lsq_term.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_LSQ_TERM_HPP
#define ACADO_TOOLKIT_LSQ_TERM_HPP


#include <acado/objective/objective_element.hpp>


BEGIN_NAMESPACE_ACADO



class LSQTerm : public ObjectiveElement{

    //
    // PUBLIC MEMBER FUNCTIONS:
    //
    public:

        LSQTerm( );

        LSQTerm( const MatrixVariablesGrid *S_,   
                 const Function&            h ,   
                 const VariablesGrid       *r_     );

        LSQTerm( const LSQTerm& rhs );

        virtual ~LSQTerm( );

        LSQTerm& operator=( const LSQTerm& rhs );



// =======================================================================================
//
//                                 INITIALIZATION ROUTINES
//
// =======================================================================================


        inline returnValue setGrid( const Grid &grid_ );


// =======================================================================================
//
//                                   EVALUATION ROUTINES
//
// =======================================================================================


        returnValue evaluate( const OCPiterate &x );


        returnValue evaluateSensitivities( BlockMatrix *hessian );



        returnValue evaluateSensitivitiesGN( BlockMatrix *GNhessian );




        inline BooleanType isAffine();


        inline BooleanType isQuadratic();


        inline BooleanType isConvex();


        returnValue setReference( const VariablesGrid &ref );


// =======================================================================================

        returnValue getWeigthingtMatrix( const unsigned _index, DMatrix& _matrix ) const;


    //
    // PROTECTED FUNCTIONS:
    //
    protected:


    //
    // DATA MEMBERS:
    //
    protected:

    MatrixVariablesGrid *S_temp         ;    
    VariablesGrid       *r_temp         ;    
    DMatrix              *S              ;    
    DVector              *r              ;    
    double            **S_h_res         ;    
};


CLOSE_NAMESPACE_ACADO



#include <acado/objective/lsq_term.ipp>

#endif  // ACADO_TOOLKIT_LSQ_TERM_HPP

/*
 *     end of file
 */