dense_cp_solver.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_DENSE_CP_SOLVER_HPP
#define ACADO_TOOLKIT_DENSE_CP_SOLVER_HPP

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

#include <acado/matrix_vector/matrix_vector.hpp>
#include <acado/conic_program/dense_cp.hpp>


BEGIN_NAMESPACE_ACADO


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

        DenseCPsolver( );

        DenseCPsolver(  UserInteraction* _userInteraction
                                                );

        DenseCPsolver( const DenseCPsolver& rhs );

        virtual ~DenseCPsolver( );

        DenseCPsolver& operator=( const DenseCPsolver& rhs );


        virtual DenseCPsolver* clone( ) const = 0;


        virtual returnValue init( const DenseCP *cp_ ) = 0;


        virtual returnValue solve( DenseCP *cp_ ) = 0;


        virtual returnValue getVarianceCovariance( DMatrix &var ) = 0;


        virtual returnValue getVarianceCovariance( DMatrix &H, DMatrix &var ) = 0;



        virtual uint getNumberOfIterations( ) const = 0;


                
    //
    // PROTECTED MEMBER FUNCTIONS:
    //
    protected:

                virtual returnValue setupOptions( );
                virtual returnValue setupLogging( );

};


CLOSE_NAMESPACE_ACADO


//#include <acado/conic_solver/dense_cp_solver.ipp>


#endif  // ACADO_TOOLKIT_DENSE_CP_SOLVER_HPP

/*
 *  end of file
 */