collocation_method.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 
00027 
00035 #include <acado/dynamic_discretization/collocation_method.hpp>
00036 
00037 
00038 BEGIN_NAMESPACE_ACADO
00039 
00040 
00041 //
00042 // PUBLIC MEMBER FUNCTIONS:
00043 //
00044 
00045 
00046 CollocationMethod::CollocationMethod( ) : DynamicDiscretization( )
00047 {
00048 }
00049 
00050 
00051 CollocationMethod::CollocationMethod( UserInteraction* _userInteraction ) : DynamicDiscretization( _userInteraction )
00052 {
00053 }
00054 
00055 
00056 CollocationMethod::CollocationMethod( const CollocationMethod& rhs )
00057                      :DynamicDiscretization ( rhs ){
00058 
00059 
00060 }
00061 
00062 
00063 CollocationMethod::~CollocationMethod( ){
00064 
00065 }
00066 
00067 
00068 
00069 CollocationMethod& CollocationMethod::operator=( const CollocationMethod& rhs ){
00070 
00071     return *this;
00072 }
00073 
00074 
00075 DynamicDiscretization* CollocationMethod::clone() const{
00076 
00077     return new CollocationMethod(*this);
00078 }
00079 
00080 
00081 
00082 returnValue CollocationMethod::addStage( const DynamicSystem  &dynamicSystem_,
00083                                       const Grid           &stageIntervals,
00084                                       const IntegratorType &integratorType_ ){
00085 
00086     return ACADOERROR(RET_NOT_IMPLEMENTED_YET);
00087 }
00088 
00089 
00090 returnValue CollocationMethod::addTransition( const Transition& transition_ ){
00091 
00092     return ACADOERROR(RET_NOT_IMPLEMENTED_YET);
00093 }
00094 
00095 
00096 
00097 returnValue CollocationMethod::clear(){
00098 
00099     return ACADOERROR(RET_NOT_IMPLEMENTED_YET);
00100 }
00101 
00102 
00103 
00104 returnValue CollocationMethod::evaluate( OCPiterate &iter ){
00105 
00106     return ACADOERROR(RET_NOT_IMPLEMENTED_YET);
00107 }
00108 
00109 
00110 
00111 returnValue CollocationMethod::evaluateSensitivities( ){
00112 
00113     return ACADOERROR(RET_NOT_IMPLEMENTED_YET);
00114 }
00115 
00116 
00117 returnValue CollocationMethod::evaluateSensitivitiesLifted( ){
00118 
00119     return ACADOERROR(RET_NOT_IMPLEMENTED_YET);
00120 }
00121 
00122 
00123 returnValue CollocationMethod::evaluateSensitivities( const BlockMatrix &seed, BlockMatrix &hessian ){
00124 
00125     return ACADOERROR(RET_NOT_IMPLEMENTED_YET);
00126 }
00127 
00128 
00129 returnValue CollocationMethod::deleteAllSeeds(){
00130 
00131 //     setForwardSeed(  0, 0, 0, 0, 1 );
00132 //     setForwardSeed(  0, 0, 0, 0, 2 );
00133 //     setBackwardSeed( 0, 1 );
00134 //     setBackwardSeed( 0, 2 );
00135 
00136     // delete seeds of member classes ...
00137 
00138     return SUCCESSFUL_RETURN;
00139 }
00140 
00141 
00142 
00143 returnValue CollocationMethod::unfreeze( ){
00144 
00145     return ACADOERROR(RET_NOT_IMPLEMENTED_YET);
00146 }
00147 
00148 
00149 
00150 BooleanType CollocationMethod::isAffine( ) const
00151 {
00152     return BT_FALSE;
00153 }
00154 
00155 
00156 
00157 CLOSE_NAMESPACE_ACADO
00158 
00159 // end of file.


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:36:50