algorithmic_base.hpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


#ifndef ACADO_TOOLKIT_ALGORITHMIC_BASE_HPP
#define ACADO_TOOLKIT_ALGORITHMIC_BASE_HPP


#include <acado/utils/acado_utils.hpp>
#include <acado/user_interaction/user_interaction.hpp>



BEGIN_NAMESPACE_ACADO


class AlgorithmicBase
{
        //
        // PUBLIC MEMBER FUNCTIONS:
        //
        public:

                AlgorithmicBase( );

                AlgorithmicBase(        UserInteraction* _userInteraction
                                                        );

                AlgorithmicBase(        const AlgorithmicBase& rhs
                                                        );

                virtual ~AlgorithmicBase( );

                AlgorithmicBase& operator=(     const AlgorithmicBase& rhs
                                                                        );


                returnValue addOptionsList( );


                returnValue set(        OptionsName name,
                                                        int value
                                                        );

                returnValue set(        OptionsName name,
                                                        double value
                                                        );

                returnValue set(        OptionsName name,
                                                        const std::string& value
                                                        );

                returnValue set(        uint idx,
                                                        OptionsName name,
                                                        int value
                                                        );

                returnValue set(        uint idx,
                                                        OptionsName name,
                                                        double value
                                                        );


        returnValue setOptions( const Options &arg
                                                                );

                returnValue setOptions( uint idx,
                                                                const Options &arg
                                                                );

                Options getOptions(     uint idx
                                                        ) const;


                inline returnValue getAll(      LogName _name,
                                                                        MatrixVariablesGrid& values
                                                                        ) const;


                inline returnValue getFirst(    LogName _name,
                                                                                DMatrix& firstValue
                                                                                ) const;

                inline returnValue getFirst(    LogName _name,
                                                                                VariablesGrid& firstValue
                                                                                ) const;


                inline returnValue getLast(     LogName _name,
                                                                        DMatrix& lastValue
                                                                        ) const;

                inline returnValue getLast(     LogName _name,
                                                                        VariablesGrid& lastValue
                                                                        ) const;


                inline returnValue get( OptionsName name,
                                                                int& value
                                                                ) const;

                inline returnValue get( OptionsName name,
                                                                double& value
                                                                ) const;

                inline returnValue get( OptionsName name,
                                                                std::string& value
                                                                ) const;

                inline returnValue get( uint idx,
                                                                OptionsName name,
                                                                int& value
                                                                ) const;

                inline returnValue get( uint idx,
                                                                OptionsName name,
                                                                double& value
                                                                ) const;


                inline returnValue addOption(   OptionsName name,
                                                                                int value
                                                                                );

                inline returnValue addOption(   OptionsName name,
                                                                                double value
                                                                                );

                inline returnValue addOption(   uint idx,
                                                                                OptionsName name,
                                                                                int value
                                                                                );

                inline returnValue addOption(   uint idx,
                                                                                OptionsName name,
                                                                                double value
                                                                                );


                inline BooleanType haveOptionsChanged( ) const;

                inline BooleanType haveOptionsChanged(  uint idx
                                                                                                ) const;


                inline returnValue setAll(      LogName _name,
                                                                        const MatrixVariablesGrid& values
                                                                        );


                inline returnValue setLast(     LogName _name,
                                                                        int lastValue,
                                                                        double time = -INFTY
                                                                        );

                inline returnValue setLast(     LogName _name,
                                                                        double lastValue,
                                                                        double time = -INFTY
                                                                        );

                inline returnValue setLast(     LogName _name,
                                                                        const DVector& lastValue,
                                                                        double time = -INFTY
                                                                        );

                inline returnValue setLast(     LogName _name,
                                                                        const DMatrix& lastValue,
                                                                        double time = -INFTY
                                                                        );

                inline returnValue setLast(     LogName _name,
                                                                        const VariablesGrid& lastValue,
                                                                        double time = -INFTY
                                                                        );


                inline int addLogRecord(        LogRecord& _record
                                                                        );


                inline returnValue printLogRecord(      std::ostream& _stream,
                                                                                        int idx,
                                                                                        LogPrintMode _mode = PRINT_ITEM_BY_ITEM
                                                                                        ) const;


                inline returnValue plot(        PlotFrequency _frequency = PLOT_IN_ANY_CASE
                                                                        );

                inline returnValue replot(      PlotFrequency _frequency = PLOT_IN_ANY_CASE
                                                                        );


    //
    // DATA MEMBERS:
    //
        protected:
                UserInteraction* userInteraction;                               
                BooleanType useModuleStandalone;                                
                int outputLoggingIdx;                                                   
};


CLOSE_NAMESPACE_ACADO


#include <acado/user_interaction/algorithmic_base.ipp>


#endif  // ACADO_TOOLKIT_ALGORITHMIC_BASE_HPP


/*
 *      end of file
 */