#include <lq_oc_single_shooting.h>

Collaboration diagram for adore::mad::LQ_OC_single_shooting< N, R, K, P >:

Public Types
typedef qpOASES::real_t	real_t

typedef dlib::matrix< real_t, N, N >	t_Ad
	number of linear system constraints in QP: upper and lower bounds for x and u separately due to slack More...

typedef dlib::matrix< real_t, N, R >	t_Bd
	discrete time system matrix future version: one Ad,Bd per time step More...

typedef adore::mad::LLinearPiecewiseFunctionM< double, N+R >	t_resultfun
	discrete time input matrix More...

typedef dlib::matrix< real_t, N, 1 >	t_wx
	function for result interpolation More...

typedef dlib::matrix< real_t, N, 1 >	t_wx_end
	weights for states (will be put on main diagonal of Hx) More...

typedef dlib::matrix< real_t, R, 1 >	t_wu
	weights for states at endpoint More...

typedef dlib::matrix< real_t, R, 1 >	t_wu_end
	weights for inputs (will be put on main diagonal of Hu) More...

typedef dlib::matrix< real_t, N, 1 >	t_weps
	weights for inputs at endpoint More...

typedef dlib::matrix< real_t, N, 1 >	t_geps
	quadratic weights for slack (will be put in Heps) More...

typedef dlib::matrix< real_t, N, K >	t_lbx
	linear weights for slack More...

typedef dlib::matrix< real_t, N, K >	t_ubx
	lower bound on state trace More...

typedef dlib::matrix< real_t, R, K >	t_lbu
	upper bound on state trace More...

typedef dlib::matrix< real_t, R, K >	t_ubu
	lower bound on input trace More...

typedef dlib::matrix< real_t, R, K >	t_lbu_hard
	upper bound on input trace More...

typedef dlib::matrix< real_t, R, K >	t_ubu_hard
	lower bound on input trace, hard constraint going to lb More...

typedef dlib::matrix< real_t, N, 1 >	t_ubeps
	upper bound on input trace, hard constraint going to ub More...

typedef dlib::matrix< real_t, N, 1 >	t_x0
	lbeps==0, softconstraints for x and/or u if ubeps>0 More...

typedef dlib::matrix< real_t, N, K >	t_y
	initial state More...

typedef dlib::matrix< real_t, N *K, 1 >	t_y_flat
	desired states (reference) y=[y_0(t_1);y_1(t_1);y_2(t_1);y_0(t_2);y_1(t_2);y_2(t_2);...;y_0(t_K);y_1(t_K);y_2(t_K)] (for N=3) More...

typedef dlib::matrix< real_t, R, K >	t_uset
	desired states (reference) y=[y_0(t_1);y_1(t_1);y_2(t_1);y_0(t_2);y_1(t_2);y_2(t_2);...;y_0(t_K);y_1(t_K);y_2(t_K)] (for N=3) More...

typedef dlib::matrix< real_t, R *K, 1 >	t_uset_flat
	set point More...

typedef dlib::matrix< real_t, R, K >	t_U
	set point More...

typedef dlib::matrix< real_t, R *K, 1 >	t_U_flat
	the computed control [u(t_0),...,u(t_K-1)] More...

typedef dlib::matrix< real_t, N, K+1 >	t_X
	the computed control [u(t_0),...,u(t_K-1)] More...

typedef dlib::matrix< real_t, N *(K+1), 1 >	t_X_flat
	the computed states [x(t_1),..., x(t_K)] More...

typedef dlib::matrix< real_t, N, 1 >	t_eps
	the computed states [x(t_1),..., x(t_K)] More...

Public Member Functions
	LQ_OC_single_shooting ()

virtual	~LQ_OC_single_shooting ()

void	compute ()

bool	isFeasible () const

bool	isSolved () const

void	updateSystem (const t_Ad &Ad, const t_Bd &Bd, const t_wx &wx, const t_wu &wu)

void	updateSystem (const t_Ad &Ad, const t_Bd &Bd, const t_wx &wx, const t_wu &wu, const t_weps &weps)

void	updateSystem (const t_Ad &Ad, const t_Bd &Bd, const t_wx &wx, const t_wu &wu, const t_weps &weps, const t_geps &geps)

void	update (const t_x0 &x0, const t_y &y, const t_lbx &lbx, const t_ubx &ubx, const t_lbu_hard &lbu_hard, const t_ubu_hard &ubu_hard, const t_ubeps &ubeps)

void	update (const t_x0 &x0, const t_y &y, const t_lbx &lbx, const t_ubx &ubx)

void	setSystemChanged (bool value)

void	setEndTime (double Tend)

t_Ad &	Ad ()

t_Bd &	Bd ()

t_Ad &	Ad_p ()

t_Bd &	Bd_p ()

t_resultfun &	result_fun ()

t_wx &	wx ()

t_wu &	wu ()

t_wx_end &	wx_end ()

t_wu_end &	wu_end ()

t_weps &	weps ()

t_geps &	geps ()

t_lbx &	lbx ()

t_ubx &	ubx ()

t_lbu_hard &	lbu_hard ()

t_ubu_hard &	ubu_hard ()

t_ubeps &	ubeps ()

t_x0 &	x0 ()

t_y &	y ()

t_uset &	uset ()

t_X &	X ()

t_U &	U ()

t_eps &	eps ()

real_t	getCPUTime ()

int	getnWSR ()

qpOASES::QProblem *	getQProblem ()

void	setMaxCPUTime (real_t value)

void	setMaxnWSR (int value)

int	getnV ()

int	getnC ()

Static Public Attributes
static const int	nV = R*K + N

static const int	nC = 2NK
	number of variables in the QP: var=[u;eps] More...

Private Member Functions
void	initialize_userdata_matrices ()
	qpOASES: "If cputime is not the null pointer, it contains the maximum allowed CPU time in seconds for the whole initialisation (and the actually required one on output)." More...

void	initialize_memory ()

void	delete_memory ()

void	initialize_interface_variables ()

void	initialize_intermediate_matrices ()

void	updateAd ()

void	updateE ()

void	updateF ()

void	updateHx ()
	Hx:=diag(wx) More...

void	updateHu ()
	Hu:=diag(wu) More...

void	updateHeps ()
	Heps:=diag(weps);. More...

void	updateg1 ()

void	updateH11 ()

void	updateA1 ()

void	updateA2 ()

int	idx (int row, int col, int nrows, int ncols) const

void	updateqpH ()

void	updateqpg ()

void	updateqpA ()

void	updateqplb ()

void	updateqpub ()

void	updateqpubA ()

void	compute_init ()

void	compute_hotstart ()

void	retrieveSolution ()

void	interpolateSolution ()

Private Attributes
bool	m_system_changed
	the slack More...

t_Ad	m_Ad

t_Bd	m_Bd
	discrete time system matrix future version: one Ad,Bd per time step More...

t_Ad	m_Ad_p
	discrete time input matrix More...

t_Bd	m_Bd_p
	system matrix for interpolation More...

std::vector< t_Ad * >	m_Ad_powers
	input matrix for interpolation More...

t_resultfun	m_resultfun
	powers of Ad, so these don't have to be recomputed online More...

t_wx	m_wx

t_wx_end	m_wx_end
	weights for states (will be put on main diagonal of Hx) More...

t_wu	m_wu
	weights for states at endpoint More...

t_wu_end	m_wu_end
	weights for inputs (will be put on main diagonal of Hu) More...

t_weps	m_weps
	weights for inputs at endpoint More...

t_geps	m_geps
	quadratic weights for slack (will be put in Heps) More...

t_lbx	m_lbx
	linear weights for slack More...

t_ubx	m_ubx
	lower bound on state trace More...

t_lbu_hard	m_lbu_hard
	upper bound on state trace More...

t_ubu_hard	m_ubu_hard
	lower bound on input trace, hard constraint going to lb More...

t_ubeps	m_ubeps
	upper bound on input trace, hard constraint going to ub More...

t_x0	m_x0
	lbeps==0, softconstraints for x and/or u if ubeps>0 More...

t_y	m_y
	initial state More...

t_y_flat	m_y_flat
	desired states (reference) y=[y_0(t_1);y_1(t_1);y_2(t_1);y_0(t_2);y_1(t_2);y_2(t_2);...;y_0(t_K);y_1(t_K);y_2(t_K)] (for N=3) More...

t_U	m_U
	desired states (reference) y=[y_0(t_1);y_1(t_1);y_2(t_1);y_0(t_2);y_1(t_2);y_2(t_2);...;y_0(t_K);y_1(t_K);y_2(t_K)] (for N=3) More...

t_U_flat	m_U_flat
	the computed control [u(t_0),...,u(t_K-1)] More...

t_X	m_X

t_X_flat	m_X_flat
	the computed states [x(t_1),..., x(t_K)] More...

t_eps	m_eps

t_uset	m_uset

t_uset_flat	m_uset_flat
	set point More...

dlib::matrix< real_t, N *K, 1 >	m_E
	set point More...

dlib::matrix< real_t, N K, R K >	m_F
	[pow(Ad,1);pow(Ad,2);...;pow(Ad,k)]*x0 More...

dlib::matrix< real_t, N K, N K >	m_Hx
	[B,0,0,..0;AB,B,0,...0;AAB,AB,B,...,0;...;pow(A,k-1)B,pow(A,k-2)B,pow(A,k-3),B,...,B] More...

dlib::matrix< real_t, R K, R K >	m_Hu

dlib::matrix< real_t, N, N >	m_Heps

dlib::matrix< real_t, R *K, 1 >	m_g1

dlib::matrix< real_t, R K, R K >	m_H11
	first part of overall linear cost term, g=[F^T Hx E - F^T Hx y; geps]=[g1;geps] More...

dlib::matrix< real_t, N *K, nV >	m_A1
	upper left part of overal quadratic cost term H=[Hu + F^T Hx F, 0; 0, Heps]=[H11,0;0,Heps] More...

dlib::matrix< real_t, N *K, nV >	m_A2
	state soft constraints equation upper bound More...

qpOASES::QProblem *	m_qproblem
	state soft constraints equation lower bound More...

real_t	m_qpH [nV *nV]

real_t	m_qpg [nV]

real_t	m_qpA [nC *nV]

real_t	m_qplb [nV]

real_t	m_qpub [nV]

real_t	m_qplbA [nC]

real_t	m_qpubA [nC]

real_t	m_qpxOpt [nV]

qpOASES::int_t	m_qpnWSR_in

qpOASES::int_t	m_qpnWSR_out
	qpOASES: "The integer argument nWSR species the maximum number of working set recalculations to be performed during the initial homotopy" More...

real_t	m_qpcputime_in
	qpOASES: "The integer argument nWSR species the maximum number of working set recalculations to be performed during the initial homotopy" More...

real_t	m_qpcputime_out
	qpOASES: "If cputime is not the null pointer, it contains the maximum allowed CPU time in seconds for the whole initialisation (and the actually required one on output)." More...

Detailed Description

template<int N, int R, int K, int P>
class adore::mad::LQ_OC_single_shooting< N, R, K, P >

LQ_OC_single_shooting - solves finite horizon linear quadratic optimal control problem with qpOASES and single shooting approach. The optimization variable [u0,u1,u2,...,u(k-1), eps] is used, with eps the slack in x dimensions used for soft-constraints. J= 1/2 (x-y)^T H(wx) (x-y) + 1/2 u^T H(wu) u + 1/2 eps^T H(weps) eps + eps^T geps N is the number of states, R is the number of inputs, K is the number of time steps during optimization and P is the number of interpolation steps.

Member Typedef Documentation

◆ real_t

template<int N, int R, int K, int P>

typedef qpOASES::real_t adore::mad::LQ_OC_single_shooting< N, R, K, P >::real_t

◆ t_Ad

template<int N, int R, int K, int P>

typedef dlib::matrix<real_t,N,N> adore::mad::LQ_OC_single_shooting< N, R, K, P >::t_Ad

number of linear system constraints in QP: upper and lower bounds for x and u separately due to slack

◆ t_Bd

template<int N, int R, int K, int P>

typedef dlib::matrix<real_t,N,R> adore::mad::LQ_OC_single_shooting< N, R, K, P >::t_Bd

discrete time system matrix future version: one Ad,Bd per time step

◆ t_eps

template<int N, int R, int K, int P>

typedef dlib::matrix<real_t,N,1> adore::mad::LQ_OC_single_shooting< N, R, K, P >::t_eps

the computed states [x(t_1),..., x(t_K)]

◆ t_geps

template<int N, int R, int K, int P>

typedef dlib::matrix<real_t,N,1> adore::mad::LQ_OC_single_shooting< N, R, K, P >::t_geps

quadratic weights for slack (will be put in Heps)

◆ t_lbu

template<int N, int R, int K, int P>

typedef dlib::matrix<real_t,R,K> adore::mad::LQ_OC_single_shooting< N, R, K, P >::t_lbu

upper bound on state trace

◆ t_lbu_hard

template<int N, int R, int K, int P>

typedef dlib::matrix<real_t,R,K> adore::mad::LQ_OC_single_shooting< N, R, K, P >::t_lbu_hard

upper bound on input trace

◆ t_lbx

template<int N, int R, int K, int P>

typedef dlib::matrix<real_t,N,K> adore::mad::LQ_OC_single_shooting< N, R, K, P >::t_lbx

linear weights for slack

◆ t_resultfun

template<int N, int R, int K, int P>

typedef adore::mad::LLinearPiecewiseFunctionM<double,N+R> adore::mad::LQ_OC_single_shooting< N, R, K, P >::t_resultfun

discrete time input matrix

◆ t_U

template<int N, int R, int K, int P>

typedef dlib::matrix<real_t,R,K> adore::mad::LQ_OC_single_shooting< N, R, K, P >::t_U

set point

◆ t_U_flat

template<int N, int R, int K, int P>

typedef dlib::matrix<real_t,R*K,1> adore::mad::LQ_OC_single_shooting< N, R, K, P >::t_U_flat

the computed control [u(t_0),...,u(t_K-1)]

◆ t_ubeps

template<int N, int R, int K, int P>

typedef dlib::matrix<real_t,N,1> adore::mad::LQ_OC_single_shooting< N, R, K, P >::t_ubeps

upper bound on input trace, hard constraint going to ub

◆ t_ubu

template<int N, int R, int K, int P>

typedef dlib::matrix<real_t,R,K> adore::mad::LQ_OC_single_shooting< N, R, K, P >::t_ubu

lower bound on input trace

◆ t_ubu_hard

template<int N, int R, int K, int P>

typedef dlib::matrix<real_t,R,K> adore::mad::LQ_OC_single_shooting< N, R, K, P >::t_ubu_hard

lower bound on input trace, hard constraint going to lb

◆ t_ubx

template<int N, int R, int K, int P>

typedef dlib::matrix<real_t,N,K> adore::mad::LQ_OC_single_shooting< N, R, K, P >::t_ubx

lower bound on state trace

◆ t_uset

template<int N, int R, int K, int P>

typedef dlib::matrix<real_t,R,K> adore::mad::LQ_OC_single_shooting< N, R, K, P >::t_uset

desired states (reference) y=[y_0(t_1);y_1(t_1);y_2(t_1);y_0(t_2);y_1(t_2);y_2(t_2);...;y_0(t_K);y_1(t_K);y_2(t_K)] (for N=3)

◆ t_uset_flat

template<int N, int R, int K, int P>

typedef dlib::matrix<real_t,R*K,1> adore::mad::LQ_OC_single_shooting< N, R, K, P >::t_uset_flat

set point

◆ t_weps

template<int N, int R, int K, int P>

typedef dlib::matrix<real_t,N,1> adore::mad::LQ_OC_single_shooting< N, R, K, P >::t_weps

weights for inputs at endpoint

◆ t_wu

template<int N, int R, int K, int P>

typedef dlib::matrix<real_t,R,1> adore::mad::LQ_OC_single_shooting< N, R, K, P >::t_wu

weights for states at endpoint

◆ t_wu_end

template<int N, int R, int K, int P>

typedef dlib::matrix<real_t,R,1> adore::mad::LQ_OC_single_shooting< N, R, K, P >::t_wu_end

weights for inputs (will be put on main diagonal of Hu)

◆ t_wx

template<int N, int R, int K, int P>

typedef dlib::matrix<real_t,N,1> adore::mad::LQ_OC_single_shooting< N, R, K, P >::t_wx

function for result interpolation

◆ t_wx_end

template<int N, int R, int K, int P>

typedef dlib::matrix<real_t,N,1> adore::mad::LQ_OC_single_shooting< N, R, K, P >::t_wx_end

weights for states (will be put on main diagonal of Hx)

◆ t_X

template<int N, int R, int K, int P>

typedef dlib::matrix<real_t,N,K+1> adore::mad::LQ_OC_single_shooting< N, R, K, P >::t_X

the computed control [u(t_0),...,u(t_K-1)]

◆ t_x0

template<int N, int R, int K, int P>

typedef dlib::matrix<real_t,N,1> adore::mad::LQ_OC_single_shooting< N, R, K, P >::t_x0

lbeps==0, softconstraints for x and/or u if ubeps>0

◆ t_X_flat

template<int N, int R, int K, int P>

typedef dlib::matrix<real_t,N*(K+1),1> adore::mad::LQ_OC_single_shooting< N, R, K, P >::t_X_flat

the computed states [x(t_1),..., x(t_K)]

◆ t_y

template<int N, int R, int K, int P>

typedef dlib::matrix<real_t,N,K> adore::mad::LQ_OC_single_shooting< N, R, K, P >::t_y

initial state

◆ t_y_flat

template<int N, int R, int K, int P>

typedef dlib::matrix<real_t,N*K,1> adore::mad::LQ_OC_single_shooting< N, R, K, P >::t_y_flat

desired states (reference) y=[y_0(t_1);y_1(t_1);y_2(t_1);y_0(t_2);y_1(t_2);y_2(t_2);...;y_0(t_K);y_1(t_K);y_2(t_K)] (for N=3)

Constructor & Destructor Documentation

◆ LQ_OC_single_shooting()

template<int N, int R, int K, int P>

adore::mad::LQ_OC_single_shooting< N, R, K, P >::LQ_OC_single_shooting ( )

inline

constructor

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◆ ~LQ_OC_single_shooting()

template<int N, int R, int K, int P>

virtual adore::mad::LQ_OC_single_shooting< N, R, K, P >::~LQ_OC_single_shooting ( )

inlinevirtual

destructor

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Member Function Documentation

◆ Ad()

template<int N, int R, int K, int P>

t_Ad& adore::mad::LQ_OC_single_shooting< N, R, K, P >::Ad ( )

inline

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◆ Ad_p()

template<int N, int R, int K, int P>

t_Ad& adore::mad::LQ_OC_single_shooting< N, R, K, P >::Ad_p ( )

inline

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◆ Bd()

template<int N, int R, int K, int P>

t_Bd& adore::mad::LQ_OC_single_shooting< N, R, K, P >::Bd ( )

inline

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◆ Bd_p()

template<int N, int R, int K, int P>

t_Bd& adore::mad::LQ_OC_single_shooting< N, R, K, P >::Bd_p ( )

inline

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◆ compute()

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::compute ( )

inline

execute optimization for given constraints and reference

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◆ compute_hotstart()

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::compute_hotstart ( )

inlineprivate

compute_hotstart - hotstart call to the qp solver: can only be used, if the quadratic term and the system dynamics have not changed. lower and upper bound values, linear cost terms, initial state may be modified before re-computing with hotstart. a reduced set of variables has to be provided to the qp solver, under the assumption that the other variables have not changed.

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◆ compute_init()

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::compute_init ( )

inlineprivate

compute_init - initial call to the qp solver: all information for description of the qp has to be provided

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◆ delete_memory()

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::delete_memory ( )

inlineprivate

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◆ eps()

template<int N, int R, int K, int P>

t_eps& adore::mad::LQ_OC_single_shooting< N, R, K, P >::eps ( )

inline

◆ geps()

template<int N, int R, int K, int P>

t_geps& adore::mad::LQ_OC_single_shooting< N, R, K, P >::geps ( )

inline

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◆ getCPUTime()

template<int N, int R, int K, int P>

real_t adore::mad::LQ_OC_single_shooting< N, R, K, P >::getCPUTime ( )

inline

◆ getnC()

template<int N, int R, int K, int P>

int adore::mad::LQ_OC_single_shooting< N, R, K, P >::getnC ( )

inline

◆ getnV()

template<int N, int R, int K, int P>

int adore::mad::LQ_OC_single_shooting< N, R, K, P >::getnV ( )

inline

◆ getnWSR()

template<int N, int R, int K, int P>

int adore::mad::LQ_OC_single_shooting< N, R, K, P >::getnWSR ( )

inline

◆ getQProblem()

template<int N, int R, int K, int P>

qpOASES::QProblem* adore::mad::LQ_OC_single_shooting< N, R, K, P >::getQProblem ( )

inline

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◆ idx()

template<int N, int R, int K, int P>

int adore::mad::LQ_OC_single_shooting< N, R, K, P >::idx	(	int	row,
		int	col,
		int	nrows,
		int	ncols
	)		const

inlineprivate

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◆ initialize_interface_variables()

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::initialize_interface_variables ( )

inlineprivate

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◆ initialize_intermediate_matrices()

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::initialize_intermediate_matrices ( )

inlineprivate

initialize intermediate matrices with constants 0,1,-1, especially parts which are constant and not modified by updates

A1 := [F [-I;-I;-I;...-I] 0] --> x upper bound soft constraint

A2 := [F [I;I;I;...I] 0] --> x lower bound soft constraint

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◆ initialize_memory()

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::initialize_memory ( )

inlineprivate

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◆ initialize_userdata_matrices()

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::initialize_userdata_matrices ( )

inlineprivate

qpOASES: "If cputime is not the null pointer, it contains the maximum allowed CPU time in seconds for the whole initialisation (and the actually required one on output)."

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◆ interpolateSolution()

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::interpolateSolution ( )

inlineprivate

interpolate the solution using Ad_p and Bd_p

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◆ isFeasible()

template<int N, int R, int K, int P>

bool adore::mad::LQ_OC_single_shooting< N, R, K, P >::isFeasible ( ) const

inline

determine whether qpOASES deems problem feasible

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◆ isSolved()

template<int N, int R, int K, int P>

bool adore::mad::LQ_OC_single_shooting< N, R, K, P >::isSolved ( ) const

inline

determine whether qpOASES deems problem solved to given precision

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◆ lbu_hard()

template<int N, int R, int K, int P>

t_lbu_hard& adore::mad::LQ_OC_single_shooting< N, R, K, P >::lbu_hard ( )

inline

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◆ lbx()

template<int N, int R, int K, int P>

t_lbx& adore::mad::LQ_OC_single_shooting< N, R, K, P >::lbx ( )

inline

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◆ result_fun()

template<int N, int R, int K, int P>

t_resultfun& adore::mad::LQ_OC_single_shooting< N, R, K, P >::result_fun ( )

inline

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◆ retrieveSolution()

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::retrieveSolution ( )

inlineprivate

retrieve solution from qpOASES

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◆ setEndTime()

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::setEndTime ( double Tend )

inline

redefine time steps according to supplied end time Tend

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◆ setMaxCPUTime()

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::setMaxCPUTime ( real_t value )

inline

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◆ setMaxnWSR()

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::setMaxnWSR ( int value )

inline

◆ setSystemChanged()

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::setSystemChanged ( bool value )

inline

recompute without hotstart

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◆ U()

template<int N, int R, int K, int P>

t_U& adore::mad::LQ_OC_single_shooting< N, R, K, P >::U ( )

inline

◆ ubeps()

template<int N, int R, int K, int P>

t_ubeps& adore::mad::LQ_OC_single_shooting< N, R, K, P >::ubeps ( )

inline

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◆ ubu_hard()

template<int N, int R, int K, int P>

t_ubu_hard& adore::mad::LQ_OC_single_shooting< N, R, K, P >::ubu_hard ( )

inline

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◆ ubx()

template<int N, int R, int K, int P>

t_ubx& adore::mad::LQ_OC_single_shooting< N, R, K, P >::ubx ( )

inline

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◆ update() [1/2]

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::update	(	const t_x0 &	x0,
		const t_y &	y,
		const t_lbx &	lbx,
		const t_ubx &	ubx
	)

inline

change initial value, reference and bounds

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◆ update() [2/2]

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::update	(	const t_x0 &	x0,
		const t_y &	y,
		const t_lbx &	lbx,
		const t_ubx &	ubx,
		const t_lbu_hard &	lbu_hard,
		const t_ubu_hard &	ubu_hard,
		const t_ubeps &	ubeps
	)

inline

change initial value, reference and bounds

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◆ updateA1()

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::updateA1 ( )

inlineprivate

A1 := [F [-I;-I;-I;...-I] 0] --> x upper bound soft constraint (set F part here)

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◆ updateA2()

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::updateA2 ( )

inlineprivate

A2 := [F  [I;I;I;...I]  0]  --> x lower bound soft constraint

(set F part here)

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◆ updateAd()

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::updateAd ( )

inlineprivate

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◆ updateE()

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::updateE ( )

inlineprivate

E:=[pow(Ad,1) pow(Ad,2) : pow(Ad,k)]*x0

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◆ updateF()

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::updateF ( )

inlineprivate

F:=[ B, 0, 0,... 0 AB, B, 0,... 0; AAB,AB, B,...,0; : pow(A,k-1)B,pow(A,k-2)B,pow(A,k-3),B,...,B], so that X=E+F*U

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◆ updateg1()

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::updateg1 ( )

inlineprivate

g1:= F^T Hx E - F^T Hx y

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◆ updateH11()

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::updateH11 ( )

inlineprivate

H11 := Hu + F^T Hx F

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◆ updateHeps()

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::updateHeps ( )

inlineprivate

Heps:=diag(weps);.

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◆ updateHu()

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::updateHu ( )

inlineprivate

Hu:=diag(wu)

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◆ updateHx()

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::updateHx ( )

inlineprivate

Hx:=diag(wx)

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◆ updateqpA()

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::updateqpA ( )

inlineprivate

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◆ updateqpg()

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::updateqpg ( )

inlineprivate

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◆ updateqpH()

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::updateqpH ( )

inlineprivate

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◆ updateqplb()

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::updateqplb ( )

inlineprivate

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◆ updateqpub()

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::updateqpub ( )

inlineprivate

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◆ updateqpubA()

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::updateqpubA ( )

inlineprivate

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◆ updateSystem() [1/3]

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::updateSystem	(	const t_Ad &	Ad,
		const t_Bd &	Bd,
		const t_wx &	wx,
		const t_wu &	wu
	)

inline

change the system

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◆ updateSystem() [2/3]

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::updateSystem	(	const t_Ad &	Ad,
		const t_Bd &	Bd,
		const t_wx &	wx,
		const t_wu &	wu,
		const t_weps &	weps
	)

inline

change the system

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◆ updateSystem() [3/3]

template<int N, int R, int K, int P>

void adore::mad::LQ_OC_single_shooting< N, R, K, P >::updateSystem	(	const t_Ad &	Ad,
		const t_Bd &	Bd,
		const t_wx &	wx,
		const t_wu &	wu,
		const t_weps &	weps,
		const t_geps &	geps
	)

inline

change the system

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◆ uset()

template<int N, int R, int K, int P>

t_uset& adore::mad::LQ_OC_single_shooting< N, R, K, P >::uset ( )

inline

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◆ weps()

template<int N, int R, int K, int P>

t_weps& adore::mad::LQ_OC_single_shooting< N, R, K, P >::weps ( )

inline

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◆ wu()

template<int N, int R, int K, int P>

t_wu& adore::mad::LQ_OC_single_shooting< N, R, K, P >::wu ( )

inline

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◆ wu_end()

template<int N, int R, int K, int P>

t_wu_end& adore::mad::LQ_OC_single_shooting< N, R, K, P >::wu_end ( )

inline

◆ wx()

template<int N, int R, int K, int P>

t_wx& adore::mad::LQ_OC_single_shooting< N, R, K, P >::wx ( )

inline

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◆ wx_end()

template<int N, int R, int K, int P>

t_wx_end& adore::mad::LQ_OC_single_shooting< N, R, K, P >::wx_end ( )

inline

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◆ X()

template<int N, int R, int K, int P>

t_X& adore::mad::LQ_OC_single_shooting< N, R, K, P >::X ( )

inline

◆ x0()

template<int N, int R, int K, int P>

t_x0& adore::mad::LQ_OC_single_shooting< N, R, K, P >::x0 ( )

inline

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◆ y()

template<int N, int R, int K, int P>

t_y& adore::mad::LQ_OC_single_shooting< N, R, K, P >::y ( )

inline

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Member Data Documentation

◆ m_A1

template<int N, int R, int K, int P>

dlib::matrix<real_t,N*K,nV> adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_A1

private

upper left part of overal quadratic cost term H=[Hu + F^T Hx F, 0; 0, Heps]=[H11,0;0,Heps]

◆ m_A2

template<int N, int R, int K, int P>

dlib::matrix<real_t,N*K,nV> adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_A2

private

state soft constraints equation upper bound

◆ m_Ad

template<int N, int R, int K, int P>

t_Ad adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_Ad

private

◆ m_Ad_p

template<int N, int R, int K, int P>

t_Ad adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_Ad_p

private

discrete time input matrix

◆ m_Ad_powers

template<int N, int R, int K, int P>

std::vector<t_Ad*> adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_Ad_powers

private

input matrix for interpolation

◆ m_Bd

template<int N, int R, int K, int P>

t_Bd adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_Bd

private

discrete time system matrix future version: one Ad,Bd per time step

◆ m_Bd_p

template<int N, int R, int K, int P>

t_Bd adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_Bd_p

private

system matrix for interpolation

◆ m_E

template<int N, int R, int K, int P>

dlib::matrix<real_t,N*K,1> adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_E

private

set point

◆ m_eps

template<int N, int R, int K, int P>

t_eps adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_eps

private

◆ m_F

template<int N, int R, int K, int P>

dlib::matrix<real_t,N*K,R*K> adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_F

private

[pow(Ad,1);pow(Ad,2);...;pow(Ad,k)]*x0

◆ m_g1

template<int N, int R, int K, int P>

dlib::matrix<real_t,R*K,1> adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_g1

private

◆ m_geps

template<int N, int R, int K, int P>

t_geps adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_geps

private

quadratic weights for slack (will be put in Heps)

◆ m_H11

template<int N, int R, int K, int P>

dlib::matrix<real_t,R*K,R*K> adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_H11

private

first part of overall linear cost term, g=[F^T Hx E - F^T Hx y; geps]=[g1;geps]

◆ m_Heps

template<int N, int R, int K, int P>

dlib::matrix<real_t,N,N> adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_Heps

private

◆ m_Hu

template<int N, int R, int K, int P>

dlib::matrix<real_t,R*K,R*K> adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_Hu

private

◆ m_Hx

template<int N, int R, int K, int P>

dlib::matrix<real_t,N*K,N*K> adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_Hx

private

[B,0,0,..0;AB,B,0,...0;AAB,AB,B,...,0;...;pow(A,k-1)B,pow(A,k-2)B,pow(A,k-3),B,...,B]

◆ m_lbu_hard

template<int N, int R, int K, int P>

t_lbu_hard adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_lbu_hard

private

upper bound on state trace

◆ m_lbx

template<int N, int R, int K, int P>

t_lbx adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_lbx

private

linear weights for slack

◆ m_qpA

template<int N, int R, int K, int P>

real_t adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_qpA[nC *nV]

private

◆ m_qpcputime_in

template<int N, int R, int K, int P>

real_t adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_qpcputime_in

private

qpOASES: "The integer argument nWSR species the maximum number of working set recalculations to be performed during the initial homotopy"

◆ m_qpcputime_out

template<int N, int R, int K, int P>

real_t adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_qpcputime_out

private

qpOASES: "If cputime is not the null pointer, it contains the maximum allowed CPU time in seconds for the whole initialisation (and the actually required one on output)."

◆ m_qpg

template<int N, int R, int K, int P>

real_t adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_qpg[nV]

private

◆ m_qpH

template<int N, int R, int K, int P>

real_t adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_qpH[nV *nV]

private

◆ m_qplb

template<int N, int R, int K, int P>

real_t adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_qplb[nV]

private

◆ m_qplbA

template<int N, int R, int K, int P>

real_t adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_qplbA[nC]

private

◆ m_qpnWSR_in

template<int N, int R, int K, int P>

qpOASES::int_t adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_qpnWSR_in

private

◆ m_qpnWSR_out

template<int N, int R, int K, int P>

qpOASES::int_t adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_qpnWSR_out

private

qpOASES: "The integer argument nWSR species the maximum number of working set recalculations to be performed during the initial homotopy"

◆ m_qproblem

template<int N, int R, int K, int P>

qpOASES::QProblem* adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_qproblem

private

state soft constraints equation lower bound

◆ m_qpub

template<int N, int R, int K, int P>

real_t adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_qpub[nV]

private

◆ m_qpubA

template<int N, int R, int K, int P>

real_t adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_qpubA[nC]

private

◆ m_qpxOpt

template<int N, int R, int K, int P>

real_t adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_qpxOpt[nV]

private

◆ m_resultfun

template<int N, int R, int K, int P>

t_resultfun adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_resultfun

private

powers of Ad, so these don't have to be recomputed online

◆ m_system_changed

template<int N, int R, int K, int P>

bool adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_system_changed

private

the slack

◆ m_U

template<int N, int R, int K, int P>

t_U adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_U

private

desired states (reference) y=[y_0(t_1);y_1(t_1);y_2(t_1);y_0(t_2);y_1(t_2);y_2(t_2);...;y_0(t_K);y_1(t_K);y_2(t_K)] (for N=3)

◆ m_U_flat

template<int N, int R, int K, int P>

t_U_flat adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_U_flat

private

the computed control [u(t_0),...,u(t_K-1)]

◆ m_ubeps

template<int N, int R, int K, int P>

t_ubeps adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_ubeps

private

upper bound on input trace, hard constraint going to ub

◆ m_ubu_hard

template<int N, int R, int K, int P>

t_ubu_hard adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_ubu_hard

private

lower bound on input trace, hard constraint going to lb

◆ m_ubx

template<int N, int R, int K, int P>

t_ubx adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_ubx

private

lower bound on state trace

◆ m_uset

template<int N, int R, int K, int P>

t_uset adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_uset

private

◆ m_uset_flat

template<int N, int R, int K, int P>

t_uset_flat adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_uset_flat

private

set point

◆ m_weps

template<int N, int R, int K, int P>

t_weps adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_weps

private

weights for inputs at endpoint

◆ m_wu

template<int N, int R, int K, int P>

t_wu adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_wu

private

weights for states at endpoint

◆ m_wu_end

template<int N, int R, int K, int P>

t_wu_end adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_wu_end

private

weights for inputs (will be put on main diagonal of Hu)

◆ m_wx

template<int N, int R, int K, int P>

t_wx adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_wx

private

◆ m_wx_end

template<int N, int R, int K, int P>

t_wx_end adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_wx_end

private

weights for states (will be put on main diagonal of Hx)

◆ m_X

template<int N, int R, int K, int P>

t_X adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_X

private

◆ m_x0

template<int N, int R, int K, int P>

t_x0 adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_x0

private

lbeps==0, softconstraints for x and/or u if ubeps>0

◆ m_X_flat

template<int N, int R, int K, int P>

t_X_flat adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_X_flat

private

the computed states [x(t_1),..., x(t_K)]

◆ m_y

template<int N, int R, int K, int P>

t_y adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_y

private

initial state

◆ m_y_flat

template<int N, int R, int K, int P>

t_y_flat adore::mad::LQ_OC_single_shooting< N, R, K, P >::m_y_flat

private

desired states (reference) y=[y_0(t_1);y_1(t_1);y_2(t_1);y_0(t_2);y_1(t_2);y_2(t_2);...;y_0(t_K);y_1(t_K);y_2(t_K)] (for N=3)

◆ nC

template<int N, int R, int K, int P>

const int adore::mad::LQ_OC_single_shooting< N, R, K, P >::nC = 2*N*K

static

number of variables in the QP: var=[u;eps]

◆ nV

template<int N, int R, int K, int P>

const int adore::mad::LQ_OC_single_shooting< N, R, K, P >::nV = R*K + N

static

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

/home/fascar/temp/adore/libadore/libadore/adore/mad/include/adore/mad/lq_oc_single_shooting.h

Public Types

Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Detailed Description

template<int N, int R, int K, int P> class adore::mad::LQ_OC_single_shooting< N, R, K, P >

Member Typedef Documentation

◆ real_t

◆ t_Ad

◆ t_Bd

◆ t_eps

◆ t_geps

◆ t_lbu

◆ t_lbu_hard

◆ t_lbx

◆ t_resultfun

◆ t_U

◆ t_U_flat

◆ t_ubeps

◆ t_ubu

◆ t_ubu_hard

◆ t_ubx

◆ t_uset

◆ t_uset_flat

◆ t_weps

◆ t_wu

◆ t_wu_end

◆ t_wx

◆ t_wx_end

◆ t_X

◆ t_x0

◆ t_X_flat

◆ t_y

◆ t_y_flat

Constructor & Destructor Documentation

◆ LQ_OC_single_shooting()

◆ ~LQ_OC_single_shooting()

Member Function Documentation

◆ Ad()

◆ Ad_p()

◆ Bd()

◆ Bd_p()

◆ compute()

◆ compute_hotstart()

◆ compute_init()

◆ delete_memory()

◆ eps()

◆ geps()

◆ getCPUTime()

◆ getnC()

◆ getnV()

◆ getnWSR()

◆ getQProblem()

◆ idx()

◆ initialize_interface_variables()

◆ initialize_intermediate_matrices()

◆ initialize_memory()

◆ initialize_userdata_matrices()

◆ interpolateSolution()

◆ isFeasible()

◆ isSolved()

◆ lbu_hard()

◆ lbx()

◆ result_fun()

◆ retrieveSolution()

◆ setEndTime()

◆ setMaxCPUTime()

◆ setMaxnWSR()

◆ setSystemChanged()

◆ U()

◆ ubeps()

◆ ubu_hard()

◆ ubx()

◆ update() [1/2]

◆ update() [2/2]

◆ updateA1()

◆ updateA2()

◆ updateAd()

◆ updateE()

template<int N, int R, int K, int P>
class adore::mad::LQ_OC_single_shooting< N, R, K, P >