lsq_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_LSQ_TERM_HPP
00036 #define ACADO_TOOLKIT_LSQ_TERM_HPP
00037 
00038 
00039 #include <acado/objective/objective_element.hpp>
00040 
00041 
00042 BEGIN_NAMESPACE_ACADO
00043 
00044 
00045 
00061 class LSQTerm : public ObjectiveElement{
00062 
00063     //
00064     // PUBLIC MEMBER FUNCTIONS:
00065     //
00066     public:
00067 
00069         LSQTerm( );
00070 
00072         LSQTerm( const MatrixVariablesGrid *S_,   
00073                  const Function&            h ,   
00074                  const VariablesGrid       *r_     );
00075 
00077         LSQTerm( const LSQTerm& rhs );
00078 
00080         virtual ~LSQTerm( );
00081 
00083         LSQTerm& operator=( const LSQTerm& rhs );
00084 
00085 
00086 
00087 // =======================================================================================
00088 //
00089 //                                 INITIALIZATION ROUTINES
00090 //
00091 // =======================================================================================
00092 
00093 
00098         inline returnValue setGrid( const Grid &grid_ );
00099 
00100 
00101 // =======================================================================================
00102 //
00103 //                                   EVALUATION ROUTINES
00104 //
00105 // =======================================================================================
00106 
00107 
00108         returnValue evaluate( const OCPiterate &x );
00109 
00110 
00116         returnValue evaluateSensitivities( BlockMatrix *hessian );
00117 
00118 
00119 
00126         returnValue evaluateSensitivitiesGN( BlockMatrix *GNhessian );
00127 
00128 
00129 
00130 
00132         inline BooleanType isAffine();
00133 
00134 
00136         inline BooleanType isQuadratic();
00137 
00138 
00140         inline BooleanType isConvex();
00141 
00142 
00147         returnValue setReference( const VariablesGrid &ref );
00148 
00149 
00150 // =======================================================================================
00151 
00152         returnValue getWeigthingtMatrix( const unsigned _index, DMatrix& _matrix ) const;
00153 
00154 
00155     //
00156     // PROTECTED FUNCTIONS:
00157     //
00158     protected:
00159 
00160 
00161     //
00162     // DATA MEMBERS:
00163     //
00164     protected:
00165 
00166     MatrixVariablesGrid *S_temp         ;    
00167     VariablesGrid       *r_temp         ;    
00169     DMatrix              *S              ;    
00170     DVector              *r              ;    
00172     double            **S_h_res         ;    
00176 };
00177 
00178 
00179 CLOSE_NAMESPACE_ACADO
00180 
00181 
00182 
00183 #include <acado/objective/lsq_term.ipp>
00184 
00185 #endif  // ACADO_TOOLKIT_LSQ_TERM_HPP
00186 
00187 /*
00188  *     end of file
00189  */


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