dynamic_discretization.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_DYNAMIC_DISCRETIZATION_HPP
#define ACADO_TOOLKIT_DYNAMIC_DISCRETIZATION_HPP


#include <acado/utils/acado_utils.hpp>
#include <acado/user_interaction/algorithmic_base.hpp>

#include <acado/dynamic_system/dynamic_system.hpp>
#include <acado/variables_grid/grid.hpp>
#include <acado/matrix_vector/matrix_vector.hpp>
#include <acado/symbolic_expression/symbolic_expression.hpp>
#include <acado/variables_grid/variables_grid.hpp>
#include <acado/integrator/integrator.hpp>


BEGIN_NAMESPACE_ACADO


class DynamicDiscretization : public AlgorithmicBase
{
        //
        // PUBLIC MEMBER FUNCTIONS:
        //

        public:

                DynamicDiscretization( );

                DynamicDiscretization(  UserInteraction* _userInteraction
                                                                );

                DynamicDiscretization( const DynamicDiscretization& rhs );

                virtual ~DynamicDiscretization( );

                DynamicDiscretization& operator=( const DynamicDiscretization& rhs );

                virtual DynamicDiscretization* clone() const = 0;



        virtual returnValue addStage( const DynamicSystem  &dynamicSystem_,
                                      const Grid           &stageIntervals,
                                      const IntegratorType &integratorType_ = INT_UNKNOWN ) = 0;

                virtual returnValue addTransition( const Transition& transition_ ) = 0;


        virtual returnValue clear() = 0;



                virtual returnValue setForwardSeed( const BlockMatrix &xSeed_,   
                                                                                        const BlockMatrix &pSeed_,   
                                                                                        const BlockMatrix &uSeed_,   
                                                                                        const BlockMatrix &wSeed_     );


                virtual returnValue setUnitForwardSeed();



                virtual returnValue setBackwardSeed( const BlockMatrix &seed     );



                virtual returnValue setUnitBackwardSeed();



                virtual returnValue deleteAllSeeds();



                virtual returnValue evaluate( OCPiterate &iter ) = 0;



                virtual returnValue evaluateSensitivities( ) = 0;



                virtual returnValue evaluateSensitivities( const BlockMatrix &seed, BlockMatrix &hessian ) = 0;



                virtual returnValue evaluateSensitivitiesLifted( ) = 0;




                virtual returnValue getResiduum( BlockMatrix &residuum_  ) const;



                virtual returnValue getForwardSensitivities( BlockMatrix &D   ) const;



                virtual returnValue getBackwardSensitivities( BlockMatrix &D   ) const;



                inline int getNumberOfIntervals( ) const;



                virtual BooleanType isAffine( ) const = 0;


        virtual returnValue unfreeze( ) = 0;


        //
        // PROTECTED MEMBER FUNCTIONS:
        //

        protected:
                virtual returnValue setupOptions( );
                virtual returnValue setupLogging( );

                void copy( const DynamicDiscretization& rhs );
                void initializeVariables();

        uint getNumEvaluationPoints() const;


        //
        // PROTECTED MEMBERS:
        //

        protected:

                Grid          unionGrid       ;  
                int           N               ;  
                PrintLevel    printLevel      ;  
                BooleanType   freezeTraj      ;  
                // DIMENSIONS:
                // -----------
                int        nx;
                int        na;
                int        np;
                int        nu;
                int        nw;


                // INPUT STORAGE:
                // ------------------------
                BlockMatrix       xSeed   ;   
                BlockMatrix       pSeed   ;   
                BlockMatrix       uSeed   ;   
                BlockMatrix       wSeed   ;   
                BlockMatrix       bSeed   ;   
                // RESULTS:
                // ------------------------
                VariablesGrid    residuum ;   
                BlockMatrix      dForward ;   
                BlockMatrix      dBackward;   
};


CLOSE_NAMESPACE_ACADO



#include <acado/dynamic_discretization/dynamic_discretization.ipp>

//#include <acado/dynamic_discretization/simulation_algorithm.hpp>
//#include <acado/dynamic_discretization/simulation_by_integration.hpp>
//#include <acado/dynamic_discretization/simulation_by_collocation.hpp>
#include <acado/dynamic_discretization/shooting_method.hpp>
#include <acado/dynamic_discretization/collocation_method.hpp>


#endif  // ACADO_TOOLKIT_DYNAMIC_DISCRETIZATION_HPP


// end of file