export_gauss_newton_condensed.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 
00032 #ifndef ACADO_TOOLKIT_EXPORT_GAUSS_NEWTON_CONDENSED_HPP
00033 #define ACADO_TOOLKIT_EXPORT_GAUSS_NEWTON_CONDENSED_HPP
00034 
00035 #include <acado/code_generation/export_nlp_solver.hpp>
00036 #include <acado/code_generation/linear_solvers/export_cholesky_solver.hpp>
00037 
00038 BEGIN_NAMESPACE_ACADO
00039 
00051 class ExportGaussNewtonCondensed : public ExportNLPSolver
00052 {
00053 public:
00054 
00060         ExportGaussNewtonCondensed(     UserInteraction* _userInteraction = 0,
00061                                                                 const std::string& _commonHeaderName = ""
00062                                                                 );
00063 
00066         virtual ~ExportGaussNewtonCondensed( )
00067         {}
00068 
00073         virtual returnValue setup( );
00074 
00082         virtual returnValue getDataDeclarations(        ExportStatementBlock& declarations,
00083                                                                                                 ExportStruct dataStruct = ACADO_ANY
00084                                                                                                 ) const;
00085 
00093         virtual returnValue getFunctionDeclarations(    ExportStatementBlock& declarations
00094                                                                                                         ) const;
00095 
00096 
00104         virtual returnValue getCode(    ExportStatementBlock& code
00105                                                                         );
00106 
00107 
00112         unsigned getNumQPvars( ) const;
00113 
00118         virtual unsigned getNumStateBounds( ) const;
00119 
00120 protected:
00121 
00128         virtual returnValue setupObjectiveEvaluation( void );
00129 
00135         virtual returnValue setupConstraintsEvaluation( void );
00136 
00141         virtual returnValue setupVariables( );
00142 
00147         virtual returnValue setupMultiplicationRoutines( );
00148 
00153         virtual returnValue setupEvaluation( );
00154 
00156         virtual returnValue setupQPInterface( );
00157 
00159         virtual returnValue setupCondensing( );
00160 
00162         bool performFullCondensing( ) const;
00163 
00164 private:
00165 
00167         ExportVariable x0;
00169         ExportVariable Dx0;
00170 
00173         ExportFunction evaluateObjective;
00174         ExportFunction setObjQ1Q2;
00175         ExportFunction setObjR1R2;
00176         ExportFunction setObjQN1QN2;
00181         ExportFunction condensePrep;
00182         ExportFunction condenseFdb;
00183         ExportFunction expand;
00184 
00185         ExportVariable T, E, QE, QGx, QDy, Qd;
00186 
00187         ExportVariable H00, H10, H11;
00188         ExportVariable g0, g1;
00189 
00190         ExportCholeskySolver cholSolver;
00191 
00192         std::vector< unsigned > xBoundsIdx;
00193         ExportVariable lbValues, ubValues;
00194         ExportVariable lbAValues, ubAValues;
00199         ExportFunction multGxd;
00200         ExportFunction moveGxT;
00201         ExportFunction multGxGx;
00202         ExportFunction multGxGu;
00203         ExportFunction moveGuE;
00204         ExportFunction setBlockH11;
00205         ExportFunction setBlockH11_R1;
00206         ExportFunction zeroBlockH11;
00207         ExportFunction copyHTH;
00208         ExportFunction multQ1d;
00209         ExportFunction multQN1d;
00210         ExportFunction multRDy;
00211         ExportFunction multQDy;
00212         ExportFunction multEQDy;
00213         ExportFunction multQETGx;
00214         ExportFunction zeroBlockH10;
00215         ExportFunction multEDu;
00216         ExportFunction multQ1Gx;
00217         ExportFunction multQN1Gx;
00218         ExportFunction multQ1Gu;
00219         ExportFunction multQN1Gu;
00220         ExportFunction zeroBlockH00;
00221         ExportFunction multCTQC;
00222 
00223         ExportFunction macCTSlx;
00224         ExportFunction macETSlu;
00225 
00226         ExportFunction multHxC;
00227         ExportFunction multHxE;
00228         ExportFunction macHxd;
00233         ExportVariable A10;
00234         ExportVariable A20;
00235         ExportVariable pacA01Dx0;
00236         ExportVariable pocA02Dx0;
00241         ExportFunction preparation;
00242         ExportFunction feedback;
00243 
00244         ExportFunction getKKT;
00249         ExportVariable CEN, sigmaTmp, sigma, sigmaN;
00250         ExportFunction calculateCovariance;
00256         ExportVariable H;
00258         ExportVariable R;
00260         ExportVariable A;
00262         ExportVariable g;
00264         ExportVariable lb;
00266         ExportVariable ub;
00268         ExportVariable lbA;
00270         ExportVariable ubA;
00272         ExportVariable xVars;
00274         ExportVariable yVars;
00276 };
00277 
00278 CLOSE_NAMESPACE_ACADO
00279 
00280 #endif  // ACADO_TOOLKIT_EXPORT_GAUSS_NEWTON_CONDENSED_HPP


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:37:01