#include <alpaqa/problem/ocproblem.hpp>

Detailed Description

template<class Problem>
struct alpaqa::ControlProblemWithCounters< Problem >

Examples: C++/CustomControlCppProblem/main.cpp.

Definition at line 556 of file ocproblem.hpp.

Collaboration diagram for ControlProblemWithCounters< Problem >:

Public Types
using	Box = typename TypeErasedControlProblem< config_t >::Box

Public Member Functions
length_t	get_N () const

length_t	get_nu () const

length_t	get_nx () const

length_t	get_nh () const

length_t	get_nh_N () const

length_t	get_nc () const

length_t	get_nc_N () const

void	eval_proj_diff_g (crvec z, rvec e) const

void	eval_proj_multipliers (rvec y, real_t M) const

void	get_x_init (rvec x_init) const

length_t	get_R_work_size () const

length_t	get_S_work_size () const

void	get_U (Box &U) const

void	get_D (Box &D) const

void	get_D_N (Box &D) 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

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

void	check () 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

	ControlProblemWithCounters ()=default

template<class P > requires std::is_same_v<std::remove_cvref_t<P>, std::remove_cvref_t<Problem>>
	ControlProblemWithCounters (P &&problem)

template<class... Args> requires (!std::is_lvalue_reference_v<Problem>)
	ControlProblemWithCounters (std::in_place_t, Args &&...args)

void	reset_evaluations ()
	Reset all evaluation counters and timers to zero.

void	decouple_evaluations ()
	Give this instance its own evaluation counters and timers, decoupling it from any other instances they might have previously been shared with.

Public Attributes
std::shared_ptr< OCPEvalCounter >	evaluations = std::make_shared<OCPEvalCounter>()

Problem	problem

Static Private Member Functions
template<class TimeT , class FunT >
static decltype(auto)	timed (TimeT &time, FunT &&f)

Member Typedef Documentation

◆ Box

template<class Problem >

using Box = typename TypeErasedControlProblem<config_t>::Box

Definition at line 558 of file ocproblem.hpp.

Constructor & Destructor Documentation

◆ ControlProblemWithCounters() [1/3]

template<class Problem >

ControlProblemWithCounters ( )

default

◆ ControlProblemWithCounters() [2/3]

template<class Problem >

template<class P >
requires std::is_same_v<std::remove_cvref_t<P>, std::remove_cvref_t<Problem>>

ControlProblemWithCounters ( P && problem )

inlineexplicit

Definition at line 622 of file ocproblem.hpp.

◆ ControlProblemWithCounters() [3/3]

template<class Problem >

template<class... Args>
requires (!std::is_lvalue_reference_v<Problem>)

ControlProblemWithCounters	(	std::in_place_t	,
		Args &&...	args
	)

inlineexplicit

Definition at line 626 of file ocproblem.hpp.

Member Function Documentation

◆ get_N()

template<class Problem >

length_t get_N ( ) const

inline

Examples: C++/CustomControlCppProblem/main.cpp.

Definition at line 560 of file ocproblem.hpp.

◆ get_nu()

template<class Problem >

length_t get_nu ( ) const

inline

Examples: C++/CustomControlCppProblem/main.cpp.

Definition at line 561 of file ocproblem.hpp.

◆ get_nx()

template<class Problem >

length_t get_nx ( ) const

inline

Definition at line 562 of file ocproblem.hpp.

◆ get_nh()

template<class Problem >

length_t get_nh ( ) const

inline

Definition at line 563 of file ocproblem.hpp.

◆ get_nh_N()

template<class Problem >

length_t get_nh_N ( ) const

inline

Definition at line 564 of file ocproblem.hpp.

◆ get_nc()

template<class Problem >

length_t get_nc ( ) const

inline

Examples: C++/CustomControlCppProblem/main.cpp.

Definition at line 565 of file ocproblem.hpp.

◆ get_nc_N()

template<class Problem >

length_t get_nc_N ( ) const

inline

Examples: C++/CustomControlCppProblem/main.cpp.

Definition at line 566 of file ocproblem.hpp.

◆ eval_proj_diff_g()

template<class Problem >

void eval_proj_diff_g	(	crvec	z,
		rvec	e
	)		const

inline

Definition at line 569 of file ocproblem.hpp.

◆ eval_proj_multipliers()

template<class Problem >

void eval_proj_multipliers	(	rvec	y,
		real_t	M
	)		const

inline

Definition at line 570 of file ocproblem.hpp.

◆ get_x_init()

template<class Problem >

void get_x_init ( rvec x_init ) const

inline

Definition at line 571 of file ocproblem.hpp.

◆ get_R_work_size()

template<class Problem >

length_t get_R_work_size ( ) const

inline

Definition at line 572 of file ocproblem.hpp.

◆ get_S_work_size()

template<class Problem >

length_t get_S_work_size ( ) const

inline

Definition at line 573 of file ocproblem.hpp.

◆ get_U()

template<class Problem >

void get_U ( Box & U ) const

inline

Definition at line 574 of file ocproblem.hpp.

◆ get_D()

template<class Problem >

void get_D ( Box & D ) const

inline

Definition at line 575 of file ocproblem.hpp.

◆ get_D_N()

template<class Problem >

void get_D_N ( Box & D ) const

inline

Definition at line 576 of file ocproblem.hpp.

◆ eval_f()

template<class Problem >

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

inline

Definition at line 577 of file ocproblem.hpp.

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◆ eval_jac_f()

template<class Problem >

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

inline

Definition at line 578 of file ocproblem.hpp.

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◆ eval_grad_f_prod()

template<class Problem >

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

inline

Definition at line 579 of file ocproblem.hpp.

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◆ eval_h()

template<class Problem >

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

inline

Definition at line 580 of file ocproblem.hpp.

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◆ eval_h_N()

template<class Problem >

void eval_h_N	(	crvec	x,
		rvec	h
	)		const

inline

Definition at line 581 of file ocproblem.hpp.

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◆ eval_l()

template<class Problem >

real_t eval_l	(	index_t	timestep,
		crvec	h
	)		const

inline

Definition at line 582 of file ocproblem.hpp.

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◆ eval_l_N()

template<class Problem >

real_t eval_l_N ( crvec h ) const

inline

Definition at line 583 of file ocproblem.hpp.

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◆ eval_qr()

template<class Problem >

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

inline

Definition at line 584 of file ocproblem.hpp.

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◆ eval_q_N()

template<class Problem >

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

inline

Definition at line 585 of file ocproblem.hpp.

◆ eval_add_Q()

template<class Problem >

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

inline

Definition at line 586 of file ocproblem.hpp.

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◆ eval_add_Q_N()

template<class Problem >

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

inline

Definition at line 587 of file ocproblem.hpp.

◆ eval_add_R_masked()

template<class Problem >

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

inline

Definition at line 588 of file ocproblem.hpp.

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◆ eval_add_S_masked()

template<class Problem >

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

inline

Definition at line 589 of file ocproblem.hpp.

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◆ eval_add_R_prod_masked()

template<class Problem >

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

inline

Definition at line 590 of file ocproblem.hpp.

◆ eval_add_S_prod_masked()

template<class Problem >

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

inline

Definition at line 591 of file ocproblem.hpp.

◆ eval_constr()

template<class Problem >

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

inline

Definition at line 592 of file ocproblem.hpp.

◆ eval_constr_N()

template<class Problem >

void eval_constr_N	(	crvec	x,
		rvec	c
	)		const

inline

Definition at line 593 of file ocproblem.hpp.

◆ eval_grad_constr_prod()

template<class Problem >

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

inline

Definition at line 594 of file ocproblem.hpp.

◆ eval_grad_constr_prod_N()

template<class Problem >

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

inline

Definition at line 595 of file ocproblem.hpp.

◆ eval_add_gn_hess_constr()

template<class Problem >

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

inline

Definition at line 596 of file ocproblem.hpp.

◆ eval_add_gn_hess_constr_N()

template<class Problem >

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

inline

Definition at line 597 of file ocproblem.hpp.

◆ check()

template<class Problem >

void check ( ) const

inline

Definition at line 598 of file ocproblem.hpp.

◆ provides_get_D()

template<class Problem >

bool provides_get_D ( ) const

inline

Definition at line 600 of file ocproblem.hpp.

◆ provides_get_D_N()

template<class Problem >

bool provides_get_D_N ( ) const

inline

Definition at line 601 of file ocproblem.hpp.

◆ provides_eval_add_Q_N()

template<class Problem >

bool provides_eval_add_Q_N ( ) const

inline

Definition at line 602 of file ocproblem.hpp.

◆ provides_eval_add_R_prod_masked()

template<class Problem >

bool provides_eval_add_R_prod_masked ( ) const

inline

Definition at line 603 of file ocproblem.hpp.

◆ provides_eval_add_S_prod_masked()

template<class Problem >

bool provides_eval_add_S_prod_masked ( ) const

inline

Definition at line 604 of file ocproblem.hpp.

◆ provides_get_R_work_size()

template<class Problem >

bool provides_get_R_work_size ( ) const

inline

Definition at line 605 of file ocproblem.hpp.

◆ provides_get_S_work_size()

template<class Problem >

bool provides_get_S_work_size ( ) const

inline

Definition at line 606 of file ocproblem.hpp.

◆ provides_eval_constr()

template<class Problem >

bool provides_eval_constr ( ) const

inline

Definition at line 607 of file ocproblem.hpp.

◆ provides_eval_constr_N()

template<class Problem >

bool provides_eval_constr_N ( ) const

inline

Definition at line 608 of file ocproblem.hpp.

◆ provides_eval_grad_constr_prod()

template<class Problem >

bool provides_eval_grad_constr_prod ( ) const

inline

Definition at line 609 of file ocproblem.hpp.

◆ provides_eval_grad_constr_prod_N()

template<class Problem >

bool provides_eval_grad_constr_prod_N ( ) const

inline

Definition at line 610 of file ocproblem.hpp.

◆ provides_eval_add_gn_hess_constr()

template<class Problem >

bool provides_eval_add_gn_hess_constr ( ) const

inline

Definition at line 611 of file ocproblem.hpp.

◆ provides_eval_add_gn_hess_constr_N()

template<class Problem >

bool provides_eval_add_gn_hess_constr_N ( ) const

inline

Definition at line 612 of file ocproblem.hpp.

◆ reset_evaluations()

template<class Problem >

void reset_evaluations ( )

inline

Reset all evaluation counters and timers to zero.

Affects all instances that share the same evaluations. If you only want to reset the counters of this instance, use decouple_evaluations first.

Definition at line 633 of file ocproblem.hpp.

◆ decouple_evaluations()

template<class Problem >

void decouple_evaluations ( )

inline

Give this instance its own evaluation counters and timers, decoupling it from any other instances they might have previously been shared with.

The evaluation counters and timers are preserved (a copy is made).

Definition at line 637 of file ocproblem.hpp.

◆ timed()

template<class Problem >

template<class TimeT , class FunT >

static decltype(auto) timed	(	TimeT &	time,
		FunT &&	f
	)

inlinestaticprivate

Definition at line 641 of file ocproblem.hpp.

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Member Data Documentation

◆ evaluations

template<class Problem >

std::shared_ptr<OCPEvalCounter> evaluations = std::make_shared<OCPEvalCounter>()

Examples: C++/CustomControlCppProblem/main.cpp.

Definition at line 615 of file ocproblem.hpp.

◆ problem

template<class Problem >

Problem problem

Definition at line 616 of file ocproblem.hpp.

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

src/alpaqa/include/alpaqa/problem/ocproblem.hpp

Detailed Description

Public Types

Public Member Functions

Public Attributes

Static Private Member Functions

Member Typedef Documentation

◆ Box

Constructor & Destructor Documentation

◆ ControlProblemWithCounters() [1/3]

◆ ControlProblemWithCounters() [2/3]

◆ ControlProblemWithCounters() [3/3]

Member Function Documentation

◆ get_N()

◆ get_nu()

◆ get_nx()

◆ get_nh()

◆ get_nh_N()

◆ get_nc()

◆ get_nc_N()

◆ eval_proj_diff_g()

◆ eval_proj_multipliers()

◆ get_x_init()

◆ get_R_work_size()

◆ get_S_work_size()

◆ get_U()

◆ get_D()

◆ get_D_N()

◆ 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()

◆ 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()

◆ check()

◆ 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()

◆ reset_evaluations()

◆ decouple_evaluations()

◆ timed()

Member Data Documentation

◆ evaluations

◆ problem