#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 function_name 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.

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 245 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::filesystem::path &so_filename, const std::string &function_name="register_alpaqa_control_problem", alpaqa_register_arg_t user_param={}, DynamicLoadFlags dl_flags={})
	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 248 of file dl-problem.hpp.

◆ instance_t

using instance_t = ExtraFuncs::instance_t

Definition at line 330 of file dl-problem.hpp.

Constructor & Destructor Documentation

◆ DLControlProblem()

DLControlProblem	(	const std::filesystem::path &	so_filename,
		const std::string &	function_name = "register_alpaqa_control_problem",
		alpaqa_register_arg_t	user_param = {},
		DynamicLoadFlags	dl_flags = {} )

Load a problem from a shared library.

Parameters

so_filename	Filename of the shared library to load.
function_name	Name of the problem registration function. Should have signature alpaqa_control_problem_register_t(alpaqa_register_arg_t user_param).
user_param	Pointer to custom user data to pass to the registration function.
dl_flags	Flags passed to dlopen when loading the problem.

Definition at line 312 of file dl-problem.cpp.

Member Function Documentation

◆ get_N()

length_t get_N ( ) const

inline

Definition at line 276 of file dl-problem.hpp.

◆ get_nx()

length_t get_nx ( ) const

inline

Definition at line 277 of file dl-problem.hpp.

◆ get_nu()

length_t get_nu ( ) const

inline

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

◆ get_nh()

length_t get_nh ( ) const

inline

Definition at line 279 of file dl-problem.hpp.

◆ get_nh_N()

length_t get_nh_N ( ) const

inline

Definition at line 280 of file dl-problem.hpp.

◆ get_nc()

length_t get_nc ( ) const

inline

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

◆ get_nc_N()

length_t get_nc_N ( ) const

inline

Definition at line 282 of file dl-problem.hpp.

◆ check()

void check ( ) const

inline

Definition at line 284 of file dl-problem.hpp.

◆ get_U()

auto get_U ( Box & U ) const

Definition at line 361 of file dl-problem.cpp.

◆ get_D()

auto get_D ( Box & D ) const

Definition at line 362 of file dl-problem.cpp.

◆ get_D_N()

auto get_D_N ( Box & D ) const

Definition at line 363 of file dl-problem.cpp.

◆ get_x_init()

auto get_x_init ( rvec x_init ) const

Definition at line 364 of file dl-problem.cpp.

◆ eval_f()

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

Definition at line 365 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 366 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 367 of file dl-problem.cpp.

◆ eval_h()

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

Definition at line 368 of file dl-problem.cpp.

◆ eval_h_N()

auto eval_h_N	(	crvec	x,
		rvec	h ) const

Definition at line 369 of file dl-problem.cpp.

◆ eval_l()

auto eval_l	(	index_t	timestep,
		crvec	h ) const

nodiscard

Definition at line 370 of file dl-problem.cpp.

◆ eval_l_N()

auto eval_l_N ( crvec h ) const

nodiscard

Definition at line 371 of file dl-problem.cpp.

◆ eval_qr()

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

Definition at line 372 of file dl-problem.cpp.

◆ eval_q_N()

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

Definition at line 373 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 374 of file dl-problem.cpp.

◆ eval_add_Q_N()

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

Definition at line 375 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 376 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 377 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 378 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 379 of file dl-problem.cpp.

◆ get_R_work_size()

auto get_R_work_size ( ) const

nodiscard

Definition at line 380 of file dl-problem.cpp.

◆ get_S_work_size()

auto get_S_work_size ( ) const

nodiscard

Definition at line 381 of file dl-problem.cpp.

◆ eval_constr()

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

Definition at line 382 of file dl-problem.cpp.

◆ eval_constr_N()

auto eval_constr_N	(	crvec	x,
		rvec	c ) const

Definition at line 383 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 384 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 385 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 386 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 387 of file dl-problem.cpp.

◆ provides_get_D()

bool provides_get_D ( ) const

nodiscard

Definition at line 389 of file dl-problem.cpp.

◆ provides_get_D_N()

bool provides_get_D_N ( ) const

nodiscard

Definition at line 390 of file dl-problem.cpp.

◆ provides_eval_add_Q_N()

bool provides_eval_add_Q_N ( ) const

nodiscard

Definition at line 391 of file dl-problem.cpp.

◆ provides_eval_add_R_prod_masked()

bool provides_eval_add_R_prod_masked ( ) const

nodiscard

Definition at line 392 of file dl-problem.cpp.

◆ provides_eval_add_S_prod_masked()

bool provides_eval_add_S_prod_masked ( ) const

nodiscard

Definition at line 393 of file dl-problem.cpp.

◆ provides_get_R_work_size()

bool provides_get_R_work_size ( ) const

nodiscard

Definition at line 394 of file dl-problem.cpp.

◆ provides_get_S_work_size()

bool provides_get_S_work_size ( ) const

nodiscard

Definition at line 395 of file dl-problem.cpp.

◆ provides_eval_constr()

bool provides_eval_constr ( ) const

nodiscard

Definition at line 396 of file dl-problem.cpp.

◆ provides_eval_constr_N()

bool provides_eval_constr_N ( ) const

nodiscard

Definition at line 397 of file dl-problem.cpp.

◆ provides_eval_grad_constr_prod()

bool provides_eval_grad_constr_prod ( ) const

nodiscard

Definition at line 398 of file dl-problem.cpp.

◆ provides_eval_grad_constr_prod_N()

bool provides_eval_grad_constr_prod_N ( ) const

nodiscard

Definition at line 399 of file dl-problem.cpp.

◆ provides_eval_add_gn_hess_constr()

bool provides_eval_add_gn_hess_constr ( ) const

nodiscard

Definition at line 400 of file dl-problem.cpp.

◆ provides_eval_add_gn_hess_constr_N()

bool provides_eval_add_gn_hess_constr_N ( ) const

nodiscard

Definition at line 401 of file dl-problem.cpp.

◆ call_extra_func() [1/2]

template<class Signature, class... Args>

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

inline

Definition at line 333 of file dl-problem.hpp.

◆ call_extra_func() [2/2]

template<class Signature, class... Args>

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

inline

Definition at line 341 of file dl-problem.hpp.

Member Data Documentation

◆ handle

std::shared_ptr<void> handle

private

Handle to the shared module defining the problem.

Definition at line 265 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 268 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 271 of file dl-problem.hpp.

◆ extra_funcs

ExtraFuncs extra_funcs

private

Dictionary of extra functions that were registered by the problem.

Definition at line 273 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