- changed numiracl handling for hessian in first intervall

git-svn-id: https://openmodelica.org/svn/OpenModelica/trunk@18235 f25d12d1-65f4-0310-ae8a-bbce733d8d8e
OpenModelica · Nov 22, 2013 · 4be61a1 · 4be61a1
1 parent 90332cc
commit 4be61a1
Show file tree

Hide file tree

Showing 3 changed files with 6 additions and 4 deletions.
diff --git a/SimulationRuntime/c/optimization/initialOptimizer/allocate_ipopt.c b/SimulationRuntime/c/optimization/initialOptimizer/allocate_ipopt.c
@@ -287,6 +287,7 @@ int loadDAEmodel(DATA *data, IPOPT_DATA_ *iData)
   iData->d1[2] = 0.8541019662496845446137605030969143531609275394172;
   iData->d1[3] = 0.17082039324993690892275210061938287063218550788345;
   iData->d1[4] = 0.44721359549995793928183473374625524708812367192230;
+  iData->invd1_4 = 2.2360679774997896964091736687312762354406183596115;
 
   iData->d2[0] = 3.3013155617496424838955952368431696002490512113396;
   iData->d2[1] = 5.8541019662496845446137605030969143531609275394172;

diff --git a/SimulationRuntime/c/optimization/ipoptODEstruct.h b/SimulationRuntime/c/optimization/ipoptODEstruct.h
@@ -129,7 +129,7 @@ typedef struct IPOPT_DATA_
   double *d1;
   double *d2;
   double *d3;
-
+  double invd1_4;
   double **d1_;
   double **d2_;
   double **d3_;

diff --git a/SimulationRuntime/c/optimization/lagrangeFun/ipopt_hessian.c b/SimulationRuntime/c/optimization/lagrangeFun/ipopt_hessian.c
@@ -123,8 +123,11 @@ Bool ipopt_h(int n, double *v, Bool new_x, double obj_factor, int m, double *lam
 
          if(p){
            num_hessian(x, iData->time[p], iData, ll,iData->lagrange,mayer_yes,obj_factor);
+	   ll += iData->nx;
          }else{
-           num_hessian(x, iData->time[p], iData, ll + 2*iData->nx,iData->lagrange,mayer_yes,obj_factor);
+           for(i = 0; i< iData->nx; ++i)
+	    iData->sh[i] = iData->d1[4]*(ll[i] - ll[i + iData->nx] + iData->invd1_4*ll[i+2*iData->nx]);
+           num_hessian(x, iData->time[p], iData, iData->sh ,iData->lagrange,mayer_yes,obj_factor);
          }
 
         for(i=0;i< iData->nv;++i)
@@ -137,8 +140,6 @@ Bool ipopt_h(int n, double *v, Bool new_x, double obj_factor, int m, double *lam
         r += iData->nv;
         c += iData->nv;
 
-        if(p)
-          ll += iData->nx;
       }
 
     }