binary_operator.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_BINARY_OPERATOR_HPP
#define ACADO_TOOLKIT_BINARY_OPERATOR_HPP


#include <acado/symbolic_operator/symbolic_operator_fwd.hpp>


BEGIN_NAMESPACE_ACADO


class BinaryOperator : public SmoothOperator{

public:

  friend class Power_Int;
  BinaryOperator();

  BinaryOperator( Operator *_argument1, Operator *_argument2 );

  BinaryOperator( const BinaryOperator &arg );

  virtual ~BinaryOperator();

  BinaryOperator& operator=( const BinaryOperator &arg );


    virtual returnValue evaluate( int     number    ,
                                  double *x         ,
                                  double *result      ) = 0;


        virtual returnValue evaluate( EvaluationBase *x ) = 0;
        
        
     virtual Operator* differentiate( int index      ) = 0;



     virtual Operator* AD_forward( int                dim      , 
                                     VariableType      *varType  , 
                                     int               *component, 
                                     Operator       **seed     , 
                                     int                &nNewIS  , 
                                     TreeProjection ***newIS     ) = 0;



    virtual returnValue AD_backward( int           dim      , 
                                     VariableType *varType  , 
                                     int          *component, 
                                     Operator     *seed     , 
                                     Operator    **df       , 
                                     int           &nNewIS  , 
                                     TreeProjection ***newIS   ) = 0;

    
    
     virtual returnValue AD_symmetric( int            dim       , 
                                      VariableType  *varType   , 
                                      int           *component , 
                                      Operator      *l         , 
                                      Operator     **S         , 
                                      int            dimS      , 
                                      Operator     **dfS       , 
                                      Operator     **ldf       , 
                                      Operator     **H         , 
                                      int            &nNewLIS  , 
                                      TreeProjection ***newLIS , 
                                      int            &nNewSIS  , 
                                      TreeProjection ***newSIS , 
                                      int            &nNewHIS  , 
                                      TreeProjection ***newHIS    ) = 0;


     virtual Operator* substitute( int   index            ,
                                     const Operator *sub  ) = 0;



     virtual NeutralElement isOneOrZero() const;



     virtual BooleanType isDependingOn( VariableType var ) const;



     virtual BooleanType isDependingOn( int           dim      ,    
                                        VariableType *varType  ,    
                                        int          *component,    
                                        BooleanType  *implicit_dep   );




     virtual BooleanType isLinearIn( int           dim      ,    
                                       VariableType *varType  ,    
                                       int          *component,    
                                       BooleanType  *implicit_dep   ) = 0;



     virtual BooleanType isPolynomialIn( int           dim      ,    
                                           VariableType *varType  ,    
                                           int          *component,    
                                           BooleanType  *implicit_dep   ) = 0;



     virtual BooleanType isRationalIn( int           dim      ,    
                                         VariableType *varType  ,    
                                         int          *component,    
                                         BooleanType  *implicit_dep   ) = 0;


     virtual MonotonicityType getMonotonicity( ) = 0;



     virtual CurvatureType getCurvature( ) = 0;



     virtual returnValue setMonotonicity( MonotonicityType monotonicity_ );




     virtual returnValue setCurvature( CurvatureType curvature_  );



     virtual returnValue AD_forward( int     number  ,
                                     double *x       ,
                                     double *seed    ,
                                     double *f       ,
                                     double *df        ) = 0;



     virtual returnValue AD_forward( int     number  ,
                                     double *seed    ,
                                     double *df        ) = 0;



    // IMPORTANT REMARK FOR AD_BACKWARD: run evaluate first to define
    //                                   the point x and to compute f.

     virtual returnValue AD_backward( int    number ,
                                      double seed   ,
                                      double  *df   ) = 0;



     virtual returnValue AD_forward2( int    number  ,
                                      double *seed1  ,
                                      double *seed2  ,
                                      double *df     ,
                                      double *ddf    ) = 0;



    // IMPORTANT REMARK FOR AD_BACKWARD2: run AD_forward first to define
    //                                    the point x and to compute f and df.

     virtual returnValue AD_backward2( int    number ,
                                       double seed1  ,
                                       double seed2  ,
                                       double   *df  ,
                                       double  *ddf     ) = 0;


     virtual Operator* clone() const = 0;


     virtual returnValue clearBuffer();



     virtual std::ostream& print( std::ostream &stream ) const = 0;



     virtual returnValue enumerateVariables( SymbolicIndexList *indexList );



     virtual OperatorName getName() = 0;


     virtual BooleanType isVariable( VariableType &varType,
                                     int &component          ) const;


     virtual returnValue loadIndices( SymbolicIndexList *indexList  );



    virtual BooleanType isSymbolic() const;



    virtual returnValue setVariableExportName(  const VariableType &_type,
                                                                                                const std::vector< std::string >& _name
                                                                                                );

    virtual returnValue initDerivative();

//
//  PROTECTED FUNCTIONS:
//

protected:



    void copy( const BinaryOperator &arg );
    void deleteAll();



  //
  //  PROTECTED MEMBERS:
  //

protected:

    Operator *argument1 ;       
    Operator *argument2 ;       
    Operator *dargument1;       
    Operator *dargument2;       
    double *  argument1_result;   
    double *  argument2_result;   
    double * dargument1_result;   
    double * dargument2_result;   
    int     bufferSize       ;    
    CurvatureType     curvature   ;
    MonotonicityType  monotonicity;
};


CLOSE_NAMESPACE_ACADO



#endif