lagrange_term.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 
00026 
00027 
00035 #ifndef ACADO_TOOLKIT_LAGRANGE_TERM_HPP
00036 #define ACADO_TOOLKIT_LAGRANGE_TERM_HPP
00037 
00038 
00039 #include <acado/variables_grid/variables_grid.hpp>
00040 #include <acado/function/function.hpp>
00041 
00042 
00043 BEGIN_NAMESPACE_ACADO
00044 
00045 
00061 class LagrangeTerm{
00062 
00063 
00064     //
00065     // PUBLIC MEMBER FUNCTIONS:
00066     //
00067     public:
00068 
00070         LagrangeTerm();
00071 
00073         LagrangeTerm( const LagrangeTerm& rhs );
00074 
00076         virtual ~LagrangeTerm( );
00077 
00079         LagrangeTerm& operator=( const LagrangeTerm& rhs );
00080 
00081 
00086         returnValue init( const Grid &grid_ );
00087 
00088 
00092         inline returnValue addLagrangeTerm( const Expression& arg );
00093 
00094 
00098         inline returnValue addLagrangeTerm( const Expression& arg,
00099                                             const int& stageNumber );
00100 
00101 
00102 
00104         inline const Grid& getGrid() const;
00105 
00106 
00107     //
00108     // DATA MEMBERS:
00109     //
00110     protected:
00111 
00112         Grid         grid          ;  
00113         int          nLagrangeTerms;  
00114         Expression **lagrangeFcn   ;  
00115 };
00116 
00117 
00118 CLOSE_NAMESPACE_ACADO
00119 
00120 
00121 
00122 #include <acado/objective/lagrange_term.ipp>
00123 
00124 
00125 #endif  // ACADO_TOOLKIT_LAGRANGE_TERM_HPP
00126 
00127 /*
00128  *    end of file
00129  */


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