banded_cp_solver.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 
00034 #ifndef ACADO_TOOLKIT_BANDED_CP_SOLVER_HPP
00035 #define ACADO_TOOLKIT_BANDED_CP_SOLVER_HPP
00036 
00037 #include <acado/utils/acado_utils.hpp>
00038 #include <acado/user_interaction/algorithmic_base.hpp>
00039 
00040 #include <acado/matrix_vector/matrix_vector.hpp>
00041 #include <acado/conic_program/banded_cp.hpp>
00042 
00043 
00044 
00045 
00046 BEGIN_NAMESPACE_ACADO
00047 
00048 
00063 class BandedCPsolver: public AlgorithmicBase
00064 {
00065 
00066     //
00067     // PUBLIC MEMBER FUNCTIONS:
00068     //
00069     public:
00070 
00072         BandedCPsolver( );
00073 
00074                 BandedCPsolver( UserInteraction* _userInteraction
00075                                                 );
00076                 
00078         BandedCPsolver( const BandedCPsolver& rhs );
00079 
00081         virtual ~BandedCPsolver( );
00082 
00084         BandedCPsolver& operator=( const BandedCPsolver& rhs );
00085 
00086 
00088         virtual BandedCPsolver* clone() const = 0;
00089 
00090 
00092         virtual returnValue init( const OCPiterate &iter_ ) = 0;
00093 
00094 
00095 
00097         virtual returnValue prepareSolve(       BandedCP& cp
00098                                                                                         );
00099 
00109         virtual returnValue solve(      BandedCP& cp
00110                                                                         ) = 0;
00111 
00113         virtual returnValue finalizeSolve(      BandedCP& cp
00114                                                                                         );
00115 
00116 
00117                 virtual returnValue getParameters        ( DVector        &p_  ) const = 0;
00118                 virtual returnValue getFirstControl      ( DVector        &u0_ ) const = 0;
00119 
00120 
00126         virtual returnValue getVarianceCovariance( DMatrix &var );
00127 
00128 
00129                 virtual returnValue setRealTimeParameters(      const DVector& DeltaX,
00130                                                                                                         const DVector& DeltaP = emptyConstVector
00131                                                                                                         );
00132 
00133 
00134                 virtual returnValue freezeCondensing( );
00135 
00136                 virtual returnValue unfreezeCondensing( );
00137 
00138 
00139 
00140         protected:
00141 
00142                 virtual returnValue setupOptions( );
00143                 virtual returnValue setupLogging( );
00144 
00145 };
00146 
00147 
00148 CLOSE_NAMESPACE_ACADO
00149 
00150 
00151 //#include <acado/conic_solver/banded_cp_solver.ipp>
00152 
00153 
00154 #endif  // ACADO_TOOLKIT_BANDED_CP_SOLVER_HPP
00155 
00156 /*
00157  *  end of file
00158  */


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