This class provides a data structure for NLP optimization variables. More...
Public Member Functions | |
| NlpVariable (varargin) | |
| The class constructor function. More... | |
| function obj = | setIndices (integer index) |
| Sets indinces of the Nlp Variables. More... | |
| function obj = | setBoundary (colvec lowerbound,colvec upperbound) |
| Sets the lower/upper boundary value for a NLP variable. More... | |
| function obj = | setInitialValue (colvec x) |
| Sets a typical initial value for the NLP variables. This value will be used to assign the initial value for the NLP solver. More... | |
| function obj = | updateProp (varargin) |
| This function updates the properties of the class object based on the input name-value pair arguments. More... | |
Public Attributes | |
| char | Name |
| A string that specifies the name of the optimization variable. More... | |
| integer | Dimension = 0 |
| The dimension the optimization variable. More... | |
| colvec | InitialValue |
| The typical value of the variable. More... | |
| colvec | LowerBound |
| The lower limit of the optimization variable. More... | |
| colvec | UpperBound |
| The upper limit of the optimization variable. More... | |
| colvec | Indices |
| The index of the current variable in an array of NlpVariable objects. More... | |
 Public Attributes inherited from handle | |
| addlistener | |
| Creates a listener for the specified event and assigns a callback function to execute when the event occurs. More... | |
| notify | |
| Broadcast a notice that a specific event is occurring on a specified handle object or array of handle objects. More... | |
| delete | |
| Handle object destructor method that is called when the object's lifecycle ends. More... | |
| disp | |
| Handle object disp method which is called by the display method. See the MATLAB disp function. More... | |
| display | |
| Handle object display method called when MATLAB software interprets an expression returning a handle object that is not terminated by a semicolon. See the MATLAB display function. More... | |
| findobj | |
| Finds objects matching the specified conditions from the input array of handle objects. More... | |
| findprop | |
| Returns a meta.property objects associated with the specified property name. More... | |
| fields | |
| Returns a cell array of string containing the names of public properties. More... | |
| fieldnames | |
| Returns a cell array of string containing the names of public properties. See the MATLAB fieldnames function. More... | |
| isvalid | |
| Returns a logical array in which elements are true if the corresponding elements in the input array are valid handles. This method is Sealed so you cannot override it in a handle subclass. More... | |
| eq | |
| Relational functions example. See details for more information. More... | |
| transpose | |
| Transposes the elements of the handle object array. More... | |
| permute | |
| Rearranges the dimensions of the handle object array. See the MATLAB permute function. More... | |
| reshape | |
| hanges the dimensions of the handle object array to the specified dimensions. See the MATLAB reshape function. More... | |
| sort | |
| ort the handle objects in any array in ascending or descending order. More... | |
Detailed Description
This class provides a data structure for NLP optimization variables.
Copyright (c) 2016, AMBER Lab All right reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted only in compliance with the BSD 3-Clause license, see http://www.opensource.org/licenses/bsd-license.php
Constructor & Destructor Documentation
◆ NlpVariable()
|
inline |
The class constructor function.
- Parameters
-
varargin variable nama-value pair input arguments, in detail: Required Parameters for varargin:- Name name of the variable
- Dimension dimension of the variable
- lb lower limit
- ub upper limit
- x0 a typical value of the variable
Member Function Documentation
◆ setBoundary()
Sets the lower/upper boundary value for a NLP variable.
- Note
- If the boundary values are not specified, then use -Inf/Inf by default.
- If the NLP variable is a vector (Dimension > 1) but the lower/upper bound values are specified as a scalar, we set the lower/upper bounds of all element with the same scalar value.
- Ignore a particular boundary if it is given as empty
- Parameters
-
lowerbound the lower boundary values upperbound the upper boundary values
- Generated fields of obj:
◆ setIndices()
| function obj = NlpVariable.setIndices | ( | integer | index | ) |
Sets indinces of the Nlp Variables.
- Parameters
-
index the indices of the variables
- Generated fields of obj:
◆ setInitialValue()
| function obj = NlpVariable.setInitialValue | ( | colvec | x | ) |
Sets a typical initial value for the NLP variables. This value will be used to assign the initial value for the NLP solver.
- Note
- If the initial value is not given, then use the middle value of the lower/upper boundaries.
- Parameters
-
x an array of initial value of the NLP variables
- Generated fields of obj:
◆ updateProp()
| function obj = NlpVariable.updateProp | ( | varargin | ) |
This function updates the properties of the class object based on the input name-value pair arguments.
- Parameters
-
varargin variable nama-value pair input arguments, in detail: Required Parameters for varargin:updateProp ( lb, ub, x0 )- lb lower limit
- ub upper limit
- x0 a typical value of the variable
Member Data Documentation
◆ Dimension
| NlpVariable.Dimension = 0 |
The dimension the optimization variable.
When we define a optimization variable, we assume that it represnts a vector of variable that belongs to a particular group. For example, the joint configurations q and control inputs u. The dimension specifies the length of this vector.
Default: 0
- Note
- This property has non-standard access specifiers:
SetAccess = Protected, GetAccess = Public - Matlab documentation of property attributes.
◆ Indices
| NlpVariable.Indices |
The index of the current variable in an array of NlpVariable objects.
- Note
- This property has non-standard access specifiers:
SetAccess = Protected, GetAccess = Public - Matlab documentation of property attributes.
◆ InitialValue
| NlpVariable.InitialValue |
The typical value of the variable.
You can specify a typical value for the variable explicity. If not given, this value will be determined by the upper/lower boundary of the variable. If both upper/lower boundary values are infinity, then we set the typical value as zeros. If one of the upper/lower boundary values is infinity, then the typical value will be the non-infinity boundary value. Otherwise, the typical value will be the middle point of the two boundary values.
- Note
- This property has non-standard access specifiers:
SetAccess = Protected, GetAccess = Public - Matlab documentation of property attributes.
◆ LowerBound
| NlpVariable.LowerBound |
The lower limit of the optimization variable.
- Note
- This property has non-standard access specifiers:
SetAccess = Protected, GetAccess = Public - Matlab documentation of property attributes.
◆ Name
| NlpVariable.Name |
A string that specifies the name of the optimization variable.
- Note
- This property has non-standard access specifiers:
SetAccess = Protected, GetAccess = Public - Matlab documentation of property attributes.
◆ UpperBound
| NlpVariable.UpperBound |
The upper limit of the optimization variable.
- Note
- This property has non-standard access specifiers:
SetAccess = Protected, GetAccess = Public - Matlab documentation of property attributes.
The documentation for this class was generated from the following files:
- /home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/nlp/@NlpVariable/NlpVariable.m
- /home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/nlp/@NlpVariable/setBoundary.m
- /home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/nlp/@NlpVariable/setIndices.m
- /home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/nlp/@NlpVariable/setInitialValue.m
- /home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/nlp/@NlpVariable/updateProp.m