mhe_algorithm.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_MHE_ALGORITHM_HPP
00035 #define ACADO_TOOLKIT_MHE_ALGORITHM_HPP
00036 
00037 
00038 #include <acado/optimization_algorithm/optimization_algorithm.hpp>
00039 
00040 
00041 BEGIN_NAMESPACE_ACADO
00042 
00043 
00054 class MHEalgorithm : public OptimizationAlgorithm {
00055 
00056     //
00057     // PUBLIC MEMBER FUNCTIONS:
00058     //
00059     public:
00060 
00062         MHEalgorithm();
00063 
00065         MHEalgorithm( const OCP& ocp_ );
00066 
00068         MHEalgorithm( const MHEalgorithm& arg );
00069 
00071         virtual ~MHEalgorithm( );
00072 
00074         MHEalgorithm& operator=( const MHEalgorithm& arg );
00075 
00076 
00084         virtual returnValue init( const DVector &eta,
00085                                   const DMatrix &S    );
00086 
00087 
00095         virtual returnValue step( const DVector &eta,
00096                                   const DMatrix &S    );
00097 
00098 
00101         virtual returnValue shift( );
00102 
00103 
00111         virtual returnValue solve( const DVector &eta,
00112                                    const DMatrix &S    );
00113 
00114 
00115     //
00116     // PROTECTED MEMBER FUNCTIONS:
00117     //
00118     protected:
00119 
00120 
00121         virtual returnValue initializeNlpSolver(        const OCPiterate& _userInit
00122                                                                                                         );
00123 
00124         virtual returnValue initializeObjective(        Objective* F
00125                                                                                                         );
00126 
00127 
00128     //
00129     // DATA MEMBERS:
00130     //
00131     protected:
00132 
00133         DVector *eta;  // deep copy of the latest initial value.
00134         DMatrix *S  ;  // deep copy of the latest parameter.
00135 };
00136 
00137 
00138 CLOSE_NAMESPACE_ACADO
00139 
00140 
00141 
00142 //#include <acado/optimization_algorithm/mhe_algorithm.ipp>
00143 
00144 
00145 #endif  // ACADO_TOOLKIT_MHE_ALGORITHM_HPP
00146 
00147 /*
00148  *   end of file
00149  */


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