export_forces_generator.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_EXPORT_FORCES_GENERATOR_HPP
#define ACADO_TOOLKIT_EXPORT_FORCES_GENERATOR_HPP

#include <acado/code_generation/export_templated_file.hpp>

BEGIN_NAMESPACE_ACADO

class ExportForcesGenerator : public ExportTemplatedFile
{
public:

        ExportForcesGenerator(  const std::string& _templateName,
                                                        const std::string& _fileName,
                                                        const std::string& _commonHeaderName = "",
                                                        const std::string& _realString = "real_t",
                                                        const std::string& _intString = "int",
                                                        int _precision = 16,
                                                        const std::string& _commentString = std::string()
                                                        );

        virtual ~ExportForcesGenerator( )
        {}

        returnValue configure(  const unsigned _nx,
                                                        const unsigned _nu,
                                                        const unsigned _NN,
                                                        const std::vector< std::vector< unsigned > >& _lbIdx,
                                                        const std::vector< std::vector< unsigned > >& _ubIdx,
                                                        const bool _constHessian,
                                                        const bool _diagHessian,
                                                        const bool _diagHessianN,
                                                        const bool _fixedInitialState,
                                                        const std::string& _solverName,
                                                        const unsigned _printLevel,
                                                        const unsigned _maxIterations,
                                                        const unsigned _parallel,
                                                        bool matlabGenerator,
                                                        bool warmStart
                                                        );
};

CLOSE_NAMESPACE_ACADO

#endif  // ACADO_TOOLKIT_EXPORT_FORCES_GENERATOR_HPP