constant_hessian.hpp
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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 #ifndef ACADO_TOOLKIT_CONSTANT_HESSIAN_HPP
00035 #define ACADO_TOOLKIT_CONSTANT_HESSIAN_HPP
00036 
00037 
00038 #include <acado/utils/acado_utils.hpp>
00039 #include <acado/nlp_derivative_approximation/nlp_derivative_approximation.hpp>
00040 
00041 
00042 BEGIN_NAMESPACE_ACADO
00043 
00044 
00055 class ConstantHessian : public NLPderivativeApproximation
00056 {
00057 
00058     //
00059     // PUBLIC MEMBER FUNCTIONS:
00060     //
00061     public:
00062 
00064         ConstantHessian( );
00065                 
00067         ConstantHessian(        UserInteraction* _userInteraction
00068                                                         );
00069 
00071         ConstantHessian( const ConstantHessian& rhs );
00072 
00074         virtual ~ConstantHessian( );
00075 
00077         ConstantHessian& operator=( const ConstantHessian& rhs );
00078 
00079                 virtual NLPderivativeApproximation* clone( ) const;
00080 
00081 
00082 
00083         virtual returnValue initHessian(        BlockMatrix& B,             
00084                                                                                         uint N,                 
00085                                                                                         const OCPiterate& iter  
00086                                                                                         );
00087 
00088         virtual returnValue initScaling(        BlockMatrix& B, 
00089                                                                                         const BlockMatrix& x, 
00090                                                                                         const BlockMatrix& y  
00091                                                                                         );
00092 
00093 
00094                 virtual returnValue apply(      BlockMatrix &B, 
00095                                                                         const BlockMatrix &x, 
00096                                                                         const BlockMatrix &y  
00097                                                                         );
00098 
00099 
00100 
00101     //
00102     // PROTECTED MEMBER FUNCTIONS:
00103     //
00104     protected:
00105 
00106 
00107 
00108     //
00109     // PROTECTED DATA MEMBERS:
00110     //
00111     protected:
00112 
00113 };
00114 
00115 
00116 CLOSE_NAMESPACE_ACADO
00117 
00118 //#include <acado/nlp_derivative_approximation/constant_hessian.ipp>
00119 
00120 
00121 // collect remaining headers
00122 #include <acado/nlp_derivative_approximation/bfgs_update.hpp>
00123 
00124 #endif  // ACADO_TOOLKIT_CONSTANT_HESSIAN_HPP
00125 
00126 /*
00127  *  end of file
00128  */


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Thu Aug 27 2015 11:58:04