scp_step_linesearch.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_SCP_STEP_LINESEARCH_HPP
#define ACADO_TOOLKIT_SCP_STEP_LINESEARCH_HPP


#include <acado/utils/acado_utils.hpp>
#include <acado/nlp_solver/scp_step.hpp>



BEGIN_NAMESPACE_ACADO



class SCPstepLinesearch : public SCPstep {


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

        SCPstepLinesearch( );

                SCPstepLinesearch(      UserInteraction* _userInteraction
                                                        );
                                        
        SCPstepLinesearch( const SCPstepLinesearch& rhs );

        virtual ~SCPstepLinesearch( );

        SCPstepLinesearch& operator=( const SCPstepLinesearch& rhs );

        virtual SCPstep* clone() const;


        virtual returnValue performStep(        OCPiterate& iter,
                                                                                BandedCP& cp,
                                                                                SCPevaluation* eval
                                                                                );


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

                returnValue performLineSearch(  const OCPiterate& iter,
                                                                                BandedCP& cp,
                                                                                SCPevaluation& eval,
                                                                                double& alpha,
                                                                                const double& alphaMin
                                                                                );



    //
    // DATA MEMBERS:
    //
    protected:
};


CLOSE_NAMESPACE_ACADO



//#include <acado/nlp_solver/scp_step_linesearch.ipp>


#endif  // ACADO_TOOLKIT_SCP_STEP_LINESEARCH_HPP

/*
 *  end of file
 */