block_matrix.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_BLOCK_MATRIX_HPP
#define ACADO_TOOLKIT_BLOCK_MATRIX_HPP

#include <acado/utils/acado_types.hpp>

BEGIN_NAMESPACE_ACADO

class BlockMatrix
{
    //
    // PUBLIC MEMBER FUNCTIONS:
    //
    public:

        BlockMatrix( );

        BlockMatrix( uint _nRows,       
                                     uint _nCols     );

        BlockMatrix(    const DMatrix& value
                                                );

        virtual ~BlockMatrix( );

                returnValue init( uint _nRows, uint _nCols );

                returnValue setDense( uint           rowIdx, 
                              uint           colIdx, 
                              const DMatrix&  value );

                returnValue addDense( uint           rowIdx, 
                              uint           colIdx, 
                              const DMatrix&  value );

                inline returnValue getSubBlock( uint    rowIdx,  
                                        uint    colIdx,  
                                        DMatrix &value   )  const;

                returnValue getSubBlock( uint    rowIdx,  
                                 uint    colIdx,  
                                 DMatrix &value,
                                 uint nR,
                                 uint nC          )  const;

                BlockMatrix operator+( const BlockMatrix& arg    ) const;

                BlockMatrix& operator+=( const BlockMatrix& arg  );

                BlockMatrix operator-( const BlockMatrix& arg  ) const;

                BlockMatrix operator*=( double scalar  );

                BlockMatrix operator*( const BlockMatrix& arg  ) const;

                BlockMatrix operator^( const BlockMatrix& arg    ) const;

                inline uint getNumRows( ) const;

                inline uint getNumCols( ) const;

                inline uint getNumRows( uint rowIdx, uint colIdx ) const;

                inline uint getNumCols( uint rowIdx, uint colIdx ) const;

                inline returnValue setIdentity( uint rowIdx,  
                                        uint colIdx,  
                                        uint dim        );

                inline returnValue setZero( uint rowIdx, uint colIdx );

                inline bool isEmpty() const;

                inline returnValue setZero();

                inline returnValue addRegularisation( uint rowIdx, uint colIdx, double eps );

                inline BlockMatrix addRegularisation( double eps );

        BlockMatrix transpose() const;

                inline bool isSquare( ) const;

                inline bool isSquare( uint rowIdx, uint colIdx ) const;

        BlockMatrix getAbsolute( ) const;

        BlockMatrix getPositive( ) const;

        BlockMatrix getNegative( ) const;

                returnValue print(      std::ostream& stream = std::cout
                                                        ) const;

    //
    // DATA MEMBERS:
    //
    protected:

                uint nRows;                     
                uint nCols;                     
        std::vector< std::vector< DMatrix > > elements;
        std::vector< std::vector< SubBlockMatrixType > > types;
};

static       BlockMatrix emptyBlockMatrix;
static const BlockMatrix emptyConstBlockMatrix;

CLOSE_NAMESPACE_ACADO

#include <acado/matrix_vector/block_matrix.ipp>

#endif  // ACADO_TOOLKIT_BLOCK_MATRIX_HPP

/*
 *      end of file
 */