banded_cp_solver.cpp
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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 
00033 #include <acado/conic_solver/banded_cp_solver.hpp>
00034 
00035 
00036 BEGIN_NAMESPACE_ACADO
00037 
00038 
00039 //
00040 // PUBLIC MEMBER FUNCTIONS:
00041 //
00042 
00043 BandedCPsolver::BandedCPsolver( ) : AlgorithmicBase( )
00044 {
00045         setupOptions( );
00046         setupLogging( );
00047 }
00048 
00049 
00050 BandedCPsolver::BandedCPsolver( UserInteraction* _userInteraction ) : AlgorithmicBase( _userInteraction )
00051 {
00052         // setup options and loggings for stand-alone instances
00053         if ( _userInteraction == 0 )
00054         {
00055                 setupOptions( );
00056                 setupLogging( );
00057         }
00058 }
00059 
00060 
00061 BandedCPsolver::BandedCPsolver( const BandedCPsolver& rhs ) : AlgorithmicBase( rhs ){
00062 
00063 }
00064 
00065 
00066 BandedCPsolver::~BandedCPsolver( ){
00067 
00068 }
00069 
00070 
00071 BandedCPsolver& BandedCPsolver::operator=( const BandedCPsolver& rhs ){
00072 
00073     if ( this != &rhs ){
00074 
00075         AlgorithmicBase::operator=(rhs);
00076 
00077     }
00078     return *this;
00079 }
00080 
00081 
00082 
00083 returnValue BandedCPsolver::prepareSolve(       BandedCP& cp
00084                                                                                         )
00085 {
00086         return SUCCESSFUL_RETURN;
00087 }
00088 
00089 
00090 returnValue BandedCPsolver::finalizeSolve(      BandedCP& cp
00091                                                                                         )
00092 {
00093         return SUCCESSFUL_RETURN;
00094 }
00095 
00096 
00097 
00098 returnValue BandedCPsolver::getVarianceCovariance( DMatrix &var )
00099 {
00100         return ACADOERROR( RET_NOT_IMPLEMENTED_YET );
00101 }
00102 
00103 
00104 
00105 returnValue BandedCPsolver::setRealTimeParameters(      const DVector& DeltaX,
00106                                                                                                         const DVector& DeltaP
00107                                                                                                         )
00108 {
00109         return ACADOERROR( RET_NOT_IMPLEMENTED_IN_BASE_CLASS );
00110 }
00111 
00112 
00113 
00114 returnValue BandedCPsolver::freezeCondensing( )
00115 {
00116         return ACADOERROR( RET_NOT_IMPLEMENTED_IN_BASE_CLASS );
00117 }
00118 
00119 
00120 returnValue BandedCPsolver::unfreezeCondensing( )
00121 {
00122         return ACADOERROR( RET_NOT_IMPLEMENTED_IN_BASE_CLASS );
00123 }
00124 
00125 
00126 
00127 //
00128 // PROTECTED MEMBER FUNCTIONS:
00129 //
00130 
00131 returnValue BandedCPsolver::setupOptions( )
00132 {
00133         addOption( LEVENBERG_MARQUARDT         , defaultLevenbergMarguardt       );
00134         addOption( HESSIAN_PROJECTION_FACTOR   , defaultHessianProjectionFactor  );
00135         addOption( INFEASIBLE_QP_RELAXATION    , defaultInfeasibleQPrelaxation   );
00136         addOption( INFEASIBLE_QP_HANDLING      , defaultInfeasibleQPhandling     );
00137         addOption( MAX_NUM_QP_ITERATIONS       , defaultMaxNumQPiterations       );
00138 
00139         return SUCCESSFUL_RETURN;
00140 }
00141 
00142 
00143 returnValue BandedCPsolver::setupLogging( )
00144 {
00145     //LogRecord tmp( LOG_AT_END );
00146 
00147     //tmp.addItem( LOG_DIFFERENTIAL_STATES      );
00148 
00149     //outputLoggingIdx = addLogRecord( tmp );
00150 
00151         return SUCCESSFUL_RETURN;
00152 }
00153 
00154 
00155 CLOSE_NAMESPACE_ACADO
00156 
00157 // end of file.


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