lagrange_term.cpp
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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 
00026 
00027 
00034 #include <acado/objective/lagrange_term.hpp>
00035 
00036 
00037 
00038 BEGIN_NAMESPACE_ACADO
00039 
00040 
00041 
00042 
00043 LagrangeTerm::LagrangeTerm(){
00044 
00045     nLagrangeTerms = 0;
00046     lagrangeFcn    = 0;
00047 }
00048 
00049 
00050 returnValue LagrangeTerm::init( const Grid &grid_ ){
00051 
00052     grid = grid_;
00053     return SUCCESSFUL_RETURN;
00054 }
00055 
00056 
00057 LagrangeTerm::LagrangeTerm( const LagrangeTerm& rhs ){
00058 
00059     int run1;
00060     grid           = rhs.grid          ;
00061     nLagrangeTerms = rhs.nLagrangeTerms;
00062 
00063     if( rhs.lagrangeFcn != 0 ){
00064         lagrangeFcn = (Expression**)calloc(nLagrangeTerms,sizeof(Expression*));
00065         for( run1 = 0; run1 < nLagrangeTerms; run1++ )
00066             lagrangeFcn[run1] = new Expression(*rhs.lagrangeFcn[run1]);
00067     }
00068     else lagrangeFcn = 0;
00069 }
00070 
00071 
00072 LagrangeTerm::~LagrangeTerm( ){
00073 
00074     int run1;
00075 
00076     if( lagrangeFcn != 0 ){
00077         for( run1 = 0; run1 < nLagrangeTerms; run1++ )
00078             if( lagrangeFcn[run1] != 0 ) delete lagrangeFcn[run1];
00079         free(lagrangeFcn);
00080     }
00081 }
00082 
00083 
00084 LagrangeTerm& LagrangeTerm::operator=( const LagrangeTerm& rhs ){
00085 
00086     int run1;
00087 
00088     if( this != &rhs ){
00089 
00090         if( lagrangeFcn != 0 ){
00091             for( run1 = 0; run1 < nLagrangeTerms; run1++ )
00092                 if( lagrangeFcn[run1] != 0 ) delete lagrangeFcn[run1];
00093             free(lagrangeFcn);
00094         }
00095 
00096         grid           = rhs.grid          ;
00097         nLagrangeTerms = rhs.nLagrangeTerms;
00098 
00099         if( rhs.lagrangeFcn != 0 ){
00100             lagrangeFcn = (Expression**)calloc(nLagrangeTerms,sizeof(Expression*));
00101             for( run1 = 0; run1 < nLagrangeTerms; run1++ )
00102                 lagrangeFcn[run1] = new Expression(*rhs.lagrangeFcn[run1]);
00103         }
00104         else lagrangeFcn = 0;
00105     }
00106     return *this;
00107 }
00108 
00109 
00110 
00111 CLOSE_NAMESPACE_ACADO
00112 
00113 // end of file.


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:37:46