collocation_method.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 
00034 #ifndef ACADO_TOOLKIT_COLLOCATION_METHOD_HPP
00035 #define ACADO_TOOLKIT_COLLOCATION_METHOD_HPP
00036 
00037 #include <acado/dynamic_discretization/dynamic_discretization.hpp>
00038 
00039 
00040 BEGIN_NAMESPACE_ACADO
00041 
00042 
00053 class CollocationMethod : public DynamicDiscretization
00054 {
00055 
00056 //
00057 // PUBLIC MEMBER FUNCTIONS:
00058 //
00059 
00060 public:
00061 
00063     CollocationMethod();
00064 
00065     CollocationMethod(  UserInteraction* _userInteraction
00066                                                         );
00067                                                                         
00069     CollocationMethod( const CollocationMethod& rhs );
00070 
00072     virtual ~CollocationMethod( );
00073 
00075     CollocationMethod& operator=( const CollocationMethod& rhs );
00076 
00078     virtual DynamicDiscretization* clone() const;
00079 
00080 
00081 
00083         virtual returnValue addStage( const DynamicSystem  &dynamicSystem_,
00084                                       const Grid           &stageIntervals,
00085                                       const IntegratorType &integratorType_ = INT_UNKNOWN );
00086 
00088                 virtual returnValue addTransition( const Transition& transition_ );
00089 
00090 
00092         virtual returnValue clear();
00093 
00094 
00095 
00107                 virtual returnValue evaluate( OCPiterate &iter );
00108 
00109 
00110 
00111 
00117     virtual returnValue evaluateSensitivities( );
00118 
00119 
00125                 virtual returnValue evaluateSensitivitiesLifted( );
00126 
00127 
00133     virtual returnValue evaluateSensitivities( const BlockMatrix &seed, BlockMatrix &hessian );
00134 
00135 
00136         virtual BooleanType isAffine( ) const;
00137 
00138 
00139 
00140     virtual returnValue unfreeze( );
00141     virtual returnValue deleteAllSeeds();
00142 
00143 
00144 protected:
00145 
00146 
00147 };
00148 
00149 
00150 CLOSE_NAMESPACE_ACADO
00151 
00152 
00153 
00154 #include <acado/dynamic_discretization/collocation_method.ipp>
00155 
00156 
00157 #endif  // ACADO_TOOLKIT_COLLOCATION_METHOD_HPP
00158 
00159 // end of file
00160 


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