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 00027 00035 #ifndef ACADO_TOOLKIT_COUPLED_PATH_CONSTRAINT_HPP 00036 #define ACADO_TOOLKIT_COUPLED_PATH_CONSTRAINT_HPP 00037 00038 00039 #include <acado/constraint/constraint_element.hpp> 00040 00041 00042 BEGIN_NAMESPACE_ACADO 00043 00044 00057 class CoupledPathConstraint : public ConstraintElement{ 00058 00059 // 00060 // PUBLIC MEMBER FUNCTIONS: 00061 // 00062 public: 00063 00065 CoupledPathConstraint( ); 00066 00068 CoupledPathConstraint( const Grid& grid_ ); 00069 00071 CoupledPathConstraint( const CoupledPathConstraint& rhs ); 00072 00074 virtual ~CoupledPathConstraint( ); 00075 00077 CoupledPathConstraint& operator=( const CoupledPathConstraint& rhs ); 00078 00079 00084 inline returnValue add( const double lb_, const Expression* arg, const double ub_ ); 00085 00086 00087 00088 // ======================================================================================= 00089 // 00090 // EVALUATION ROUTINES 00091 // 00092 // ======================================================================================= 00093 00094 00100 returnValue evaluate( const OCPiterate& iter ); 00101 00102 00109 returnValue evaluateSensitivities(); 00110 00111 00112 00117 returnValue evaluateSensitivities( const DMatrix &seed, BlockMatrix &hessian ); 00118 00119 00120 00121 // ========================================================================= 00122 00124 inline int getNC() const; 00125 00126 00127 protected: 00128 00129 }; 00130 00131 00132 CLOSE_NAMESPACE_ACADO 00133 00134 00135 00136 #include <acado/constraint/coupled_path_constraint.ipp> 00137 00138 00139 #endif // ACADO_TOOLKIT_COUPLED_PATH_CONSTRAINT_HPP 00140 /* 00141 * end of file 00142 */