lsq_end_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 
00034 #ifndef ACADO_TOOLKIT_LSQ_END_TERM_HPP
00035 #define ACADO_TOOLKIT_LSQ_END_TERM_HPP
00036 
00037 
00038 #include <acado/objective/objective_element.hpp>
00039 
00040 
00041 BEGIN_NAMESPACE_ACADO
00042 
00043 
00044 
00061 class LSQEndTerm : public ObjectiveElement{
00062 
00063     //
00064     // PUBLIC MEMBER FUNCTIONS:
00065     //
00066     public:
00067 
00069         LSQEndTerm( );
00070 
00072         LSQEndTerm( const Grid&     grid_,   
00073                     const DMatrix      &S_,   
00074                     const Function    &m_,   
00075                     const DVector      &r_     );
00076 
00078         LSQEndTerm( const LSQEndTerm& rhs );
00079 
00081         virtual ~LSQEndTerm( );
00082 
00084         LSQEndTerm& operator=( const LSQEndTerm& rhs );
00085 
00086 
00087 
00088 // =======================================================================================
00089 //
00090 //                                 INITIALIZATION ROUTINES
00091 //
00092 // =======================================================================================
00093 
00094 
00095         inline returnValue init( const Grid&     grid_,   
00096                                  const DMatrix      &S_,   
00097                                  const Function&    m_,   
00098                                  const DVector      &r_     );
00099 
00100 
00101 
00102 
00103 // =======================================================================================
00104 //
00105 //                                   EVALUATION ROUTINES
00106 //
00107 // =======================================================================================
00108 
00109 
00110         returnValue evaluate( const OCPiterate &x );
00111 
00112 
00113 
00119         returnValue evaluateSensitivities( BlockMatrix *hessian );
00120 
00121 
00128         returnValue evaluateSensitivitiesGN( BlockMatrix *GNhessian );
00129 
00130 
00132         inline BooleanType isAffine();
00133 
00134 
00136         inline BooleanType isQuadratic();
00137 
00138 
00140         inline BooleanType isConvex();
00141 
00142 
00147         inline returnValue setReference( const DVector &ref );
00148 
00149 
00150 // =======================================================================================
00151 
00152 
00153     //
00154     // DATA MEMBERS:
00155     //
00156     protected:
00157 
00158     DMatrix           S              ;    
00159     DVector           r              ;    
00161     double          *S_h_res        ;    
00165 };
00166 
00167 
00168 CLOSE_NAMESPACE_ACADO
00169 
00170 
00171 
00172 #include <acado/objective/lsq_end_term.ipp>
00173 
00174 #endif  // ACADO_TOOLKIT_LSQ_END_TERM_HPP
00175 
00176 /*
00177  *     end of file
00178  */


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:37:53