DLControlProblem Class Reference

#include <interop/dl/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 206 of file dl-problem.hpp.

Inheritance diagram for DLControlProblem:

Collaboration diagram for DLControlProblem:

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

Public Member Functions
	DLControlProblem (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 Types
using	dl_handle_t = std::shared_ptr< void >

Private Member Functions
std::shared_ptr< void >	load_lib () const
	Open the shared library using dlopen
template<class F >
F *	load_func (std::string_view name) const
	Load a function with signature F from the library using dlsym.
template<class Signature > requires std::is_function_v<Signature>
const std::function< Signature > &	extra_func (const std::string &name) const
template<class Ret , class... FArgs, class... Args>
decltype(auto)	call_extra_func_helper (const void *instance, FuncTag< Ret(const instance_t *, FArgs...)>, const std::string &name, Args &&...args) const
template<class Ret , class... FArgs, class... Args>
decltype(auto)	call_extra_func_helper (void *instance, FuncTag< Ret(instance_t *, FArgs...)>, const std::string &name, Args &&...args)
template<class Ret , class... FArgs, class... Args>
decltype(auto)	call_extra_func_helper (const void *, FuncTag< Ret(FArgs...)>, const std::string &name, Args &&...args) const

Private Attributes
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.
std::string	so_filename
std::string	symbol_prefix
dl_handle_t	handle
	Handle to the shared library (returned by dlopen).
std::shared_ptr< function_dict_t >	extra_functions
	An associative array of additional functions exposed by the problem.

Member Typedef Documentation

Box

using Box = alpaqa::Box<config_t>

Definition at line 209 of file dl-problem.hpp.

instance_t

using instance_t = DLLoader::instance_t

Definition at line 283 of file dl-problem.hpp.

dl_handle_t

using dl_handle_t = std::shared_ptr<void>

protectedinherited

Definition at line 29 of file dl-problem.hpp.

Constructor & Destructor Documentation

DLControlProblem()

DLControlProblem	(	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 145 of file dl-problem.cpp.

Member Function Documentation

get_N()

length_t get_N ( ) const

inline

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

get_nx()

length_t get_nx ( ) const

inline

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

get_nu()

length_t get_nu ( ) const

inline

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

get_nh()

length_t get_nh ( ) const

inline

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

get_nh_N()

length_t get_nh_N ( ) const

inline

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

get_nc()

length_t get_nc ( ) const

inline

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

get_nc_N()

length_t get_nc_N ( ) const

inline

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

check()

void check ( ) const

inline

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

get_U()

auto get_U

(

Box &

U

)

const

Definition at line 161 of file dl-problem.cpp.

get_D()

auto get_D

(

Box &

D

)

const

Definition at line 162 of file dl-problem.cpp.

get_D_N()

auto get_D_N

(

Box &

D

)

const

Definition at line 163 of file dl-problem.cpp.

get_x_init()

auto get_x_init

(

rvec

x_init

)

const

Definition at line 164 of file dl-problem.cpp.

eval_f()

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

Definition at line 165 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 166 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 167 of file dl-problem.cpp.

eval_h()

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

Definition at line 168 of file dl-problem.cpp.

eval_h_N()

auto eval_h_N	(	crvec	x,
		rvec	h
	)		const

Definition at line 169 of file dl-problem.cpp.

eval_l()

auto eval_l	(	index_t	timestep,
		crvec	h
	)		const

Definition at line 170 of file dl-problem.cpp.

eval_l_N()

auto eval_l_N

(

crvec

h

)

const

Definition at line 171 of file dl-problem.cpp.

eval_qr()

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

Definition at line 172 of file dl-problem.cpp.

eval_q_N()

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

Definition at line 173 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 174 of file dl-problem.cpp.

eval_add_Q_N()

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

Definition at line 175 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 176 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 177 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 178 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 179 of file dl-problem.cpp.

get_R_work_size()

auto get_R_work_size

(

)

const

Definition at line 180 of file dl-problem.cpp.

get_S_work_size()

auto get_S_work_size

(

)

const

Definition at line 181 of file dl-problem.cpp.

eval_constr()

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

Definition at line 182 of file dl-problem.cpp.

eval_constr_N()

auto eval_constr_N	(	crvec	x,
		rvec	c
	)		const

Definition at line 183 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 184 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 185 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 186 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 187 of file dl-problem.cpp.

provides_get_D()

bool provides_get_D

(

)

const

Definition at line 189 of file dl-problem.cpp.

provides_get_D_N()

bool provides_get_D_N

(

)

const

Definition at line 190 of file dl-problem.cpp.

provides_eval_add_Q_N()

bool provides_eval_add_Q_N

(

)

const

Definition at line 191 of file dl-problem.cpp.

provides_eval_add_R_prod_masked()

bool provides_eval_add_R_prod_masked

(

)

const

Definition at line 192 of file dl-problem.cpp.

provides_eval_add_S_prod_masked()

bool provides_eval_add_S_prod_masked

(

)

const

Definition at line 193 of file dl-problem.cpp.

provides_get_R_work_size()

bool provides_get_R_work_size

(

)

const

Definition at line 194 of file dl-problem.cpp.

provides_get_S_work_size()

bool provides_get_S_work_size

(

)

const

Definition at line 195 of file dl-problem.cpp.

provides_eval_constr()

bool provides_eval_constr

(

)

const

Definition at line 196 of file dl-problem.cpp.

provides_eval_constr_N()

bool provides_eval_constr_N

(

)

const

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

provides_eval_grad_constr_prod()

bool provides_eval_grad_constr_prod

(

)

const

Definition at line 198 of file dl-problem.cpp.

provides_eval_grad_constr_prod_N()

bool provides_eval_grad_constr_prod_N

(

)

const

Definition at line 199 of file dl-problem.cpp.

provides_eval_add_gn_hess_constr()

bool provides_eval_add_gn_hess_constr

(

)

const

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

provides_eval_add_gn_hess_constr_N()

bool provides_eval_add_gn_hess_constr_N

(

)

const

Definition at line 201 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 286 of file dl-problem.hpp.

call_extra_func() [2/2]

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

inline

Definition at line 293 of file dl-problem.hpp.

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load_lib()

std::shared_ptr< void > load_lib ( ) const

protectedinherited

Open the shared library using dlopen

Definition at line 12 of file dl-problem.cpp.

load_func()

F * load_func ( std::string_view  name ) const

protectedinherited

Load a function with signature F from the library using dlsym.

Definition at line 22 of file dl-problem.cpp.

extra_func()

const std::function< Signature > & extra_func ( const std::string &  name ) const

inlineprotectedinherited

Definition at line 44 of file dl-problem.hpp.

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call_extra_func_helper() [1/3]

decltype(auto) call_extra_func_helper ( const void *  instance, FuncTag< Ret(const instance_t *, FArgs...)>  , const std::string &  name, Args &&...  args  ) const

inlineprotectedinherited

Definition at line 71 of file dl-problem.hpp.

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call_extra_func_helper() [2/3]

decltype(auto) call_extra_func_helper ( void *  instance, FuncTag< Ret(instance_t *, FArgs...)>  , const std::string &  name, Args &&...  args  )

inlineprotectedinherited

Definition at line 80 of file dl-problem.hpp.

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call_extra_func_helper() [3/3]

decltype(auto) call_extra_func_helper ( const void *  , FuncTag< Ret(FArgs...)>  , const std::string &  name, Args &&...  args  ) const

inlineprotectedinherited

Definition at line 87 of file dl-problem.hpp.

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Member Data Documentation

instance

std::shared_ptr<void> instance

private

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

Definition at line 223 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 226 of file dl-problem.hpp.

so_filename

std::string so_filename

protectedinherited

Definition at line 26 of file dl-problem.hpp.

symbol_prefix

std::string symbol_prefix

protectedinherited

Definition at line 27 of file dl-problem.hpp.

handle

dl_handle_t handle

protectedinherited

Handle to the shared library (returned by dlopen).

Definition at line 31 of file dl-problem.hpp.

extra_functions

std::shared_ptr<function_dict_t> extra_functions

protectedinherited

An associative array of additional functions exposed by the problem.

Definition at line 34 of file dl-problem.hpp.

---

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

• dl-problem.hpp
• dl-problem.cpp