C++ ExportVariable::getSubMatrix方法代码示例

本文整理汇总了C++中ExportVariable::getSubMatrix方法的典型用法代码示例。如果您正苦于以下问题：C++ ExportVariable::getSubMatrix方法的具体用法？C++ ExportVariable::getSubMatrix怎么用？C++ ExportVariable::getSubMatrix使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类ExportVariable的用法示例。

在下文中一共展示了ExportVariable::getSubMatrix方法的3个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。

示例1: setupObjectiveEvaluation

returnValue ExportExactHessianQpDunes::setupObjectiveEvaluation( void )
{
	evaluateObjective.setup("evaluateObjective");

	//
	// A loop the evaluates objective and corresponding gradients
	//
	ExportIndex runObj( "runObj" );
	ExportForLoop loopObjective( runObj, 0, N );

	evaluateObjective.addIndex( runObj );

	// Interface variable to qpDUNES
	qpH.setup("qpH", N * (NX + NU) * (NX + NU) + NX * NX, 1, REAL, ACADO_WORKSPACE);   // --> to be used only after regularization to pass to qpDUNES
	qpg.setup("qpG", N * (NX + NU) + NX, 1, REAL, ACADO_WORKSPACE);

	// LM regularization preparation

	ExportVariable evLmX = zeros<double>(NX, NX);
	ExportVariable evLmU = zeros<double>(NU, NU);

	if  (levenbergMarquardt > 0.0)
	{
		DMatrix lmX = eye<double>( NX );
		lmX *= levenbergMarquardt;

		DMatrix lmU = eye<double>( NU );
		lmU *= levenbergMarquardt;

		evLmX = lmX;
		evLmU = lmU;
	}

	ExportVariable stagef;
	stagef.setup("stagef", NX + NU, 1, REAL, ACADO_LOCAL);

	ExportVariable stageH;
	stageH.setup("stageH", NX + NU, NX + NU, REAL, ACADO_LOCAL);

	if( evaluateStageCost.getFunctionDim() > 0 ) {
		loopObjective.addStatement( objValueIn.getCols(0, getNX()) == x.getRow( runObj ) );
		loopObjective.addStatement( objValueIn.getCols(NX, NX + NU) == u.getRow( runObj ) );
		loopObjective.addStatement( objValueIn.getCols(NX + NU, NX + NU + NOD) == od.getRow( runObj ) );
		loopObjective.addLinebreak( );

		// Evaluate the objective function
		loopObjective.addFunctionCall(evaluateStageCost, objValueIn, objValueOut);
		loopObjective.addLinebreak( );

		ExportVariable tmpFxx, tmpFxu, tmpFuu;
		tmpFxx.setup("tmpFxx", NX, NX, REAL, ACADO_LOCAL);
		tmpFxu.setup("tmpFxu", NX, NU, REAL, ACADO_LOCAL);
		tmpFuu.setup("tmpFuu", NU, NU, REAL, ACADO_LOCAL);

		setStageH.setup("addObjTerm", tmpFxx, tmpFxu, tmpFuu, stageH);
		setStageH.addStatement( stageH.getSubMatrix(0,NX,0,NX) += tmpFxx + evLmX );
		setStageH.addStatement( stageH.getSubMatrix(0,NX,NX,NX+NU) += tmpFxu );
		setStageH.addStatement( stageH.getSubMatrix(NX,NX+NU,0,NX) += tmpFxu.getTranspose() );
		setStageH.addStatement( stageH.getSubMatrix(NX,NX+NU,NX,NX+NU) += tmpFuu + evLmU );

		loopObjective.addFunctionCall(
				setStageH, objValueOut.getAddress(0, 1+NX+NU), objValueOut.getAddress(0, 1+NX+NU+NX*NX),
				objValueOut.getAddress(0, 1+NX+NU+NX*(NX+NU)), objS.getAddress(runObj*(NX+NU), 0) );

		ExportVariable tmpDF;
		tmpDF.setup("tmpDF", NX+NU, 1, REAL, ACADO_LOCAL);
		setStagef.setup("addObjLinearTerm", tmpDF, stagef);
		setStagef.addStatement( stagef == tmpDF.getRows(0,NX+NU) );

		loopObjective.addFunctionCall(
				setStagef, objValueOut.getAddress(0, 1), qpg.getAddress(runObj * (NX+NU)) );

		loopObjective.addLinebreak( );
	}
	else {
		if(levenbergMarquardt > 0.0) {
			setStageH.setup("addObjTerm", stageH);
			setStageH.addStatement( stageH.getSubMatrix(0,NX,0,NX) += evLmX );
			setStageH.addStatement( stageH.getSubMatrix(NX,NX+NU,NX,NX+NU) += evLmU );

			loopObjective.addFunctionCall( setStageH, objS.getAddress(runObj*(NX+NU), 0) );
		}
		DMatrix D(NX+NU,1); D.setAll(0);
		loopObjective.addStatement( qpg.getRows(runObj*(NX+NU), runObj*(NX+NU)+NX+NU) == D );
	}

	evaluateObjective.addStatement( loopObjective );

	//
	// Evaluate the quadratic Mayer term
	//
	if( evaluateTerminalCost.getFunctionDim() > 0 ) {
		evaluateObjective.addStatement( objValueIn.getCols(0, NX) == x.getRow( N ) );
		evaluateObjective.addStatement( objValueIn.getCols(NX, NX + NOD) == od.getRow( N ) );

		// Evaluate the objective function, last node.
		evaluateObjective.addFunctionCall(evaluateTerminalCost, objValueIn, objValueOut);
		evaluateObjective.addLinebreak( );

		evaluateObjective.addStatement( objSEndTerm.makeRowVector() == objValueOut.getCols(1+NX,1+NX+NX*NX) + evLmX.makeRowVector() );
//.........这里部分代码省略.........

开发者ID:RobotXiaoFeng，项目名称:acado，代码行数:101，代码来源:export_exact_hessian_qpdunes.cpp

示例2: runObj

returnValue ExportExactHessianCN2::setupObjectiveEvaluation( void )
{
	evaluateObjective.setup("evaluateObjective");

	int gradientUp;
	get( LIFTED_GRADIENT_UPDATE, gradientUp );
	bool gradientUpdate = (bool) gradientUp;

	//
	// A loop the evaluates objective and corresponding gradients
	//
	ExportIndex runObj( "runObj" );
	ExportForLoop loopObjective( runObj, 0, N );

	evaluateObjective.addIndex( runObj );

	unsigned offset = performFullCondensing() == true ? 0 : NX;

	if( evaluateStageCost.getFunctionDim() > 0 ) {
		loopObjective.addStatement( objValueIn.getCols(0, getNX()) == x.getRow( runObj ) );
		loopObjective.addStatement( objValueIn.getCols(NX, NX + NU) == u.getRow( runObj ) );
		loopObjective.addStatement( objValueIn.getCols(NX + NU, NX + NU + NOD) == od.getRow( runObj ) );
		loopObjective.addLinebreak( );

		// Evaluate the objective function
		loopObjective.addFunctionCall(evaluateStageCost, objValueIn, objValueOut);
		loopObjective.addLinebreak( );

		ExportVariable tmpFxx, tmpFxu, tmpFuu;
		tmpFxx.setup("tmpFxx", NX, NX, REAL, ACADO_LOCAL);
		tmpFxu.setup("tmpFxu", NX, NU, REAL, ACADO_LOCAL);
		tmpFuu.setup("tmpFuu", NU, NU, REAL, ACADO_LOCAL);

		//
		// Optional computation of Q1, Q2
		//
		ExportVariable tmpEH;
		tmpEH.setup("tmpEH", NX+NU, NX+NU, REAL, ACADO_LOCAL);

		setObjQ1Q2.setup("addObjTerm", tmpFxx, tmpFxu, tmpFuu, tmpEH);
		setObjQ1Q2.addStatement( tmpEH.getSubMatrix(0,NX,0,NX) += tmpFxx );
		setObjQ1Q2.addStatement( tmpEH.getSubMatrix(0,NX,NX,NX+NU) += tmpFxu );
		setObjQ1Q2.addStatement( tmpEH.getSubMatrix(NX,NX+NU,0,NX) += tmpFxu.getTranspose() );
		setObjQ1Q2.addStatement( tmpEH.getSubMatrix(NX,NX+NU,NX,NX+NU) += tmpFuu );

		loopObjective.addFunctionCall(
				setObjQ1Q2, objValueOut.getAddress(0, 1+NX+NU), objValueOut.getAddress(0, 1+NX+NU+NX*NX),
				objValueOut.getAddress(0, 1+NX+NU+NX*(NX+NU)), objS.getAddress(runObj*(NX+NU), 0) );

		ExportVariable tmpDx, tmpDu, tmpDF;
		tmpDx.setup("tmpDx", NX, 1, REAL, ACADO_LOCAL);
		tmpDu.setup("tmpDu", NU, 1, REAL, ACADO_LOCAL);
		tmpDF.setup("tmpDF", NX+NU, 1, REAL, ACADO_LOCAL);
		setObjR1R2.setup("addObjLinearTerm", tmpDx, tmpDu, tmpDF);
		setObjR1R2.addStatement( tmpDx == tmpDF.getRows(0,NX) );
		setObjR1R2.addStatement( tmpDu == tmpDF.getRows(NX,NX+NU) );

		int sensitivityProp;
		get( DYNAMIC_SENSITIVITY, sensitivityProp );
		bool adjoint = ((ExportSensitivityType) sensitivityProp == BACKWARD);
		if( gradientUpdate || adjoint ) {
			loopObjective.addStatement( objValueOut.getCols(1,1+NX+NU) += objg.getRows(runObj*(NX+NU),(runObj+1)*(NX+NU)).getTranspose() );
		}
		loopObjective.addFunctionCall(
				setObjR1R2, QDy.getAddress(runObj * NX), g.getAddress(offset+runObj * NU, 0), objValueOut.getAddress(0, 1) );

		loopObjective.addLinebreak( );
	}
	else {
		DMatrix Du(NU,1); Du.setAll(0);
		DMatrix Dx(NX,1); Dx.setAll(0);
		loopObjective.addStatement( g.getRows(offset+runObj*NU, offset+runObj*NU+NU) == Du );
		loopObjective.addStatement( QDy.getRows(runObj*NX, runObj*NX+NX) == Dx );
	}

	evaluateObjective.addStatement( loopObjective );

	//
	// Evaluate the quadratic Mayer term
	//
	if( evaluateTerminalCost.getFunctionDim() > 0 ) {
		evaluateObjective.addStatement( objValueIn.getCols(0, NX) == x.getRow( N ) );
		evaluateObjective.addStatement( objValueIn.getCols(NX, NX + NOD) == od.getRow( N ) );

		// Evaluate the objective function, last node.
		evaluateObjective.addFunctionCall(evaluateTerminalCost, objValueIn, objValueOut);
		evaluateObjective.addLinebreak( );

		ExportVariable tmpFxxEnd;
		tmpFxxEnd.setup("tmpFxxEnd", NX, NX, REAL, ACADO_LOCAL);

		//
		// Optional computation of QN1
		//
		ExportVariable tmpEH_N;
		tmpEH_N.setup("tmpEH_N", NX, NX, REAL, ACADO_LOCAL);

		setObjQN1QN2.setup("addObjEndTerm", tmpFxxEnd, tmpEH_N);
		setObjQN1QN2.addStatement( tmpEH_N == tmpFxxEnd );

//.........这里部分代码省略.........

开发者ID:ferreau，项目名称:acado，代码行数:101，代码来源:export_exact_hessian_cn2.cpp

示例3: setupObjectiveEvaluation


//.........这里部分代码省略.........
		setObjQN1QN2.setup("setObjQN1QN2", tmpFxEnd, tmpObjSEndTerm, tmpQN1, tmpQN2);
		setObjQN1QN2.addStatement( tmpQN2 == (tmpFxEnd ^ tmpObjSEndTerm) );
		setObjQN1QN2.addStatement( tmpQN1 == tmpQN2 * tmpFxEnd );

		if (tmpFxEnd.isGiven() == true)
			evaluateObjective.addFunctionCall(
					setObjQN1QN2,
					tmpFxEnd, objSEndTerm,
					QN1.getAddress(0, 0), QN2.getAddress(0, 0)
			);
		else
			evaluateObjective.addFunctionCall(
					setObjQN1QN2,
					objValueOut.getAddress(0, indexX), objSEndTerm,
					QN1.getAddress(0, 0), QN2.getAddress(0, 0)
			);

		evaluateObjective.addLinebreak( );
	}

	//
	// Hessian setup
	//

	ExportVariable stageH;
	ExportIndex index( "index" );
	stageH.setup("stageH", dimHRows, dimHCols, REAL, ACADO_LOCAL);
	setStageH.setup("setStageH", stageH, index);

	if (Q1.isGiven() == false)
	{
		if (diagH == false)
			setStageH.addStatement(
					stageH.getSubMatrix(0, NX, 0, NX) == Q1.getSubMatrix(index * NX, (index + 1) * NX, 0, NX) + evLmX
			);
		else
			for (unsigned el = 0; el < NX; ++el)
				setStageH.addStatement(
						stageH.getElement(el, 0) == Q1.getElement(index * NX + el, el)
				);
	}
	else
	{
		setStageH << index.getFullName() << " = " << index.getFullName() << ";\n";
		if (diagH == false)
		{
			setStageH.addStatement(
					stageH.getSubMatrix(0, NX, 0, NX) == Q1 + evLmX
			);
		}
		else
		{
			setStageH.addStatement(
					stageH.getRows(0, NX) == Q1.getGivenMatrix().getDiag() + evLmX.getGivenMatrix().getDiag()
			);
		}
	}
	setStageH.addLinebreak();

	if (R1.isGiven() == false)
	{
		if (diagH == false)
			setStageH.addStatement(
					stageH.getSubMatrix(NX, NX + NU, NX, NX + NU) == R1.getSubMatrix(index * NU, (index + 1) * NU, 0, NU) + evLmU
			);
		else

开发者ID:ferreau，项目名称:acado，代码行数:67，代码来源:export_gauss_newton_forces.cpp

注：本文中的ExportVariable::getSubMatrix方法示例由纯净天空整理自Github/MSDocs等开源代码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。