box_constraint.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 
00027 
00035 #ifndef ACADO_TOOLKIT_BOX_CONSTRAINT_HPP
00036 #define ACADO_TOOLKIT_BOX_CONSTRAINT_HPP
00037 
00038 
00039 #include <acado/matrix_vector/matrix_vector.hpp>
00040 #include <acado/variables_grid/variables_grid.hpp>
00041 #include <acado/function/ocp_iterate.hpp>
00042 
00043 
00044 BEGIN_NAMESPACE_ACADO
00045 
00046 
00047 
00059 class BoxConstraint{
00060 
00061     //
00062     // PUBLIC MEMBER FUNCTIONS:
00063     //
00064     public:
00065 
00067     BoxConstraint( );
00068 
00070     BoxConstraint( const BoxConstraint& rhs );
00071 
00073     virtual ~BoxConstraint( );
00074 
00076     BoxConstraint& operator=( const BoxConstraint& rhs );
00077 
00078 
00080     returnValue init( const Grid& grid_ );
00081 
00082 
00083     //
00084     // PROTECTED MEMBER FUNCTIONS:
00085     //
00086     protected:
00087 
00088 
00090     void deleteAll();
00091 
00092 
00093     returnValue evaluateBounds( const OCPiterate& iter );
00094 
00095 
00099     virtual returnValue getBounds( const OCPiterate& iter );
00100 
00101 
00102 
00103 
00104 
00105     //
00106     // DATA MEMBERS:
00107     //
00108     protected:
00109 
00110     Grid             grid  ;   
00112     // BOUNDS:
00113     // ----------------------
00114     int              nb    ;   
00115     VariableType    *var   ;   
00116     int             *index ;   
00117     DVector         **blb   ;   
00118     DVector         **bub   ;   
00120     DMatrix     *residuumXL ;   
00121     DMatrix     *residuumXU ;   
00122     DMatrix     *residuumXAL;   
00123     DMatrix     *residuumXAU;   
00124     DMatrix     *residuumPL ;   
00125     DMatrix     *residuumPU ;   
00126     DMatrix     *residuumUL ;   
00127     DMatrix     *residuumUU ;   
00128     DMatrix     *residuumWL ;   
00129     DMatrix     *residuumWU ;   
00130 };
00131 
00132 
00133 CLOSE_NAMESPACE_ACADO
00134 
00135 
00136 
00137 #include <acado/constraint/box_constraint.ipp>
00138 
00139 
00140 #endif  // ACADO_TOOLKIT_BOX_CONSTRAINT_HPP
00141 
00142 /*
00143  *    end of file
00144  */


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:36:48