dense_cp.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_DENSE_CP_HPP
#define ACADO_TOOLKIT_DENSE_CP_HPP

#include <acado/utils/acado_utils.hpp>
#include <acado/matrix_vector/matrix_vector.hpp>


BEGIN_NAMESPACE_ACADO


class DenseCP{


    //
    // PUBLIC MEMBER FUNCTIONS:
    //
    public:

        DenseCP( );

        DenseCP( const DenseCP& rhs );

        virtual ~DenseCP( );

        DenseCP& operator=( const DenseCP& rhs );


        returnValue init( uint nV_, uint nC_ );



//         returnValue setBounds( const DVector &lb,
//                                const DVector &ub  );


        inline BooleanType isLP () const;

        inline BooleanType isQP () const;

        inline BooleanType isSDP() const;



        inline uint getNV() const;

        inline uint getNC() const;


        returnValue setQPsolution( const DVector &x_, const DVector &y_ );


        DVector getMergedDualSolution( ) const;


                returnValue print(      const char* const name         = DEFAULT_LABEL,
                                                        const char* const startString  = DEFAULT_START_STRING,
                                                        const char* const endString    = DEFAULT_END_STRING,
                                                        uint width                     = DEFAULT_WIDTH,
                                                        uint precision                 = DEFAULT_PRECISION,
                                                        const char* const colSeparator = DEFAULT_COL_SEPARATOR,
                                                        const char* const rowSeparator = DEFAULT_ROW_SEPARATOR
                                                        ) const;

                returnValue print(      const char* const name,
                                                        PrintScheme printScheme
                                                        ) const;

                                                        
                returnValue printToFile(        const char* const filename,
                                                                        const char* const name         = DEFAULT_LABEL,
                                                                        const char* const startString  = DEFAULT_START_STRING,
                                                                        const char* const endString    = DEFAULT_END_STRING,
                                                                        uint width                     = DEFAULT_WIDTH,
                                                                        uint precision                 = DEFAULT_PRECISION,
                                                                        const char* const colSeparator = DEFAULT_COL_SEPARATOR,
                                                                        const char* const rowSeparator = DEFAULT_ROW_SEPARATOR
                                                                        ) const;

                returnValue printToFile(        std::ostream& stream,
                                                                        const char* const name         = DEFAULT_LABEL,
                                                                        const char* const startString  = DEFAULT_START_STRING,
                                                                        const char* const endString    = DEFAULT_END_STRING,
                                                                        uint width                     = DEFAULT_WIDTH,
                                                                        uint precision                 = DEFAULT_PRECISION,
                                                                        const char* const colSeparator = DEFAULT_COL_SEPARATOR,
                                                                        const char* const rowSeparator = DEFAULT_ROW_SEPARATOR
                                                                        ) const;

                returnValue printToFile(        const char* const filename,
                                                                        const char* const name,
                                                                        PrintScheme printScheme
                                                                        ) const;

                returnValue printToFile(        std::ostream& stream,
                                                                        const char* const name,
                                                                        PrintScheme printScheme
                                                                        ) const;


                returnValue printSolution(      const char* const name         = DEFAULT_LABEL,
                                                                        const char* const startString  = DEFAULT_START_STRING,
                                                                        const char* const endString    = DEFAULT_END_STRING,
                                                                        uint width                     = DEFAULT_WIDTH,
                                                                        uint precision                 = DEFAULT_PRECISION,
                                                                        const char* const colSeparator = DEFAULT_COL_SEPARATOR,
                                                                        const char* const rowSeparator = DEFAULT_ROW_SEPARATOR
                                                                        ) const;

                returnValue printSolution(      const char* const name,
                                                                        PrintScheme printScheme
                                                                        ) const;

                returnValue printSolutionToFile(        const char* const filename,
                                                                                        const char* const name         = DEFAULT_LABEL,
                                                                                        const char* const startString  = DEFAULT_START_STRING,
                                                                                        const char* const endString    = DEFAULT_END_STRING,
                                                                                        uint width                     = DEFAULT_WIDTH,
                                                                                        uint precision                 = DEFAULT_PRECISION,
                                                                                        const char* const colSeparator = DEFAULT_COL_SEPARATOR,
                                                                                        const char* const rowSeparator = DEFAULT_ROW_SEPARATOR
                                                                                        ) const;

                returnValue printSolutionToFile(        std::ostream& stream,
                                                                                        const char* const name         = DEFAULT_LABEL,
                                                                                        const char* const startString  = DEFAULT_START_STRING,
                                                                                        const char* const endString    = DEFAULT_END_STRING,
                                                                                        uint width                     = DEFAULT_WIDTH,
                                                                                        uint precision                 = DEFAULT_PRECISION,
                                                                                        const char* const colSeparator = DEFAULT_COL_SEPARATOR,
                                                                                        const char* const rowSeparator = DEFAULT_ROW_SEPARATOR
                                                                                        ) const;

                returnValue printSolutionToFile(        const char* const filename,
                                                                                        const char* const name,
                                                                                        PrintScheme printScheme
                                                                                        ) const;

                returnValue printSolutionToFile(        std::ostream& stream,
                                                                                        const char* const name,
                                                                                        PrintScheme printScheme
                                                                                        ) const;


    //
    // PUBLIC DATA MEMBERS:
    //
    public:


    // DIMENSIONS OF THE CP:
    // ---------------------

    uint         nS;    
    // DENSE CP IN MATRIX-VECTOR FORMAT:
    // -------------------------------------------------------

    DMatrix        H;    
    DVector        g;    
    DVector       lb;    
    DVector       ub;    
    DMatrix        A;    
    DVector      lbA;    
    DVector      ubA;    
    DMatrix      **B;    
    DVector     *lbB;    
    DVector     *ubB;    
    // SOLUTION OF THE DENSE CP:
    // -------------------------------------------------------
    DVector       *x;    
    DVector     *ylb;    
    DVector     *yub;    
    DVector    *ylbA;    
    DVector    *yubA;    
    DVector   **ylbB;    
    DVector   **yubB;    
    // PROTECTED MEMBER FUNCTIONS:
    // ---------------------------
    protected:

    void copy (const DenseCP& rhs);
    void clean();
};


CLOSE_NAMESPACE_ACADO


#include <acado/conic_program/dense_cp.ipp>


#endif  // ACADO_TOOLKIT_DENSE_CP_HPP

/*
 *  end of file
 */