operator.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 
00034 #ifndef ACADO_TOOLKIT_OPERATOR_HPP
00035 #define ACADO_TOOLKIT_OPERATOR_HPP
00036 
00037 
00038 #include <acado/symbolic_operator/symbolic_operator_fwd.hpp>
00039 
00040 
00041 BEGIN_NAMESPACE_ACADO
00042 
00043 
00044 class Expression;
00045 class ConstraintComponent;
00046 class EvaluationBase;
00047 
00048 
00060 class Operator{
00061 
00062 public:
00063 
00064 
00066            Operator();
00067 
00068     virtual ~Operator();
00069 
00070 
00073     virtual Operator& operator=( const double      & arg );
00074     virtual Operator& operator=( const DVector      & arg );
00075     virtual Operator& operator=( const DMatrix      & arg );
00076     virtual Operator& operator=( const Expression  & arg );
00077     virtual Operator& operator=( const Operator    & arg );
00078 
00079 
00080     Operator& operator+=( const double      & arg );
00081     Operator& operator+=( const DVector      & arg );
00082     Operator& operator+=( const DMatrix      & arg );
00083     Operator& operator+=( const Expression  & arg );
00084 
00085     Operator& operator-=( const double      & arg );
00086     Operator& operator-=( const DVector      & arg );
00087     Operator& operator-=( const DMatrix      & arg );
00088     Operator& operator-=( const Expression  & arg );
00089 
00090     Operator& operator*=( const double      & arg );
00091     Operator& operator*=( const DVector      & arg );
00092     Operator& operator*=( const DMatrix      & arg );
00093     Operator& operator*=( const Expression  & arg );
00094 
00095     Operator& operator/=( const double      & arg );
00096     Operator& operator/=( const Expression  & arg );
00097 
00098 
00099     Expression operator+( const double        & arg ) const;
00100     Expression operator+( const DVector        & arg ) const;
00101     Expression operator+( const DMatrix        & arg ) const;
00102     Expression operator+( const Operator& arg ) const;
00103     Expression operator+( const Expression    & arg ) const;
00104 
00105     friend Expression operator+( const double & arg1, const Operator& arg2 );
00106     friend Expression operator+( const DVector & arg1, const Operator& arg2 );
00107     friend Expression operator+( const DMatrix & arg1, const Operator& arg2 );
00108 
00109     Expression operator-( const double          & arg ) const;
00110     Expression operator-( const DVector          & arg ) const;
00111     Expression operator-( const DMatrix          & arg ) const;
00112     Expression operator-( const Operator  & arg ) const;
00113     Expression operator-( const Expression      & arg ) const;
00114 
00115     Expression operator-( ) const;
00116 
00117     friend Expression operator-( const double & arg1, const Operator& arg2 );
00118     friend Expression operator-( const DVector & arg1, const Operator& arg2 );
00119     friend Expression operator-( const DMatrix & arg1, const Operator& arg2 );
00120 
00121     Expression operator*( const double         & arg ) const;
00122     Expression operator*( const DVector         & arg ) const;
00123     Expression operator*( const DMatrix         & arg ) const;
00124     Expression operator*( const Operator & arg ) const;
00125     Expression operator*( const Expression     & arg ) const;
00126 
00127     friend Expression operator*( const double& arg1, const Operator& arg2 );
00128     friend Expression operator*( const DVector& arg1, const Operator& arg2 );
00129     friend Expression operator*( const DMatrix& arg1, const Operator& arg2 );
00130 
00131     Expression operator/( const double         & arg ) const;
00132     Expression operator/( const Operator & arg ) const;
00133     Expression operator/( const Expression     & arg ) const;
00134 
00135 
00136     friend Expression operator/( const double& arg1, const Operator& arg2 );
00137     friend Expression operator/( const DVector& arg1, const Operator& arg2 );
00138     friend Expression operator/( const DMatrix& arg1, const Operator& arg2 );
00139 
00140     ConstraintComponent operator<=( const double& ub ) const;
00141     ConstraintComponent operator>=( const double& lb ) const;
00142     ConstraintComponent operator==( const double&  b ) const;
00143 
00144     ConstraintComponent operator<=( const DVector& ub ) const;
00145     ConstraintComponent operator>=( const DVector& lb ) const;
00146     ConstraintComponent operator==( const DVector&  b ) const;
00147 
00148     ConstraintComponent operator<=( const VariablesGrid& ub ) const;
00149     ConstraintComponent operator>=( const VariablesGrid& lb ) const;
00150     ConstraintComponent operator==( const VariablesGrid&  b ) const;
00151 
00152     friend ConstraintComponent operator<=( double lb, const Operator &arg );
00153     friend ConstraintComponent operator==( double  b, const Operator &arg );
00154     friend ConstraintComponent operator>=( double ub, const Operator &arg );
00155 
00156     friend ConstraintComponent operator<=( DVector lb, const Operator &arg );
00157     friend ConstraintComponent operator==( DVector  b, const Operator &arg );
00158     friend ConstraintComponent operator>=( DVector ub, const Operator &arg );
00159 
00160     friend ConstraintComponent operator<=( VariablesGrid lb, const Operator &arg );
00161     friend ConstraintComponent operator==( VariablesGrid  b, const Operator &arg );
00162     friend ConstraintComponent operator>=( VariablesGrid ub, const Operator &arg );
00163 
00164 
00171     virtual returnValue evaluate( int     number    ,
00172                                   double *x         ,
00173                                   double *result      ) = 0;
00174 
00175 
00177     virtual returnValue evaluate( EvaluationBase *x ) = 0;
00178         
00179         
00185      virtual Operator* differentiate( int index      ) = 0;
00186 
00187 
00188 
00194      virtual Operator* AD_forward( int                dim      , 
00195                                      VariableType      *varType  , 
00196                                      int               *component, 
00197                                      Operator       **seed     , 
00198                                      int                &nNewIS  , 
00199                                      TreeProjection ***newIS     ) = 0;
00200 
00201 
00202 
00208     virtual returnValue AD_backward( int           dim      , 
00209                                      VariableType *varType  , 
00210                                      int          *component, 
00211                                      Operator     *seed     , 
00212                                      Operator    **df       , 
00213                                      int           &nNewIS  , 
00214                                      TreeProjection ***newIS   ) = 0;
00215 
00216     
00217     
00223      virtual returnValue AD_symmetric( int            dim       , 
00224                                       VariableType  *varType   , 
00225                                       int           *component , 
00226                                       Operator      *l         , 
00227                                       Operator     **S         , 
00228                                       int            dimS      , 
00229                                       Operator     **dfS       , 
00230                                       Operator     **ldf       , 
00231                                       Operator     **H         , 
00232                                       int            &nNewLIS  , 
00233                                       TreeProjection ***newLIS , 
00234                                       int            &nNewSIS  , 
00235                                       TreeProjection ***newSIS , 
00236                                       int            &nNewHIS  , 
00237                                       TreeProjection ***newHIS    ) = 0;
00238 
00239 
00240 
00245      virtual Operator* substitute( int   index            ,
00246                                      const Operator *sub  ) = 0;
00247 
00248 
00249 
00256      virtual NeutralElement isOneOrZero() const = 0;
00257 
00258 
00259 
00265      virtual BooleanType isDependingOn( VariableType var ) const = 0;
00266 
00267 
00268 
00274      virtual BooleanType isDependingOn( int           dim      ,    
00275                                           VariableType *varType  ,    
00276                                           int          *component,    
00277                                           BooleanType   *implicit_dep  ) = 0;
00278 
00279 
00280 
00281 
00289      virtual BooleanType isLinearIn( int           dim      ,    
00290                                        VariableType *varType  ,    
00291                                        int          *component,    
00292                                        BooleanType  *implicit_dep   ) = 0;
00293 
00294 
00295 
00302      virtual BooleanType isPolynomialIn( int           dim      ,    
00303                                            VariableType *varType  ,    
00304                                            int          *component,    
00305                                            BooleanType  *implicit_dep   ) = 0;
00306 
00307 
00308 
00315      virtual BooleanType isRationalIn( int           dim      ,    
00316                                          VariableType *varType  ,    
00317                                          int          *component,    
00318                                          BooleanType  *implicit_dep   ) = 0;
00319 
00325      virtual BooleanType isSmooth( ) const = 0;
00326 
00327 
00334      virtual MonotonicityType getMonotonicity( ) = 0;
00335 
00336 
00337 
00345      virtual CurvatureType getCurvature( ) = 0;
00346 
00347 
00348 
00354      virtual returnValue setMonotonicity( MonotonicityType monotonicity_ ) = 0;
00355 
00356 
00357 
00358 
00364      virtual returnValue setCurvature( CurvatureType curvature_  ) = 0;
00365 
00366 
00367 
00375      virtual returnValue AD_forward( int     number  ,
00376                                      double *x       ,
00378                                      double *seed    ,
00379                                      double *f       ,
00381                                      double *df        ) = 0;
00383 
00384 
00385 
00392      virtual returnValue AD_forward( int     number  ,
00393                                      double *seed    ,
00394                                      double *df        ) = 0;
00396 
00397 
00398 
00399     // IMPORTANT REMARK FOR AD_BACKWARD: run evaluate first to define
00400     //                                   the point x and to compute f.
00401 
00407      virtual returnValue AD_backward( int    number ,
00409                                       double seed   ,
00410                                       double  *df   ) = 0;
00412 
00413 
00414 
00422      virtual returnValue AD_forward2( int    number  ,
00424                                       double *seed1  ,
00425                                       double *seed2  ,
00427                                       double *df     ,
00429                                       double *ddf    ) = 0;
00431 
00432 
00433 
00434     // IMPORTANT REMARK FOR AD_BACKWARD2: run AD_forward first to define
00435     //                                    the point x and to compute f and df.
00436 
00442      virtual returnValue AD_backward2( int    number ,
00444                                        double seed1  ,
00445                                        double seed2  ,
00446                                        double   *df  ,
00448                                        double  *ddf     ) = 0;
00450 
00454      virtual std::ostream& print(std::ostream& stream) const = 0;
00455 
00456 
00460      friend std::ostream& operator<<(std::ostream& stream, const Operator& arg);
00461 
00465      virtual Operator* clone() const = 0;
00466 
00467 
00473      virtual TreeProjection* cloneTreeProjection() const;
00474 
00475 
00476 
00481      virtual returnValue clearBuffer() = 0;
00482 
00483 
00484 
00489      virtual returnValue enumerateVariables( SymbolicIndexList *indexList ) = 0;
00490 
00491 
00492 
00496      virtual OperatorName getName() = 0;
00497 
00498 
00501      //virtual int getVariableIndex( ) const;
00502 
00503 
00506      virtual int getGlobalIndex( ) const;
00507 
00508 
00512      virtual BooleanType isVariable( VariableType &varType,
00513                                      int &component          ) const = 0;
00514 
00515 
00534      virtual returnValue loadIndices( SymbolicIndexList *indexList  ) = 0;
00536 
00537 
00538 
00540      virtual double getValue() const;
00541 
00542 
00543 
00545      virtual Operator* passArgument() const;
00546 
00547 
00553     virtual BooleanType isSymbolic() const = 0;
00554 
00555 
00556     int nCount;
00557 
00558 
00559 
00563     virtual returnValue setVariableExportName(  const VariableType &_type,
00564                                                                                         const std::vector< std::string >& _name
00565                                                                                         );
00566 
00567 
00568     
00569     
00570     virtual Operator* myProd(Operator* a,Operator* b);
00571     virtual Operator* myAdd (Operator* a,Operator* b);
00572     virtual Operator* mySubtract (Operator* a,Operator* b);
00573     virtual Operator* myPower (Operator* a,Operator* b);
00574     virtual Operator* myPowerInt (Operator* a,int b);
00575     virtual Operator* myLogarithm (Operator* a);
00576 
00577 
00578     virtual BooleanType isTrivial() const;
00579 
00580 
00581     virtual returnValue initDerivative();
00582     
00583     
00584 //
00585 //  PROTECTED FUNCTIONS:
00586 //
00587 
00588 protected:
00589 
00590 
00591     virtual TreeProjection* convert2TreeProjection( Operator* a ) const; // Caution: a is deleted inside...
00592     
00593     returnValue ADsymCommon(    Operator     *a  ,
00594                                 TreeProjection &da ,
00595                                 TreeProjection &dda,
00596                                 int            dim       , 
00597                                 VariableType  *varType   , 
00598                                 int           *component , 
00599                                 Operator      *l         , 
00600                                 Operator     **S         , 
00601                                 int            dimS      , 
00602                                 Operator     **dfS       , 
00603                                 Operator     **ldf       , 
00604                                 Operator     **H         , 
00605                                 int            &nNewLIS  , 
00606                                 TreeProjection ***newLIS , 
00607                                 int            &nNewSIS  , 
00608                                 TreeProjection ***newSIS , 
00609                                 int            &nNewHIS  , 
00610                                 TreeProjection ***newHIS    );
00611 
00612         
00613     returnValue ADsymCommon2(     Operator       *a  ,
00614                                                                   Operator       *b  ,
00615                                   TreeProjection &dx ,
00616                                   TreeProjection &dy ,
00617                                   TreeProjection &dxx,
00618                                   TreeProjection &dxy,
00619                                   TreeProjection &dyy,
00620                                   int            dim       , 
00621                                   VariableType  *varType   , 
00622                                   int           *component , 
00623                                   Operator      *l         , 
00624                                   Operator     **S         , 
00625                                   int            dimS      , 
00626                                   Operator     **dfS       , 
00627                                   Operator     **ldf       , 
00628                                   Operator     **H         , 
00629                                   int            &nNewLIS  , 
00630                                   TreeProjection ***newLIS , 
00631                                   int            &nNewSIS  , 
00632                                   TreeProjection ***newSIS , 
00633                                   int            &nNewHIS  , 
00634                                   TreeProjection ***newHIS    );
00635 
00636     //
00637     //  PROTECTED MEMBERS:
00638     //
00639 
00640     protected:
00641 
00642         BooleanType  initialized;
00643 
00644 
00645 };
00646 
00647 
00648 CLOSE_NAMESPACE_ACADO
00649 
00650 
00651 
00652 #endif
00653 
00654 
00655 


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