dynamic_discretization.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_DYNAMIC_DISCRETIZATION_HPP
00035 #define ACADO_TOOLKIT_DYNAMIC_DISCRETIZATION_HPP
00036 
00037 
00038 #include <acado/utils/acado_utils.hpp>
00039 #include <acado/user_interaction/algorithmic_base.hpp>
00040 
00041 #include <acado/dynamic_system/dynamic_system.hpp>
00042 #include <acado/variables_grid/grid.hpp>
00043 #include <acado/matrix_vector/matrix_vector.hpp>
00044 #include <acado/symbolic_expression/symbolic_expression.hpp>
00045 #include <acado/variables_grid/variables_grid.hpp>
00046 #include <acado/integrator/integrator.hpp>
00047 
00048 
00049 BEGIN_NAMESPACE_ACADO
00050 
00051 
00062 class DynamicDiscretization : public AlgorithmicBase
00063 {
00064         //
00065         // PUBLIC MEMBER FUNCTIONS:
00066         //
00067 
00068         public:
00069 
00071                 DynamicDiscretization( );
00072 
00073                 DynamicDiscretization(  UserInteraction* _userInteraction
00074                                                                 );
00075 
00077                 DynamicDiscretization( const DynamicDiscretization& rhs );
00078 
00080                 virtual ~DynamicDiscretization( );
00081 
00083                 DynamicDiscretization& operator=( const DynamicDiscretization& rhs );
00084 
00086                 virtual DynamicDiscretization* clone() const = 0;
00087 
00088 
00089 
00091         virtual returnValue addStage( const DynamicSystem  &dynamicSystem_,
00092                                       const Grid           &stageIntervals,
00093                                       const IntegratorType &integratorType_ = INT_UNKNOWN ) = 0;
00094 
00096                 virtual returnValue addTransition( const Transition& transition_ ) = 0;
00097 
00098 
00100         virtual returnValue clear() = 0;
00101 
00102 
00103 
00115                 virtual returnValue setForwardSeed( const BlockMatrix &xSeed_,   
00116                                                                                         const BlockMatrix &pSeed_,   
00117                                                                                         const BlockMatrix &uSeed_,   
00118                                                                                         const BlockMatrix &wSeed_     );
00119 
00120 
00127                 virtual returnValue setUnitForwardSeed();
00128 
00129 
00130 
00142                 virtual returnValue setBackwardSeed( const BlockMatrix &seed     );
00143 
00144 
00145 
00152                 virtual returnValue setUnitBackwardSeed();
00153 
00154 
00155 
00161                 virtual returnValue deleteAllSeeds();
00162 
00163 
00164 
00176                 virtual returnValue evaluate( OCPiterate &iter ) = 0;
00177 
00178 
00179 
00185                 virtual returnValue evaluateSensitivities( ) = 0;
00186 
00187 
00188 
00194                 virtual returnValue evaluateSensitivities( const BlockMatrix &seed, BlockMatrix &hessian ) = 0;
00195 
00196 
00197 
00203                 virtual returnValue evaluateSensitivitiesLifted( ) = 0;
00204 
00205 
00206 
00207 
00212                 virtual returnValue getResiduum( BlockMatrix &residuum_  ) const;
00213 
00214 
00215 
00221                 virtual returnValue getForwardSensitivities( BlockMatrix &D   ) const;
00224 
00225 
00226 
00232                 virtual returnValue getBackwardSensitivities( BlockMatrix &D   ) const;
00235 
00236 
00237 
00239                 inline int getNumberOfIntervals( ) const;
00240 
00241 
00242 
00243                 virtual BooleanType isAffine( ) const = 0;
00244 
00245 
00246         virtual returnValue unfreeze( ) = 0;
00247 
00248 
00249         //
00250         // PROTECTED MEMBER FUNCTIONS:
00251         //
00252 
00253         protected:
00254                 virtual returnValue setupOptions( );
00255                 virtual returnValue setupLogging( );
00256 
00257                 void copy( const DynamicDiscretization& rhs );
00258                 void initializeVariables();
00259 
00260         uint getNumEvaluationPoints() const;
00261 
00262 
00263         //
00264         // PROTECTED MEMBERS:
00265         //
00266 
00267         protected:
00268 
00269                 Grid          unionGrid       ;  
00270                 int           N               ;  
00271                 PrintLevel    printLevel      ;  
00272                 BooleanType   freezeTraj      ;  
00275                 // DIMENSIONS:
00276                 // -----------
00277                 int        nx;
00278                 int        na;
00279                 int        np;
00280                 int        nu;
00281                 int        nw;
00282 
00283 
00284                 // INPUT STORAGE:
00285                 // ------------------------
00286                 BlockMatrix       xSeed   ;   
00287                 BlockMatrix       pSeed   ;   
00288                 BlockMatrix       uSeed   ;   
00289                 BlockMatrix       wSeed   ;   
00291                 BlockMatrix       bSeed   ;   
00294                 // RESULTS:
00295                 // ------------------------
00296                 VariablesGrid    residuum ;   
00297                 BlockMatrix      dForward ;   
00298                 BlockMatrix      dBackward;   
00300 };
00301 
00302 
00303 CLOSE_NAMESPACE_ACADO
00304 
00305 
00306 
00307 #include <acado/dynamic_discretization/dynamic_discretization.ipp>
00308 
00309 //#include <acado/dynamic_discretization/simulation_algorithm.hpp>
00310 //#include <acado/dynamic_discretization/simulation_by_integration.hpp>
00311 //#include <acado/dynamic_discretization/simulation_by_collocation.hpp>
00312 #include <acado/dynamic_discretization/shooting_method.hpp>
00313 #include <acado/dynamic_discretization/collocation_method.hpp>
00314 
00315 
00316 #endif  // ACADO_TOOLKIT_DYNAMIC_DISCRETIZATION_HPP
00317 
00318 
00319 // end of file


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:36:59