symbolic_index_list.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_SYMBOLIC_INDEX_LIST_HPP
#define ACADO_TOOLKIT_SYMBOLIC_INDEX_LIST_HPP


#include <acado/symbolic_operator/symbolic_operator_fwd.hpp>


BEGIN_NAMESPACE_ACADO


// Forward Declarations:
   class Operator;


class SymbolicIndexList{

public:

    SymbolicIndexList();

    ~SymbolicIndexList();

    SymbolicIndexList( const SymbolicIndexList &arg );

    SymbolicIndexList& operator=( const SymbolicIndexList &arg );



//
//  PUBLIC MEMBER FUNCTIONS:
//  ------------------------

    BooleanType addNewElement( VariableType variableType_  ,
                               int index_                   );


    int determineVariableIndex( VariableType variableType_  ,
                                 int index_                  ,
                                 double scale                );


    BooleanType determineCExpressionIndices( uint  dimension,  
                                             uint  ID       ,  
                                              int *idx          );


    returnValue clearVariableIndexList();


//
//  INLINE FUNCTIONS:
//  -----------------

    inline int index( VariableType variableType_, int index_ ) const;


    inline double scale( VariableType variableType_, int index_ ) const;


    inline int getNumberOfVariables() const;


    inline int getNX    () const;

    inline int getNXA   () const;

    inline int getNDX   () const;

    inline int getNU   () const;

    inline int getNUI  () const;

    inline int getNP   () const;

    inline int getNPI  () const;

    inline int getNW  () const;

    inline int getNT  () const;

    inline int getOD  () const;


    inline int makeImplicit( int dim );



    int addOperatorPointer( Operator* intermediateOperator,
                                      int comp_             );


    inline int getNumberOfOperators();


    returnValue getOperators( Operator **sub, int *comp_, int *n );


    inline SymbolicIndexList* substitute( VariableType variableType_, int index_ );


//
//  PROTECTED MEMBERS:
//  ------------------

protected:

    Operator  **expression     ;   
    int          *comp           ;   
    int numberOfOperators      ;   
    BooleanType **entryExists    ;   
    int           nC             ;   
    BooleanType  *cExist         ;   
    int         **cIdx           ;   
    uint         *cDim           ;   
    int         **variableIndex  ;   
    double      **variableScale  ;   
    // INTERNAL USE / ONLY FOR MEMORY ALLOCATION:
    int       *maxNumberOfEntries;   
    int           variableCounter;   
private:


};


CLOSE_NAMESPACE_ACADO



#include <acado/symbolic_operator/symbolic_index_list.ipp>


#endif