algebraic_consistency_constraint.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_ALGEBRAIC_CONSISTENCY_CONSTRAINT_HPP
#define ACADO_TOOLKIT_ALGEBRAIC_CONSISTENCY_CONSTRAINT_HPP


#include <acado/constraint/constraint_element.hpp>


BEGIN_NAMESPACE_ACADO


class AlgebraicConsistencyConstraint : public ConstraintElement{

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

        AlgebraicConsistencyConstraint( );

        AlgebraicConsistencyConstraint( const Grid& grid_         , 
                                        const uint& numberOfStages   );

        AlgebraicConsistencyConstraint( const AlgebraicConsistencyConstraint& rhs );

        virtual ~AlgebraicConsistencyConstraint( );

        AlgebraicConsistencyConstraint& operator=( const AlgebraicConsistencyConstraint& rhs );


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

        inline returnValue add( const uint&                 endOfStage_  ,  
                                const DifferentialEquation& dae              );


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


        returnValue evaluate( const OCPiterate& iter );


        returnValue evaluateSensitivities();



        returnValue evaluateSensitivities( int &count, const BlockMatrix &seed, BlockMatrix &hessian );


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

        inline int getNC() const;

        inline int getDim( const int& idx_ );


    // PROOTECTED MEMBER FUNCIONS:
    // ---------------------------
    protected:

                virtual returnValue initializeEvaluationPoints( const OCPiterate& iter
                                                                                                                );

                
        inline returnValue computeForwardSensitivityBlock( int offset1, int offset2, int offset3, int stageIdx, DMatrix *seed );




    //
    // DATA MEMBERS:
    //
    protected:

        int  numberOfStages            ;
        int  counter                   ;
        int *numberOfDifferentialStates;
        int *numberOfAlgebraicStates   ;
        int *breakPoints               ;
};


CLOSE_NAMESPACE_ACADO



#include <acado/constraint/algebraic_consistency_constraint.ipp>


#endif  // ACADO_TOOLKIT_ALGEBRAIC_CONSISTENCY_CONSTRAINT_HPP

/*
 *    end of file
 */