objective_element.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_OBJECTIVE_ELEMENT_HPP
00036 #define ACADO_TOOLKIT_OBJECTIVE_ELEMENT_HPP
00037 
00038 
00039 #include <acado/variables_grid/variables_grid.hpp>
00040 #include <acado/function/function.hpp>
00041 
00042 BEGIN_NAMESPACE_ACADO
00043 
00044 
00055 class ObjectiveElement{
00056 
00057 
00058     //
00059     // PUBLIC MEMBER FUNCTIONS:
00060     //
00061     public:
00062 
00064         ObjectiveElement( );
00065 
00067         ObjectiveElement( const Grid &grid_ );
00068 
00070         ObjectiveElement( const ObjectiveElement& rhs );
00071 
00073         virtual ~ObjectiveElement( );
00074 
00076         ObjectiveElement& operator=( const ObjectiveElement& rhs );
00077 
00078 
00079 
00080 
00081 
00082 // ==========================================================================
00083 //
00084 //                               INITIALIZATION
00085 //
00086 // ==========================================================================
00087 
00088 
00093         inline returnValue setGrid( const Grid &grid_ );
00094 
00095 
00096 
00101         returnValue init( const OCPiterate &x );
00102 
00103 
00104 
00105 // =======================================================================================
00106 //
00107 //                                  DEFINITION OF SEEDS:
00108 //
00109 // =======================================================================================
00110 
00111 
00112 
00118     virtual returnValue setForwardSeed( BlockMatrix *xSeed_ ,   
00119                                         BlockMatrix *xaSeed_,   
00120                                         BlockMatrix *pSeed_ ,   
00121                                         BlockMatrix *uSeed_ ,   
00122                                         BlockMatrix *wSeed_ ,   
00123                                         int          order       );
00124 
00125 
00126 
00132     virtual returnValue setBackwardSeed( BlockMatrix *seed,    
00133                                          int          order      );
00134 
00135 
00136 
00137 
00138 // =======================================================================================
00139 //
00140 //                               RESULTS OF THE EVALUATION
00141 //
00142 // =======================================================================================
00143 
00144 
00149     virtual returnValue getObjectiveValue( double &objectiveValue   );
00150 
00151 
00152 
00158     virtual returnValue getForwardSensitivities( BlockMatrix *D  ,
00161                                                  int order         );
00162 
00163 
00164 
00170     virtual returnValue getBackwardSensitivities( BlockMatrix *D  ,
00173                                                   int order         );
00174 
00175 
00176 
00177 
00178 // =======================================================================================
00179 //
00180 //                                     DIMENSIONS
00181 //
00182 // =======================================================================================
00183 
00184 
00188         inline int getNX    () const;
00189 
00193         inline int getNXA   () const;
00194 
00198         inline int getNP   () const;
00199 
00203         inline int getNU   () const;
00204 
00208         inline int getNW  () const;
00209 
00213         returnValue getFunction( Function& _function );
00214 
00215 
00216 
00217 // ==========================================================================
00218 //
00219 //                          PROTECTED MEMBER FUNCTIONS:
00220 //
00221 // ==========================================================================
00222 
00223     protected:
00224 
00225 
00227         inline Grid getGrid() const;
00228 
00229 
00230     //
00231     // DATA MEMBERS:
00232     //
00233     protected:
00234 
00235         Grid             grid   ;   
00236         Function         fcn    ;   
00238         EvaluationPoint  z      ;   
00239         EvaluationPoint  JJ     ;
00240 
00241         int             *y_index;   
00242         int              t_index;   
00244         int              nx     ;   
00245         int              na     ;   
00246         int              nu     ;   
00247         int              np     ;   
00248         int              nw     ;   
00249         int              ny     ;   
00252         // INPUT STORAGE:
00253         // ------------------------
00254         BlockMatrix      *xSeed   ;   
00255         BlockMatrix      *xaSeed  ;   
00256         BlockMatrix      *pSeed   ;   
00257         BlockMatrix      *uSeed   ;   
00258         BlockMatrix      *wSeed   ;   
00260         BlockMatrix      *bSeed   ;   
00262         BlockMatrix      *xSeed2  ;   
00263         BlockMatrix      *xaSeed2 ;   
00264         BlockMatrix      *pSeed2  ;   
00265         BlockMatrix      *uSeed2  ;   
00266         BlockMatrix      *wSeed2  ;   
00268         BlockMatrix      *bSeed2  ;   
00271         // RESULTS:
00272         // ------------------------
00273         double                 obj;   
00275         BlockMatrix      dForward ;   
00276         BlockMatrix      dBackward;   
00278 };
00279 
00280 
00281 CLOSE_NAMESPACE_ACADO
00282 
00283 
00284 
00285 #include <acado/objective/objective_element.ipp>
00286 
00287 
00288 #endif  // ACADO_TOOLKIT_OBJECTIVE_ELEMENT_HPP
00289 
00290 /*
00291  *     end of file
00292  */


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:38:15