shooting_method.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_SHOOTING_METHOD_HPP
#define ACADO_TOOLKIT_SHOOTING_METHOD_HPP


#include <acado/dynamic_discretization/dynamic_discretization.hpp>


BEGIN_NAMESPACE_ACADO


class ShootingMethod : public DynamicDiscretization
{
        //
        // PUBLIC MEMBER FUNCTIONS:
        //
        public:

                ShootingMethod();

                ShootingMethod( UserInteraction* _userInteraction
                                                );

                ShootingMethod( const ShootingMethod& rhs );

                virtual ~ShootingMethod( );

                ShootingMethod& operator=( const ShootingMethod& rhs );

                virtual DynamicDiscretization* clone() const;


        virtual returnValue addStage( const DynamicSystem  &dynamicSystem_,
                                      const Grid           &stageIntervals,
                                      const IntegratorType &integratorType_ = INT_UNKNOWN );

                virtual returnValue addTransition( const Transition& transition_ );


        virtual returnValue clear();



                virtual returnValue evaluate(   OCPiterate &iter
                                                                                );


                virtual returnValue deleteAllSeeds( );


                virtual returnValue evaluateSensitivities( );


                virtual returnValue evaluateSensitivitiesLifted( );


                virtual returnValue evaluateSensitivities(      const BlockMatrix &seed,
                                                                                                        BlockMatrix &hessian
                                                                                                        );


        virtual returnValue unfreeze( );


                virtual BooleanType isAffine( ) const;


                //
                // PROTECTED MEMBER FUNCTIONS:
                //

                protected:

                        returnValue deleteAll( );

                        void copy( const ShootingMethod &arg );

            returnValue allocateIntegrator( uint idx, IntegratorType type_ );


            returnValue differentiateBackward( const int    &idx ,
                                               const DMatrix &seed,
                                                     DMatrix &Gx  ,
                                                     DMatrix &Gp  ,
                                                     DMatrix &Gu  ,
                                                     DMatrix &Gw    );

            returnValue differentiateForward(  const int     &idx,
                                               const DMatrix  &dX ,
                                               const DMatrix  &dP ,
                                               const DMatrix  &dU ,
                                               const DMatrix  &dW ,
                                                     DMatrix  &D    );


            returnValue differentiateForwardBackward( const int     &idx ,
                                                      const DMatrix  &dX  ,
                                                      const DMatrix  &dP  ,
                                                      const DMatrix  &dU  ,
                                                      const DMatrix  &dW  ,
                                                      const DMatrix  &seed,
                                                            DMatrix  &D   ,
                                                            DMatrix  &ddX ,
                                                            DMatrix  &ddP ,
                                                            DMatrix  &ddU ,
                                                            DMatrix  &ddW   );


            returnValue update( DMatrix &G, const DMatrix &A, const DMatrix &B );


                        returnValue logTrajectory( const OCPiterate &iter );

                        returnValue rescale(    VariablesGrid* trajectory,
                                                                        double tEndNew,
                                                                        double newIntervalLength
                                                                        ) const;

        //
        // PROTECTED MEMBERS:
        //

        protected:

            Integrator **integrator;
            DMatrix       breakPoints;
};


CLOSE_NAMESPACE_ACADO



#include <acado/dynamic_discretization/shooting_method.ipp>


#endif  // ACADO_TOOLKIT_SHOOTING_METHOD_HPP

// end of file