banded_cp.hpp
Go to the documentation of this file.
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 
00034 #ifndef ACADO_TOOLKIT_BANDED_CP_HPP
00035 #define ACADO_TOOLKIT_BANDED_CP_HPP
00036 
00037 #include <acado/utils/acado_utils.hpp>
00038 #include <acado/matrix_vector/matrix_vector.hpp>
00039 #include <acado/function/ocp_iterate.hpp>
00040 
00041 
00042 BEGIN_NAMESPACE_ACADO
00043 
00044 
00056 class BandedCP{
00057 
00058 
00059     //
00060     // PUBLIC MEMBER FUNCTIONS:
00061     //
00062     public:
00063 
00065         BandedCP( );
00066 
00068         BandedCP( const BandedCP& rhs );
00069 
00071         virtual ~BandedCP( );
00072 
00074         BandedCP& operator=( const BandedCP& rhs );
00075 
00076 
00078         inline BooleanType isLP () const;
00079 
00081         inline BooleanType isQP () const;
00082 
00084         inline BooleanType isSDP() const;
00085 
00086 
00087 
00088     //
00089     // PUBLIC DATA MEMBERS:
00090     //
00091     public:
00092 
00093 
00094     // DIMENSIONS OF THE CP:
00095     // ---------------------
00096     int nS;    
00100     // BANDED CP IN BLOCK-MATRIX FORMAT:
00101     // -----------------------------------------------------------------------------------
00102 
00103     BlockMatrix                   hessian;    
00104     BlockMatrix         objectiveGradient;    
00106     BlockMatrix        lowerBoundResiduum;    
00107     BlockMatrix        upperBoundResiduum;    
00109     BlockMatrix               dynGradient;    
00110     BlockMatrix               dynResiduum;    
00112     BlockMatrix        constraintGradient;    
00113     BlockMatrix   lowerConstraintResiduum;    
00114     BlockMatrix   upperConstraintResiduum;    
00116     BlockMatrix                       **B;    
00117     BlockMatrix                      *lbB;    
00118     BlockMatrix                      *ubB;    
00121     // SOLUTION OF THE BANDED CP:
00122     // ----------------------------------------------------------------------------------
00123     BlockMatrix                    deltaX;    
00124     BlockMatrix               lambdaBound;    
00125     BlockMatrix             lambdaDynamic;    
00126     BlockMatrix          lambdaConstraint;    
00128     BlockMatrix                    **ylbB;    
00129     BlockMatrix                    **yubB;    
00133     // PROTECTED MEMBER FUNCTIONS:
00134     // ---------------------------
00135     protected:
00136 
00137     void copy (const BandedCP& rhs);
00138     void clean();
00139 };
00140 
00141 
00142 CLOSE_NAMESPACE_ACADO
00143 
00144 
00145 #include <acado/conic_program/banded_cp.ipp>
00146 
00147 
00148 #endif  // ACADO_TOOLKIT_BANDED_CP_HPP
00149 
00150 /*
00151  *  end of file
00152  */


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:36:43