#include <alpaqa/dl/dl-problem.hpp>

Detailed Description

Class that loads an optimal control problem using dlopen.

The shared library should export a C function with the name <symbol_prefix>_register that accepts a void pointer with user data, and returns a struct of type alpaqa_control_problem_register_t that contains all data to represent the problem, as well as function pointers for all required operations. See C++/DLProblem/main.cpp

Note: Copies are shallow, they all share the same problem instance, take that into account when using multiple threads.

See also: TypeErasedControlProblem

Definition at line 197 of file dl-problem.hpp.

Collaboration diagram for DLControlProblem:

Public Types
using	Box = alpaqa::Box< config_t >

using	instance_t = ExtraFuncs::instance_t

Public Member Functions
	DLControlProblem (const std::string &so_filename, std::string symbol_prefix="alpaqa_control_problem", void *user_param=nullptr)
	Load a problem from a shared library.

length_t	get_N () const

length_t	get_nx () const

length_t	get_nu () const

length_t	get_nh () const

length_t	get_nh_N () const

length_t	get_nc () const

length_t	get_nc_N () const

void	check () const

void	get_U (Box &U) const

void	get_D (Box &D) const

void	get_D_N (Box &D) const

void	get_x_init (rvec x_init) const

void	eval_f (index_t timestep, crvec x, crvec u, rvec fxu) const

void	eval_jac_f (index_t timestep, crvec x, crvec u, rmat J_fxu) const

void	eval_grad_f_prod (index_t timestep, crvec x, crvec u, crvec p, rvec grad_fxu_p) const

void	eval_h (index_t timestep, crvec x, crvec u, rvec h) const

void	eval_h_N (crvec x, rvec h) const

real_t	eval_l (index_t timestep, crvec h) const

real_t	eval_l_N (crvec h) const

void	eval_qr (index_t timestep, crvec xu, crvec h, rvec qr) const

void	eval_q_N (crvec x, crvec h, rvec q) const

void	eval_add_Q (index_t timestep, crvec xu, crvec h, rmat Q) const

void	eval_add_Q_N (crvec x, crvec h, rmat Q) const

void	eval_add_R_masked (index_t timestep, crvec xu, crvec h, crindexvec mask, rmat R, rvec work) const

void	eval_add_S_masked (index_t timestep, crvec xu, crvec h, crindexvec mask, rmat S, rvec work) const

void	eval_add_R_prod_masked (index_t timestep, crvec xu, crvec h, crindexvec mask_J, crindexvec mask_K, crvec v, rvec out, rvec work) const

void	eval_add_S_prod_masked (index_t timestep, crvec xu, crvec h, crindexvec mask_K, crvec v, rvec out, rvec work) const

length_t	get_R_work_size () const

length_t	get_S_work_size () const

void	eval_constr (index_t timestep, crvec x, rvec c) const

void	eval_constr_N (crvec x, rvec c) const

void	eval_grad_constr_prod (index_t timestep, crvec x, crvec p, rvec grad_cx_p) const

void	eval_grad_constr_prod_N (crvec x, crvec p, rvec grad_cx_p) const

void	eval_add_gn_hess_constr (index_t timestep, crvec x, crvec M, rmat out) const

void	eval_add_gn_hess_constr_N (crvec x, crvec M, rmat out) const

bool	provides_get_D () const

bool	provides_get_D_N () const

bool	provides_eval_add_Q_N () const

bool	provides_eval_add_R_prod_masked () const

bool	provides_eval_add_S_prod_masked () const

bool	provides_get_R_work_size () const

bool	provides_get_S_work_size () const

bool	provides_eval_constr () const

bool	provides_eval_constr_N () const

bool	provides_eval_grad_constr_prod () const

bool	provides_eval_grad_constr_prod_N () const

bool	provides_eval_add_gn_hess_constr () const

bool	provides_eval_add_gn_hess_constr_N () const

template<class Signature , class... Args>
decltype(auto)	call_extra_func (const std::string &name, Args &&...args) const

template<class Signature , class... Args>
decltype(auto)	call_extra_func (const std::string &name, Args &&...args)

Private Attributes
std::shared_ptr< void >	handle
	Handle to the shared module defining the problem.

std::shared_ptr< void >	instance
	Problem instance created by the registration function, including the deleter to destroy it.

control_problem_functions_t *	functions = nullptr
	Pointer to the struct of function pointers for evaluating the objective, constraints, their gradients, etc.

ExtraFuncs	extra_funcs
	Dictionary of extra functions that were registered by the problem.

Member Typedef Documentation

◆ Box

using Box = alpaqa::Box<config_t>

Definition at line 200 of file dl-problem.hpp.

◆ instance_t

using instance_t = ExtraFuncs::instance_t

Definition at line 278 of file dl-problem.hpp.

Constructor & Destructor Documentation

◆ DLControlProblem()

DLControlProblem	(	const std::string &	so_filename,
		std::string	symbol_prefix = `"alpaqa_control_problem"`,
		void *	user_param = `nullptr`
	)

Load a problem from a shared library.

Parameters

so_filename	Filename of the shared library to load.
symbol_prefix	Prefix of the registration function.
user_param	Pointer to custom user data to pass to the registration function.

Definition at line 179 of file dl-problem.cpp.

Member Function Documentation

◆ get_N()

length_t get_N ( ) const

inline

Definition at line 224 of file dl-problem.hpp.

◆ get_nx()

length_t get_nx ( ) const

inline

Definition at line 225 of file dl-problem.hpp.

◆ get_nu()

length_t get_nu ( ) const

inline

Definition at line 226 of file dl-problem.hpp.

◆ get_nh()

length_t get_nh ( ) const

inline

Definition at line 227 of file dl-problem.hpp.

◆ get_nh_N()

length_t get_nh_N ( ) const

inline

Definition at line 228 of file dl-problem.hpp.

◆ get_nc()

length_t get_nc ( ) const

inline

Definition at line 229 of file dl-problem.hpp.

◆ get_nc_N()

length_t get_nc_N ( ) const

inline

Definition at line 230 of file dl-problem.hpp.

◆ check()

void check ( ) const

inline

Definition at line 232 of file dl-problem.hpp.

◆ get_U()

auto get_U ( Box & U ) const

Definition at line 214 of file dl-problem.cpp.

◆ get_D()

auto get_D ( Box & D ) const

Definition at line 215 of file dl-problem.cpp.

◆ get_D_N()

auto get_D_N ( Box & D ) const

Definition at line 216 of file dl-problem.cpp.

◆ get_x_init()

auto get_x_init ( rvec x_init ) const

Definition at line 217 of file dl-problem.cpp.

◆ eval_f()

auto eval_f	(	index_t	timestep,
		crvec	x,
		crvec	u,
		rvec	fxu
	)		const

Definition at line 218 of file dl-problem.cpp.

◆ eval_jac_f()

auto eval_jac_f	(	index_t	timestep,
		crvec	x,
		crvec	u,
		rmat	J_fxu
	)		const

Definition at line 219 of file dl-problem.cpp.

◆ eval_grad_f_prod()

auto eval_grad_f_prod	(	index_t	timestep,
		crvec	x,
		crvec	u,
		crvec	p,
		rvec	grad_fxu_p
	)		const

Definition at line 220 of file dl-problem.cpp.

◆ eval_h()

auto eval_h	(	index_t	timestep,
		crvec	x,
		crvec	u,
		rvec	h
	)		const

Definition at line 221 of file dl-problem.cpp.

◆ eval_h_N()

auto eval_h_N	(	crvec	x,
		rvec	h
	)		const

Definition at line 222 of file dl-problem.cpp.

◆ eval_l()

auto eval_l	(	index_t	timestep,
		crvec	h
	)		const

Definition at line 223 of file dl-problem.cpp.

◆ eval_l_N()

auto eval_l_N ( crvec h ) const

Definition at line 224 of file dl-problem.cpp.

◆ eval_qr()

auto eval_qr	(	index_t	timestep,
		crvec	xu,
		crvec	h,
		rvec	qr
	)		const

Definition at line 225 of file dl-problem.cpp.

◆ eval_q_N()

auto eval_q_N	(	crvec	x,
		crvec	h,
		rvec	q
	)		const

Definition at line 226 of file dl-problem.cpp.

◆ eval_add_Q()

auto eval_add_Q	(	index_t	timestep,
		crvec	xu,
		crvec	h,
		rmat	Q
	)		const

Definition at line 227 of file dl-problem.cpp.

◆ eval_add_Q_N()

auto eval_add_Q_N	(	crvec	x,
		crvec	h,
		rmat	Q
	)		const

Definition at line 228 of file dl-problem.cpp.

◆ eval_add_R_masked()

auto eval_add_R_masked	(	index_t	timestep,
		crvec	xu,
		crvec	h,
		crindexvec	mask,
		rmat	R,
		rvec	work
	)		const

Definition at line 229 of file dl-problem.cpp.

◆ eval_add_S_masked()

auto eval_add_S_masked	(	index_t	timestep,
		crvec	xu,
		crvec	h,
		crindexvec	mask,
		rmat	S,
		rvec	work
	)		const

Definition at line 230 of file dl-problem.cpp.

◆ eval_add_R_prod_masked()

auto eval_add_R_prod_masked	(	index_t	timestep,
		crvec	xu,
		crvec	h,
		crindexvec	mask_J,
		crindexvec	mask_K,
		crvec	v,
		rvec	out,
		rvec	work
	)		const

Definition at line 231 of file dl-problem.cpp.

◆ eval_add_S_prod_masked()

auto eval_add_S_prod_masked	(	index_t	timestep,
		crvec	xu,
		crvec	h,
		crindexvec	mask_K,
		crvec	v,
		rvec	out,
		rvec	work
	)		const

Definition at line 232 of file dl-problem.cpp.

◆ get_R_work_size()

auto get_R_work_size ( ) const

Definition at line 233 of file dl-problem.cpp.

◆ get_S_work_size()

auto get_S_work_size ( ) const

Definition at line 234 of file dl-problem.cpp.

◆ eval_constr()

auto eval_constr	(	index_t	timestep,
		crvec	x,
		rvec	c
	)		const

Definition at line 235 of file dl-problem.cpp.

◆ eval_constr_N()

auto eval_constr_N	(	crvec	x,
		rvec	c
	)		const

Definition at line 236 of file dl-problem.cpp.

◆ eval_grad_constr_prod()

auto eval_grad_constr_prod	(	index_t	timestep,
		crvec	x,
		crvec	p,
		rvec	grad_cx_p
	)		const

Definition at line 237 of file dl-problem.cpp.

◆ eval_grad_constr_prod_N()

auto eval_grad_constr_prod_N	(	crvec	x,
		crvec	p,
		rvec	grad_cx_p
	)		const

Definition at line 238 of file dl-problem.cpp.

◆ eval_add_gn_hess_constr()

auto eval_add_gn_hess_constr	(	index_t	timestep,
		crvec	x,
		crvec	M,
		rmat	out
	)		const

Definition at line 239 of file dl-problem.cpp.

◆ eval_add_gn_hess_constr_N()

auto eval_add_gn_hess_constr_N	(	crvec	x,
		crvec	M,
		rmat	out
	)		const

Definition at line 240 of file dl-problem.cpp.

◆ provides_get_D()

bool provides_get_D ( ) const

Definition at line 242 of file dl-problem.cpp.

◆ provides_get_D_N()

bool provides_get_D_N ( ) const

Definition at line 243 of file dl-problem.cpp.

◆ provides_eval_add_Q_N()

bool provides_eval_add_Q_N ( ) const

Definition at line 244 of file dl-problem.cpp.

◆ provides_eval_add_R_prod_masked()

bool provides_eval_add_R_prod_masked ( ) const

Definition at line 245 of file dl-problem.cpp.

◆ provides_eval_add_S_prod_masked()

bool provides_eval_add_S_prod_masked ( ) const

Definition at line 246 of file dl-problem.cpp.

◆ provides_get_R_work_size()

bool provides_get_R_work_size ( ) const

Definition at line 247 of file dl-problem.cpp.

◆ provides_get_S_work_size()

bool provides_get_S_work_size ( ) const

Definition at line 248 of file dl-problem.cpp.

◆ provides_eval_constr()

bool provides_eval_constr ( ) const

Definition at line 249 of file dl-problem.cpp.

◆ provides_eval_constr_N()

bool provides_eval_constr_N ( ) const

Definition at line 250 of file dl-problem.cpp.

◆ provides_eval_grad_constr_prod()

bool provides_eval_grad_constr_prod ( ) const

Definition at line 251 of file dl-problem.cpp.

◆ provides_eval_grad_constr_prod_N()

bool provides_eval_grad_constr_prod_N ( ) const

Definition at line 252 of file dl-problem.cpp.

◆ provides_eval_add_gn_hess_constr()

bool provides_eval_add_gn_hess_constr ( ) const

Definition at line 253 of file dl-problem.cpp.

◆ provides_eval_add_gn_hess_constr_N()

bool provides_eval_add_gn_hess_constr_N ( ) const

Definition at line 254 of file dl-problem.cpp.

◆ call_extra_func() [1/2]

decltype(auto) call_extra_func	(	const std::string &	name,
		Args &&...	args
	)		const

inline

Definition at line 281 of file dl-problem.hpp.

Here is the call graph for this function:

◆ call_extra_func() [2/2]

decltype(auto) call_extra_func	(	const std::string &	name,
		Args &&...	args
	)

inline

Definition at line 289 of file dl-problem.hpp.

Here is the call graph for this function:

Member Data Documentation

◆ handle

std::shared_ptr<void> handle

private

Handle to the shared module defining the problem.

Definition at line 213 of file dl-problem.hpp.

◆ instance

std::shared_ptr<void> instance

private

Problem instance created by the registration function, including the deleter to destroy it.

Definition at line 216 of file dl-problem.hpp.

◆ functions

control_problem_functions_t* functions = nullptr

private

Pointer to the struct of function pointers for evaluating the objective, constraints, their gradients, etc.

Definition at line 219 of file dl-problem.hpp.

◆ extra_funcs

ExtraFuncs extra_funcs

private

Dictionary of extra functions that were registered by the problem.

Definition at line 221 of file dl-problem.hpp.

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

src/interop/dl/include/alpaqa/dl/dl-problem.hpp
src/interop/dl/src/dl-problem.cpp

Detailed Description

Public Types

Public Member Functions

Private Attributes

Member Typedef Documentation

◆ Box

◆ instance_t

Constructor & Destructor Documentation

◆ DLControlProblem()

Member Function Documentation

◆ get_N()

◆ get_nx()

◆ get_nu()

◆ get_nh()

◆ get_nh_N()

◆ get_nc()

◆ get_nc_N()

◆ check()

◆ get_U()

◆ get_D()

◆ get_D_N()

◆ get_x_init()

◆ eval_f()

◆ eval_jac_f()

◆ eval_grad_f_prod()

◆ eval_h()

◆ eval_h_N()

◆ eval_l()

◆ eval_l_N()

◆ eval_qr()

◆ eval_q_N()

◆ eval_add_Q()

◆ eval_add_Q_N()

◆ eval_add_R_masked()

◆ eval_add_S_masked()

◆ eval_add_R_prod_masked()

◆ eval_add_S_prod_masked()

◆ get_R_work_size()

◆ get_S_work_size()

◆ eval_constr()

◆ eval_constr_N()

◆ eval_grad_constr_prod()

◆ eval_grad_constr_prod_N()

◆ eval_add_gn_hess_constr()

◆ eval_add_gn_hess_constr_N()

◆ provides_get_D()

◆ provides_get_D_N()

◆ provides_eval_add_Q_N()

◆ provides_eval_add_R_prod_masked()

◆ provides_eval_add_S_prod_masked()

◆ provides_get_R_work_size()

◆ provides_get_S_work_size()

◆ provides_eval_constr()

◆ provides_eval_constr_N()

◆ provides_eval_grad_constr_prod()

◆ provides_eval_grad_constr_prod_N()

◆ provides_eval_add_gn_hess_constr()

◆ provides_eval_add_gn_hess_constr_N()

◆ call_extra_func() [1/2]

◆ call_extra_func() [2/2]

Member Data Documentation

◆ handle

◆ instance

◆ functions

◆ extra_funcs