ocp_iterate.hpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


#ifndef ACADO_TOOLKIT_OCP_ITERATE_HPP
#define ACADO_TOOLKIT_OCP_ITERATE_HPP

#include <acado/utils/acado_utils.hpp>
#include <acado/variables_grid/variables_grid.hpp>


BEGIN_NAMESPACE_ACADO


class OCPiterate{


    //
    // PUBLIC MEMBER FUNCTIONS:
    //
    public:

        OCPiterate( );

                OCPiterate(     const VariablesGrid* const _x,
                                        const VariablesGrid* const _xa,
                                        const VariablesGrid* const _p,
                                        const VariablesGrid* const _u,
                                        const VariablesGrid* const _w
                                        );

        OCPiterate( const OCPiterate& rhs );

        virtual ~OCPiterate( );

        OCPiterate& operator=( const OCPiterate& rhs );


                returnValue allocateAll( );
                
                returnValue init(       const VariablesGrid* const _x,
                                                        const VariablesGrid* const _xa,
                                                        const VariablesGrid* const _p,
                                                        const VariablesGrid* const _u,
                                                        const VariablesGrid* const _w
                                                        );

                returnValue clear( );

        //OCPiterate& operator+=( const OCPiterate& rhs );


        inline uint getNX( ) const;

        inline uint getNXA( ) const;

        inline uint getNP( ) const;

        inline uint getNU( ) const;

        inline uint getNW( ) const;


                uint getNumPoints( ) const;


                returnValue print( ) const;

        inline double getTime( const uint &idx ) const;

        inline DVector getX   ( const uint &idx ) const;
        inline DVector getXA  ( const uint &idx ) const;
        inline DVector getP   ( const uint &idx ) const;
        inline DVector getU   ( const uint &idx ) const;
        inline DVector getW   ( const uint &idx ) const;


        inline Grid getGrid() const;


        Grid getUnionGrid( ) const;


                BooleanType areGridsConsistent( );


        returnValue getInitialData( DVector &x_  = emptyVector,
                                    DVector &xa_ = emptyVector,
                                    DVector &p_  = emptyVector,
                                    DVector &u_  = emptyVector,
                                    DVector &w_  = emptyVector  ) const;


        returnValue updateData(  double t                 ,
                                 DVector &x_  = emptyVector,
                                 DVector &xa_ = emptyVector,
                                 DVector &p_  = emptyVector,
                                 DVector &u_  = emptyVector,
                                 DVector &w_  = emptyVector  );


                returnValue applyStep(  const BlockMatrix& bm,
                                                        double alpha
                                                                );


        returnValue enableSimulationMode( );

                inline BooleanType isInSimulationMode( ) const;


                virtual returnValue shift(      double timeShift = -1.0,
                                                                        DVector  lastX    =  emptyVector,
                                                                        DVector lastXA    =  emptyVector,
                                                                        DVector lastP     =  emptyVector,
                                                                        DVector lastU     =  emptyVector,
                                                                        DVector lastW     =  emptyVector );


    //
    // PUBLIC DATA MEMBERS:
    //
    public:

        VariablesGrid  *x ;  // the differential state variables
        VariablesGrid  *xa;  // the algebraic state variables
        VariablesGrid  *p ;  // the parameter
        VariablesGrid  *u ;  // the control variables
        VariablesGrid  *w ;  // the disturbances



    // PROTECTED MEMBER FUNCTIONS:
    // ---------------------------
    protected:

                void copy (const OCPiterate& rhs);

                inline DVector copy ( const VariablesGrid *z, const uint &idx ) const;

                inline uint getDim( VariablesGrid *z ) const;


        void update( double t, VariablesGrid &z1, DVector &z2 ) const;


    //
    // PUBLIC DATA MEMBERS:
    //
    protected:
                
                BooleanType inSimulationMode;
};


CLOSE_NAMESPACE_ACADO


#include <acado/function/ocp_iterate.ipp>

#endif  // ACADO_TOOLKIT_OCP_ITERATE_HPP

/*
 *  end of file
 */