export_gauss_newton_qpdunes.hpp
Go to the documentation of this file.
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_QPDUNES_HPP
00033 #define ACADO_TOOLKIT_EXPORT_GAUSS_NEWTON_QPDUNES_HPP
00034 
00035 #include <acado/code_generation/export_nlp_solver.hpp>
00036 
00037 BEGIN_NAMESPACE_ACADO
00038 
00039 class ExportQpDunesInterface;
00040 
00052 class ExportGaussNewtonQpDunes : public ExportNLPSolver
00053 {
00054 public:
00055 
00061         ExportGaussNewtonQpDunes(       UserInteraction* _userInteraction = 0,
00062                                                                 const std::string& _commonHeaderName = ""
00063                                                                 );
00064 
00067         virtual ~ExportGaussNewtonQpDunes( )
00068         {}
00069 
00074         virtual returnValue setup( );
00075 
00083         virtual returnValue getDataDeclarations(        ExportStatementBlock& declarations,
00084                                                                                                 ExportStruct dataStruct = ACADO_ANY
00085                                                                                                 ) const;
00086 
00094         virtual returnValue getFunctionDeclarations(    ExportStatementBlock& declarations
00095                                                                                                         ) const;
00096 
00097 
00105         virtual returnValue getCode(    ExportStatementBlock& code
00106                                                                         );
00107 
00112         unsigned getNumQPvars( ) const;
00113 
00114 protected:
00115 
00122         virtual returnValue setupObjectiveEvaluation( void );
00123 
00129         virtual returnValue setupConstraintsEvaluation( void );
00130 
00135         virtual returnValue setupVariables( );
00136 
00141         virtual returnValue setupMultiplicationRoutines( );
00142 
00144         virtual returnValue setupEvaluation( );
00145 
00147         virtual returnValue setupQPInterface( );
00148 
00149 protected:
00150 
00152         ExportVariable x0;
00153 
00156         ExportVariable qpH;
00157         ExportVariable qpg;
00158         ExportVariable qpgN;
00159 
00160         ExportVariable qpC;
00161         ExportVariable qpc;
00162         ExportVariable qpLb0, qpUb0;
00163         ExportVariable qpLb, qpUb;
00164 
00165         ExportVariable qpA;
00166         ExportVariable qpLbA, qpUbA;
00167 
00168         ExportVariable qpPrimal, qpLambda, qpMu;
00173         ExportFunction evaluateObjective;
00174 
00175         ExportFunction setStageH;
00176         ExportFunction setStagef;
00177 
00178         ExportFunction setObjQ1Q2;
00179         ExportFunction setObjR1R2;
00180         ExportFunction setObjQN1QN2;
00181 
00182         bool diagH, diagHN;
00187         ExportFunction evaluateConstraints;
00188         ExportFunction setStagePac;
00189         std::vector< unsigned > qpConDim;
00194         ExportFunction preparation;
00195         ExportFunction feedback;
00200         ExportFunction cleanup;
00201         ExportFunction shiftQpData;
00206         ExportFunction getKKT;
00211         ExportFunction acc;
00215         std::tr1::shared_ptr< ExportQpDunesInterface > qpInterface;
00216 };
00217 
00218 CLOSE_NAMESPACE_ACADO
00219 
00220 #endif  // ACADO_TOOLKIT_EXPORT_GAUSS_NEWTON_QPDUNES_HPP


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