiveFunction (double *t, double *x, double *u, double *fx)=0 |
| Function to evaluate the objective function using the supplied differential equation manager. | |
| virtual void | calcObjectiveFunctionGrad (double *t, double *x, double *u, double *fx)=0 |
| Function to evaluate the gradient of the objective function using the supplied differential equation manager. | |
| virtual void | calcRestrFunction (double *t, double *x, double *u, double *fx)=0 |
| Function to evaluate the restrictions using the supplied differential equation manager. | |
| virtual void | calcRestrFunctionGrad (double *t, double *x, double *u, double *fx, yane::MinProg::T_MEMMODEL memmodel, int *needc=0)=0 |
| Function to evaluate the Jacobian of the restrictions using the supplied differential equation manager. | |
| virtual OdeManager * | clone ()=0 |
| Function to generate a clone of the current OdeManager object. | |
| virtual void * | configuration ()=0 |
| Function to return an internal pointer of the configuration of the discretized object. | |
| virtual void | getObjFunValues (double *t, double *x, double *u, double *fx, double *trajectory)=0 |
| Function to compute the state and objective function values for each point of the current time grid. | |
| virtual void | setAuxilliaryObjects (void *discretization, void *configuration=0)=0 |
| Function to set required auxilliary objects. | |
| virtual void | setFunctions (int horizont, int total_restr, yane::Model::Model *model, T_DISCRRESTRFUNC restrfunc, int sdatalength=0, T_SHOOTINGDATA *sdata=0)=0 |
| Function to supply required data for defining and evaluating the restrictions. | |
| virtual | ~OdeManager () |
| Destructor. | |
| virtual void yane::MPC::OdeManager::calcObjectiveFunction | ( | double * | t, |
| double * | x, | ||
| double * | u, | ||
| double * | fx | ||
| ) | [pure virtual] |
Function to evaluate the objective function using the supplied differential equation manager. This function has to be defined in every derived class.
| t | Current time grid |
| x | Initial state vector |
| u | Control vector |
| fx | Value of the objective function |
| yane::OdeSolve::OdeSolEx | is thrown if the ode solver returns with an error message |
Implemented in yane::MPC::CacheOdeManager, yane::MPC::MultiThreadCacheOdeManager, yane::MPC::SimpleOdeManager, and yane::MPC::SyncOdeManager.
| virtual void yane::MPC::OdeManager::calcObjectiveFunctionGrad | ( | double * | t, |
| double * | x, | ||
| double * | u, | ||
| double * | fx | ||
| ) | [pure virtual] |
Function to evaluate the gradient of the objective function using the supplied differential equation manager. This function has to be defined in every derived class.
| t | Current time grid |
| x | Initial state vector |
| u | Control vector |
| fx | Gradient of the objective function |
| yane::OdeSolve::OdeSolEx | is thrown if the ode solver returns with an error message |
Implemented in yane::MPC::CacheOdeManager, yane::MPC::MultiThreadCacheOdeManager, yane::MPC::SimpleOdeManager, and yane::MPC::SyncOdeManager.
| virtual void yane::MPC::OdeManager::calcRestrFunction | ( | double * | t, |
| double * | x, | ||
| double * | u, | ||
| double * | fx | ||
| ) | [pure virtual] |
Function to evaluate the restrictions using the supplied differential equation manager. This function has to be defined in every derived class.
| t | Current time grid |
| x | Initial state vector |
| u | Control vector |
| fx | Vector of restriction values |
| yane::OdeSolve::OdeSolEx | is thrown if the ode solver returns with an error message |
Implemented in yane::MPC::CacheOdeManager, yane::MPC::MultiThreadCacheOdeManager, yane::MPC::SimpleOdeManager, and yane::MPC::SyncOdeManager.
| virtual void yane::MPC::OdeManager::calcRestrFunctionGrad | ( | double * | t, |
| double * | x, | ||
| double * | u, | ||
| double * | fx, | ||
| yane::MinProg::T_MEMMODEL | memmodel, | ||
| int * | needc = 0 |
||
| ) | [pure virtual] |
Function to evaluate the Jacobian of the restrictions using the supplied differential equation manager. This function has to be defined in every derived class.
| t | Current time grid |
| x | Initial state vector |
| u | Control vector |
| fx | Jacobian of the restrictions |
| memmodel | Memory model |
| needc | Variable containing a list of the derivatives which need to be updated |
| yane::OdeSolve::OdeSolEx | is thrown if the ode solver returns with an error message |
Implemented in yane::MPC::CacheOdeManager, yane::MPC::MultiThreadCacheOdeManager, yane::MPC::SimpleOdeManager, and yane::MPC::SyncOdeManager.
| virtual OdeManager* yane::MPC::OdeManager::clone | ( | ) | [pure virtual] |
Function to generate a clone of the current OdeManager object. The object itself is not initialized yet and has to be destructed manually.
Implemented in yane::MPC::CacheOdeManager, yane::MPC::MultiThreadCacheOdeManager, yane::MPC::SimpleOdeManager, and yane::MPC::SyncOdeManager.
| virtual void* yane::MPC::OdeManager::configuration | ( | ) | [pure virtual] |
Function to return an internal pointer of the configuration of the discretized object
Implemented in yane::MPC::CacheOdeManager, yane::MPC::MultiThreadCacheOdeManager, yane::MPC::SimpleOdeManager, and yane::MPC::SyncOdeManager.
| virtual void yane::MPC::OdeManager::getObjFunValues | ( | double * | t, |
| double * | x, | ||
| double * | u, | ||
| double * | fx, | ||
| double * | trajectory | ||
| ) | [pure virtual] |
Function to compute the state and objective function values for each point of the current time grid.
| t | Current time grid |
| x | Initial state vector |
| u | Control vector |
| fx | Objective function values for the current time grid |
| trajectory | State vectors for the current time grid |
| yane::OdeSolve::OdeSolEx | is thrown if the ode solver returns with an error message |
Implemented in yane::MPC::CacheOdeManager, yane::MPC::MultiThreadCacheOdeManager, yane::MPC::SimpleOdeManager, and yane::MPC::SyncOdeManager.
| virtual void yane::MPC::OdeManager::setAuxilliaryObjects | ( | void * | discretization, |
| void * | configuration = 0 |
||
| ) | [pure virtual] |
Function to set required auxilliary objects
| discretization | Class Discretization objects |
| configuration | Class MPCConfig object |
Implemented in yane::MPC::CacheOdeManager, yane::MPC::MultiThreadCacheOdeManager, yane::MPC::SimpleOdeManager, and yane::MPC::SyncOdeManager.
| virtual void yane::MPC::OdeManager::setFunctions | ( | int | horizont, |
| int | total_restr, | ||
| yane::Model::Model * | model, | ||
| T_DISCRRESTRFUNC | restrfunc, | ||
| int | sdatalength = 0, |
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| T_SHOOTINGDATA * | sdata = 0 |
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| ) | [pure virtual] |
Function to supply required data for defining and evaluating the restrictions
| horizont | Length of the horizon |
| total_restr | Number of restrictions |
| model | Pointer of the model |
| restrfunc | Pointer of the restriction function |
| sdatalength | Number of shooting nodes |
| sdata | Structure of the shooting nodes |
| yane::Utils::MemoryException | is thrown if internal memory allocation failed |
| yane::OdeSolve::OdeSolEx | is thrown if the reset of the ode solver failed |
Implemented in yane::MPC::CacheOdeManager, yane::MPC::MultiThreadCacheOdeManager, yane::MPC::SimpleOdeManager, and yane::MPC::SyncOdeManager.
1.7.3