nonsmooth_operator.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_NONSMOOTH_OPERATOR_HPP
#define ACADO_TOOLKIT_NONSMOOTH_OPERATOR_HPP


#include <acado/symbolic_operator/symbolic_operator_fwd.hpp>


BEGIN_NAMESPACE_ACADO



class NonsmoothOperator : public Operator{

public:


    NonsmoothOperator();

    virtual ~NonsmoothOperator();


    virtual Operator& operator=( const double      & arg );
    virtual Operator& operator=( const DVector      & arg );
    virtual Operator& operator=( const DMatrix      & arg );
    virtual Operator& operator=( const Expression  & arg );
    virtual Operator& operator=( const Operator    & arg );


    Operator& operator+=( const double      & arg );
    Operator& operator+=( const DVector      & arg );
    Operator& operator+=( const DMatrix      & arg );
    Operator& operator+=( const Expression  & arg );

    Operator& operator-=( const double      & arg );
    Operator& operator-=( const DVector      & arg );
    Operator& operator-=( const DMatrix      & arg );
    Operator& operator-=( const Expression  & arg );

    Operator& operator*=( const double      & arg );
    Operator& operator*=( const DVector      & arg );
    Operator& operator*=( const DMatrix      & arg );
    Operator& operator*=( const Expression  & arg );

    Operator& operator/=( const double      & arg );
    Operator& operator/=( const Expression  & arg );


    Expression operator+( const double        & arg ) const;
    Expression operator+( const DVector        & arg ) const;
    Expression operator+( const DMatrix        & arg ) const;
    Expression operator+( const Operator& arg ) const;
    Expression operator+( const Expression    & arg ) const;

    Expression operator-( const double          & arg ) const;
    Expression operator-( const DVector          & arg ) const;
    Expression operator-( const DMatrix          & arg ) const;
    Expression operator-( const Operator  & arg ) const;
    Expression operator-( const Expression      & arg ) const;

    Expression operator-( ) const;

    Expression operator*( const double         & arg ) const;
    Expression operator*( const DVector         & arg ) const;
    Expression operator*( const DMatrix         & arg ) const;
    Expression operator*( const Operator & arg ) const;
    Expression operator*( const Expression     & arg ) const;

    Expression operator/( const double         & arg ) const;
    Expression operator/( const Operator & arg ) const;
    Expression operator/( const Expression     & arg ) const;


    ConstraintComponent operator<=( const double& ub ) const;
    ConstraintComponent operator>=( const double& lb ) const;
    ConstraintComponent operator==( const double&  b ) const;

    ConstraintComponent operator<=( const DVector& ub ) const;
    ConstraintComponent operator>=( const DVector& lb ) const;
    ConstraintComponent operator==( const DVector&  b ) const;

    ConstraintComponent operator<=( const VariablesGrid& ub ) const;
    ConstraintComponent operator>=( const VariablesGrid& lb ) const;
    ConstraintComponent operator==( const VariablesGrid&  b ) const;


    virtual returnValue evaluate( int     number    ,
                                  double *x         ,
                                  double *result      );


    virtual returnValue evaluate( EvaluationBase *x );


     virtual Operator* differentiate( int index      );



     virtual Operator* AD_forward( int                dim      , 
                                     VariableType      *varType  , 
                                     int               *component, 
                                     Operator       **seed     , 
                                     int                &nNewIS  , 
                                     TreeProjection ***newIS     );



    virtual returnValue AD_backward( int           dim      , 
                                     VariableType *varType  , 
                                     int          *component, 
                                     Operator     *seed     , 
                                     Operator    **df       , 
                                     int           &nNewIS  , 
                                     TreeProjection ***newIS   );

    
    
     virtual returnValue AD_symmetric( int            dim       , 
                                      VariableType  *varType   , 
                                      int           *component , 
                                      Operator      *l         , 
                                      Operator     **S         , 
                                      int            dimS      , 
                                      Operator     **dfS       , 
                                      Operator     **ldf       , 
                                      Operator     **H         , 
                                      int            &nNewLIS  , 
                                      TreeProjection ***newLIS , 
                                      int            &nNewSIS  , 
                                      TreeProjection ***newSIS , 
                                      int            &nNewHIS  , 
                                      TreeProjection ***newHIS    );



     virtual Operator* substitute( int   index            ,
                                     const Operator *sub  );



     virtual NeutralElement isOneOrZero() const;



     virtual BooleanType isDependingOn( VariableType var ) const;



     virtual BooleanType isDependingOn( int           dim      ,    
                                          VariableType *varType  ,    
                                          int          *component,    
                                          BooleanType   *implicit_dep  );




     virtual BooleanType isLinearIn( int           dim      ,    
                                       VariableType *varType  ,    
                                       int          *component,    
                                       BooleanType  *implicit_dep   );



     virtual BooleanType isPolynomialIn( int           dim      ,    
                                           VariableType *varType  ,    
                                           int          *component,    
                                           BooleanType  *implicit_dep   );



     virtual BooleanType isRationalIn( int           dim      ,    
                                         VariableType *varType  ,    
                                         int          *component,    
                                         BooleanType  *implicit_dep   );

     virtual BooleanType isSmooth( ) const;

     virtual MonotonicityType getMonotonicity( );



     virtual CurvatureType getCurvature( );



     virtual returnValue setMonotonicity( MonotonicityType monotonicity_ );




     virtual returnValue setCurvature( CurvatureType curvature_  );



     virtual returnValue AD_forward( int     number  ,
                                     double *x       ,
                                     double *seed    ,
                                     double *f       ,
                                     double *df        );



     virtual returnValue AD_forward( int     number  ,
                                     double *seed    ,
                                     double *df        );



    // IMPORTANT REMARK FOR AD_BACKWARD: run evaluate first to define
    //                                   the point x and to compute f.

     virtual returnValue AD_backward( int    number ,
                                      double seed   ,
                                      double  *df   );



     virtual returnValue AD_forward2( int    number  ,
                                      double *seed1  ,
                                      double *seed2  ,
                                      double *df     ,
                                      double *ddf    );



    // IMPORTANT REMARK FOR AD_BACKWARD2: run AD_forward first to define
    //                                    the point x and to compute f and df.

     virtual returnValue AD_backward2( int    number ,
                                       double seed1  ,
                                       double seed2  ,
                                       double   *df  ,
                                       double  *ddf     );




     virtual std::ostream& print( std::ostream &stream ) const;

     virtual Operator* clone() const;


     virtual TreeProjection* cloneTreeProjection() const;



     virtual returnValue clearBuffer();



     virtual returnValue enumerateVariables( SymbolicIndexList *indexList );



     virtual OperatorName getName();


     //virtual int getVariableIndex( ) const;


     virtual int getGlobalIndex( ) const;


     virtual BooleanType isVariable( VariableType &varType,
                                     int &component          ) const;


     virtual returnValue loadIndices( SymbolicIndexList *indexList  );



     virtual double getValue() const;



     virtual Operator* passArgument() const;


    virtual BooleanType isSymbolic() const;


    int nCount;


//
//  PROTECTED FUNCTIONS:
//

protected:


};


CLOSE_NAMESPACE_ACADO



#endif