mayer_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_MAYER_TERM_HPP
00036 #define ACADO_TOOLKIT_MAYER_TERM_HPP
00037 
00038 
00039 #include <acado/objective/objective_element.hpp>
00040 
00041 
00042 
00043 BEGIN_NAMESPACE_ACADO
00044 
00045 
00046 
00057 class MayerTerm : public ObjectiveElement{
00058 
00059 
00060     //
00061     // PUBLIC MEMBER FUNCTIONS:
00062     //
00063     public:
00064 
00066         MayerTerm( );
00067 
00069         MayerTerm( const Grid &grid_,
00070                    const Expression& arg );
00071 
00073         MayerTerm( const Grid &grid_,
00074                    const Function& arg );
00075 
00077         MayerTerm( const MayerTerm& rhs );
00078 
00080         virtual ~MayerTerm( );
00081 
00083         MayerTerm& operator=( const MayerTerm& rhs );
00084 
00085 
00086 
00087 // =======================================================================================
00088 //
00089 //                                 INITIALIZATION ROUTINES
00090 //
00091 // =======================================================================================
00092 
00093 
00094         inline returnValue init( const Grid &grid_, const Expression& arg );
00095 
00096 
00097 
00098 // =======================================================================================
00099 //
00100 //                                   EVALUATION ROUTINES
00101 //
00102 // =======================================================================================
00103 
00104 
00105         returnValue evaluate( const OCPiterate &x );
00106 
00107 
00113         returnValue evaluateSensitivities( BlockMatrix *hessian );
00114 
00115 
00116 
00117 // =======================================================================================
00118 
00119 
00120     //
00121     // DATA MEMBERS:
00122     //
00123     protected:
00124 
00125 };
00126 
00127 
00128 CLOSE_NAMESPACE_ACADO
00129 
00130 
00131 #include <acado/objective/mayer_term.ipp>
00132 
00133 #endif  // ACADO_TOOLKIT_MAYER_TERM_HPP
00134 
00135 /*
00136  *    end of file
00137  */


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:38:12