algebraic_consistency_constraint.hpp
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00001 /*
00002  *    This file is part of ACADO Toolkit.
00003  *
00004  *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
00005  *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
00006  *    Milan Vukov, Rien Quirynen, KU Leuven.
00007  *    Developed within the Optimization in Engineering Center (OPTEC)
00008  *    under supervision of Moritz Diehl. All rights reserved.
00009  *
00010  *    ACADO Toolkit is free software; you can redistribute it and/or
00011  *    modify it under the terms of the GNU Lesser General Public
00012  *    License as published by the Free Software Foundation; either
00013  *    version 3 of the License, or (at your option) any later version.
00014  *
00015  *    ACADO Toolkit is distributed in the hope that it will be useful,
00016  *    but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00018  *    Lesser General Public License for more details.
00019  *
00020  *    You should have received a copy of the GNU Lesser General Public
00021  *    License along with ACADO Toolkit; if not, write to the Free Software
00022  *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
00023  *
00024  */
00025 
00026 
00027 
00035 #ifndef ACADO_TOOLKIT_ALGEBRAIC_CONSISTENCY_CONSTRAINT_HPP
00036 #define ACADO_TOOLKIT_ALGEBRAIC_CONSISTENCY_CONSTRAINT_HPP
00037 
00038 
00039 #include <acado/constraint/constraint_element.hpp>
00040 
00041 
00042 BEGIN_NAMESPACE_ACADO
00043 
00044 
00065 class AlgebraicConsistencyConstraint : public ConstraintElement{
00066 
00067     //
00068     // PUBLIC MEMBER FUNCTIONS:
00069     //
00070     public:
00071 
00073         AlgebraicConsistencyConstraint( );
00074 
00076         AlgebraicConsistencyConstraint( const Grid& grid_         , 
00077                                         const uint& numberOfStages   );
00078 
00080         AlgebraicConsistencyConstraint( const AlgebraicConsistencyConstraint& rhs );
00081 
00083         virtual ~AlgebraicConsistencyConstraint( );
00084 
00086         AlgebraicConsistencyConstraint& operator=( const AlgebraicConsistencyConstraint& rhs );
00087 
00088 
00089 // =======================================================================================
00090 
00095         inline returnValue add( const uint&                 endOfStage_  ,  
00096                                 const DifferentialEquation& dae              );
00097 
00098 
00099 // =======================================================================================
00100 //
00101 //                                   EVALUATION ROUTINES
00102 //
00103 // =======================================================================================
00104 
00105 
00111         returnValue evaluate( const OCPiterate& iter );
00112 
00113 
00120         returnValue evaluateSensitivities();
00121 
00122 
00123 
00128         returnValue evaluateSensitivities( int &count, const BlockMatrix &seed, BlockMatrix &hessian );
00129 
00130 
00131 //  =========================================================================
00132 
00134         inline int getNC() const;
00135 
00137         inline int getDim( const int& idx_ );
00138 
00139 
00140     // PROOTECTED MEMBER FUNCIONS:
00141     // ---------------------------
00142     protected:
00143 
00144                 virtual returnValue initializeEvaluationPoints( const OCPiterate& iter
00145                                                                                                                 );
00146 
00147                 
00150         inline returnValue computeForwardSensitivityBlock( int offset1, int offset2, int offset3, int stageIdx, DMatrix *seed );
00151 
00152 
00153 
00154 
00155     //
00156     // DATA MEMBERS:
00157     //
00158     protected:
00159 
00160         int  numberOfStages            ;
00161         int  counter                   ;
00162         int *numberOfDifferentialStates;
00163         int *numberOfAlgebraicStates   ;
00164         int *breakPoints               ;
00165 };
00166 
00167 
00168 CLOSE_NAMESPACE_ACADO
00169 
00170 
00171 
00172 #include <acado/constraint/algebraic_consistency_constraint.ipp>
00173 
00174 
00175 #endif  // ACADO_TOOLKIT_ALGEBRAIC_CONSISTENCY_CONSTRAINT_HPP
00176 
00177 /*
00178  *    end of file
00179  */


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:36:41