export_gauss_newton_qpdunes2.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_QPDUNES2_HPP
00033 #define ACADO_TOOLKIT_EXPORT_GAUSS_NEWTON_QPDUNES2_HPP
00034 
00035 #include <acado/code_generation/export_nlp_solver.hpp>
00036 #include <acado/code_generation/export_qpdunes_interface.hpp>
00037 
00038 BEGIN_NAMESPACE_ACADO
00039 
00051 class ExportGaussNewtonQpDunes2 : public ExportNLPSolver
00052 {
00053 public:
00054 
00060         ExportGaussNewtonQpDunes2(      UserInteraction* _userInteraction = 0,
00061                                                                 const std::string& _commonHeaderName = ""
00062                                                                 );
00063 
00066         virtual ~ExportGaussNewtonQpDunes2( )
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 
00111         unsigned getNumQPvars( ) const;
00112 
00113 protected:
00114 
00121         virtual returnValue setupObjectiveEvaluation( void );
00122 
00128         virtual returnValue setupConstraintsEvaluation( void );
00129 
00134         virtual returnValue setupVariables( );
00135 
00140         virtual returnValue setupMultiplicationRoutines( );
00141 
00143         virtual returnValue setupEvaluation( );
00144 
00146         virtual returnValue setupQPInterface( );
00147 
00148 protected:
00149 
00151         ExportVariable x0;
00152 
00155         ExportVariable qpH;
00156         ExportVariable qpg;
00157 
00158         ExportVariable qpC;
00159         ExportVariable qpc;
00160         ExportVariable qpLb0, qpUb0;
00161         ExportVariable qpLb, qpUb;
00162 
00163         ExportVariable qpA;
00164         ExportVariable qpLbA, qpUbA;
00165 
00166         ExportVariable qpPrimal, qpLambda, qpMu;
00171         ExportFunction evaluateObjective;
00172 
00173         ExportFunction setStageH;
00174         ExportFunction setStagef;
00175 
00176         ExportFunction setObjQ1Q2;
00177         ExportFunction setObjR1R2;
00178         ExportFunction setObjQN1QN2;
00183         ExportFunction evaluateConstraints;
00184         ExportFunction setStagePac;
00185         std::vector< unsigned > qpConDim;
00190         ExportFunction preparation;
00191         ExportFunction feedback;
00196         ExportFunction cleanup;
00197         ExportFunction shiftQpData;
00202         ExportFunction getKKT;
00207         ExportFunction acc;
00211         std::tr1::shared_ptr< ExportQpDunesInterface > qpInterface;
00212 };
00213 
00214 CLOSE_NAMESPACE_ACADO
00215 
00216 #endif  // ACADO_TOOLKIT_EXPORT_GAUSS_NEWTON_QPDUNES2_HPP


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