#include <alpaqa/inner/directions/panoc-ocp/ocp-vars.hpp>

Detailed Description

template<Config Conf>
struct alpaqa::OCPEvaluator< Conf >

Definition at line 160 of file ocp-vars.hpp.

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Public Types
using	OCPVars = OCPVariables<config_t>
using	Problem = TypeErasedControlProblem<config_t>
using	Box = alpaqa::Box<config_t>

Public Member Functions
	OCPEvaluator (const Problem &problem)
length_t	N () const
real_t	forward (rvec storage, const Box &D, const Box &D_N, crvec μ, crvec y) const
void	forward_simulate (rvec storage) const
void	forward_simulate (crvec u, rvec x) const
void	backward (rvec storage, rvec g, const auto &qr, const auto &q_N, const Box &D, const Box &D_N, crvec μ, crvec y) const
void	Qk (crvec storage, crvec y, crvec μ, const Box &D, const Box &D_N, index_t k, rmat out) const
auto	Q (crvec storage, crvec y, crvec μ, const Box &D, const Box &D_N) const
void	Rk (crvec storage, index_t k, crindexvec mask, rmat out)
auto	R (crvec storage)
void	Sk (crvec storage, index_t k, crindexvec mask, rmat out)
auto	S (crvec storage)
void	Rk_prod (crvec storage, index_t k, crindexvec mask_J, crindexvec mask_K, crvec v, rvec out) const
auto	R_prod (crvec storage) const
void	Sk_prod (crvec storage, index_t k, crindexvec mask_K, crvec v, rvec out) const
auto	S_prod (crvec storage) const

Public Attributes
const Problem *	problem
OCPVars	vars
vec	work_x {vars.nc() > 0 \|\| vars.nc_N() ? vars.nx() : 0}
vec	work_λ {vars.nx()}
vec	work_c {std::max(vars.nc(), vars.nc_N())}
vec	work_R {problem->get_R_work_size()}
vec	work_S {problem->get_S_work_size()}

Member Typedef Documentation

◆ OCPVars

template<Config Conf>

using OCPVars = OCPVariables<config_t>

Definition at line 162 of file ocp-vars.hpp.

◆ Problem

template<Config Conf>

using Problem = TypeErasedControlProblem<config_t>

Definition at line 163 of file ocp-vars.hpp.

◆ Box

template<Config Conf>

using Box = alpaqa::Box<config_t>

Definition at line 164 of file ocp-vars.hpp.

Constructor & Destructor Documentation

◆ OCPEvaluator()

template<Config Conf>

OCPEvaluator ( const Problem & problem )

inline

Definition at line 173 of file ocp-vars.hpp.

Member Function Documentation

◆ N()

template<Config Conf>

length_t N ( ) const

inline

Definition at line 175 of file ocp-vars.hpp.

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◆ forward()

template<Config Conf>

real_t forward	(	rvec	storage,
		const Box &	D,
		const Box &	D_N,
		crvec	μ,
		crvec	y ) const

inline

Precondition: x0 and u initialized

Postcondition: x, h and c updated

Returns: \( V(u) = \sum_{k=0}^{N-1} \ell(h_k(x_k, u_k)) + V_f(h_N(x_N)) \)

Definition at line 181 of file ocp-vars.hpp.

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◆ forward_simulate() [1/2]

template<Config Conf>

void forward_simulate ( rvec storage ) const

inline

Precondition: x0 and u initialized

Postcondition: x updated

Definition at line 229 of file ocp-vars.hpp.

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◆ forward_simulate() [2/2]

template<Config Conf>

void forward_simulate	(	crvec	u,
		rvec	x ) const

inline

Precondition: x0 and u initialized

Definition at line 253 of file ocp-vars.hpp.

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◆ backward()

template<Config Conf>

void backward	(	rvec	storage,
		rvec	g,
		const auto &	qr,
		const auto &	q_N,
		const Box &	D,
		const Box &	D_N,
		crvec	μ,
		crvec	y ) const

inline

Precondition: x, u, h and c initialized (i.e. forward was called)

Definition at line 263 of file ocp-vars.hpp.

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◆ Qk()

template<Config Conf>

void Qk	(	crvec	storage,
		crvec	y,
		crvec	μ,
		const Box &	D,
		const Box &	D_N,
		index_t	k,
		rmat	out ) const

inline

Definition at line 327 of file ocp-vars.hpp.

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◆ Q()

template<Config Conf>

auto Q	(	crvec	storage,
		crvec	y,
		crvec	μ,
		const Box &	D,
		const Box &	D_N ) const

inline

Definition at line 361 of file ocp-vars.hpp.

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◆ Rk()

template<Config Conf>

void Rk	(	crvec	storage,
		index_t	k,
		crindexvec	mask,
		rmat	out )

inline

Postcondition: initialize work_R

Definition at line 371 of file ocp-vars.hpp.

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◆ R()

template<Config Conf>

auto R ( crvec storage )

inline

Definition at line 378 of file ocp-vars.hpp.

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◆ Sk()

template<Config Conf>

void Sk	(	crvec	storage,
		index_t	k,
		crindexvec	mask,
		rmat	out )

inline

Postcondition: initialize work_S

Definition at line 387 of file ocp-vars.hpp.

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◆ S()

template<Config Conf>

auto S ( crvec storage )

inline

Definition at line 394 of file ocp-vars.hpp.

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◆ Rk_prod()

template<Config Conf>

void Rk_prod	(	crvec	storage,
		index_t	k,
		crindexvec	mask_J,
		crindexvec	mask_K,
		crvec	v,
		rvec	out ) const

inline

Precondition: initialized work_R

Definition at line 403 of file ocp-vars.hpp.

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◆ R_prod()

template<Config Conf>

auto R_prod ( crvec storage ) const

inline

Definition at line 414 of file ocp-vars.hpp.

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◆ Sk_prod()

template<Config Conf>

void Sk_prod	(	crvec	storage,
		index_t	k,
		crindexvec	mask_K,
		crvec	v,
		rvec	out ) const

inline

Precondition: initialized work_S

Definition at line 424 of file ocp-vars.hpp.

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◆ S_prod()

template<Config Conf>

auto S_prod ( crvec storage ) const

inline

Definition at line 433 of file ocp-vars.hpp.

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Member Data Documentation

◆ problem

template<Config Conf>

const Problem* problem

Definition at line 165 of file ocp-vars.hpp.

◆ vars

template<Config Conf>

OCPVars vars

Definition at line 166 of file ocp-vars.hpp.

◆ work_x

template<Config Conf>

vec work_x {vars.nc() > 0 || vars.nc_N() ? vars.nx() : 0}

mutable

Definition at line 167 of file ocp-vars.hpp.

◆ work_λ

template<Config Conf>

vec work_λ {vars.nx()}

mutable

Definition at line 168 of file ocp-vars.hpp.

◆ work_c

template<Config Conf>

vec work_c {std::max(vars.nc(), vars.nc_N())}

mutable

Definition at line 169 of file ocp-vars.hpp.

◆ work_R

template<Config Conf>

vec work_R {problem->get_R_work_size()}

mutable

Definition at line 170 of file ocp-vars.hpp.

◆ work_S

template<Config Conf>

vec work_S {problem->get_S_work_size()}

mutable

Definition at line 171 of file ocp-vars.hpp.

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

src/alpaqa/include/alpaqa/inner/directions/panoc-ocp/ocp-vars.hpp

Detailed Description

Public Types

Public Member Functions

Public Attributes

Member Typedef Documentation

◆ OCPVars

◆ Problem

◆ Box

Constructor & Destructor Documentation

◆ OCPEvaluator()

Member Function Documentation

◆ N()

◆ forward()

◆ forward_simulate() [1/2]

◆ forward_simulate() [2/2]

◆ backward()

◆ Qk()

◆ Q()

◆ Rk()

◆ R()

◆ Sk()

◆ S()

◆ Rk_prod()

◆ R_prod()

◆ Sk_prod()

◆ S_prod()

Member Data Documentation

◆ problem

◆ vars

◆ work_x

◆ work_λ

◆ work_c

◆ work_R

◆ work_S