00001 /* 00002 * This file is part of ACADO Toolkit. 00003 * 00004 * ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization. 00005 * Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau, 00006 * Milan Vukov, Rien Quirynen, KU Leuven. 00007 * Developed within the Optimization in Engineering Center (OPTEC) 00008 * under supervision of Moritz Diehl. All rights reserved. 00009 * 00010 * ACADO Toolkit is free software; you can redistribute it and/or 00011 * modify it under the terms of the GNU Lesser General Public 00012 * License as published by the Free Software Foundation; either 00013 * version 3 of the License, or (at your option) any later version. 00014 * 00015 * ACADO Toolkit is distributed in the hope that it will be useful, 00016 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00017 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00018 * Lesser General Public License for more details. 00019 * 00020 * You should have received a copy of the GNU Lesser General Public 00021 * License along with ACADO Toolkit; if not, write to the Free Software 00022 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 00023 * 00024 */ 00025 00026 00034 #include <acado/utils/acado_utils.hpp> 00035 #include <acado/user_interaction/user_interaction.hpp> 00036 #include <acado/matrix_vector/matrix_vector.hpp> 00037 #include <acado/variables_grid/variables_grid.hpp> 00038 #include <acado/index_list/index_list.hpp> 00039 #include <acado/symbolic_expression/symbolic_expression.hpp> 00040 #include <acado/function/function.hpp> 00041 #include <acado/integrator/integrator.hpp> 00042 #include <acado/sparse_solver/sparse_solver.hpp> 00043 00044 #include <acado/dynamic_system/dynamic_system.hpp> 00045 #include <acado/dynamic_discretization/dynamic_discretization.hpp> 00046 #include <acado/dynamic_discretization/integration_algorithm.hpp> 00047 #include <acado/nlp_solver/nlp_solver.hpp> 00048 #include <acado/nlp_solver/scp_method.hpp> 00049 #include <acado/ocp/ocp.hpp> 00050 #include <acado/optimization_algorithm/optimization_algorithm.hpp> 00051 #include <acado/optimization_algorithm/parameter_estimation_algorithm.hpp> 00052 #include <acado/optimization_algorithm/multi_objective_algorithm.hpp> 00053 00054 #include <acado/curve/curve.hpp> 00055 #include <acado/controller/controller.hpp> 00056 #include <acado/estimator/estimator.hpp> 00057 #include <acado/control_law/control_law.hpp> 00058 #include <acado/control_law/pid_controller.hpp> 00059 #include <acado/control_law/dynamic_feedback_law.hpp> 00060 #include <acado/control_law/linear_state_feedback.hpp> 00061 #include <acado/control_law/feedforward_law.hpp> 00062 #include <acado/reference_trajectory/reference_trajectory.hpp>