optimization_algorithm_base.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_OPTIMIZATION_ALGORITHM_BASE_HPP
#define ACADO_TOOLKIT_OPTIMIZATION_ALGORITHM_BASE_HPP

#include <acado/matrix_vector/matrix_vector.hpp>
#include <acado/variables_grid/variables_grid.hpp>
//#include <acado/ocp/ocp.hpp>
#include <acado/nlp_solver/nlp_solver.hpp>
#include <acado/nlp_solver/scp_method.hpp>


BEGIN_NAMESPACE_ACADO

class OCP;


class OptimizationAlgorithmBase
{
    //
    // PUBLIC MEMBER FUNCTIONS:
    //
    public:

        OptimizationAlgorithmBase();

        OptimizationAlgorithmBase( const OCP& ocp_ );

        OptimizationAlgorithmBase( const OptimizationAlgorithmBase& arg );

        virtual ~OptimizationAlgorithmBase( );

        OptimizationAlgorithmBase& operator=( const OptimizationAlgorithmBase& arg );


        returnValue initializeDifferentialStates( const char* fileName , BooleanType autoinit=BT_FALSE);
        returnValue initializeAlgebraicStates   ( const char* fileName , BooleanType autoinit=BT_FALSE);
        returnValue initializeParameters        ( const char* fileName);
        returnValue initializeControls          ( const char* fileName);
        returnValue initializeDisturbances      ( const char* fileName);

        returnValue initializeDifferentialStates( const VariablesGrid &xd_init_ , BooleanType autoinit=BT_FALSE);
        returnValue initializeAlgebraicStates   ( const VariablesGrid &xa_init_ , BooleanType autoinit=BT_FALSE);
        returnValue initializeParameters        ( const VariablesGrid &u_init_);
        returnValue initializeControls          ( const VariablesGrid &p_init_);
        returnValue initializeDisturbances      ( const VariablesGrid &w_init_);

        returnValue simulateStatesForInitialization();

        returnValue getDifferentialStates( VariablesGrid &xd_ ) const;
        returnValue getAlgebraicStates   ( VariablesGrid &xa_ ) const;
        returnValue getParameters        ( VariablesGrid &u_  ) const;
        returnValue getParameters        ( DVector &u_  ) const;
        returnValue getControls          ( VariablesGrid &p_  ) const;
        returnValue getDisturbances      ( VariablesGrid &w_  ) const;

        returnValue getDifferentialStates( const char* fileName ) const;
        returnValue getAlgebraicStates   ( const char* fileName ) const;
        returnValue getParameters        ( const char* fileName ) const;
        returnValue getControls          ( const char* fileName ) const;
        returnValue getDisturbances      ( const char* fileName ) const;

        double getObjectiveValue         ( const char* fileName ) const;
        double getObjectiveValue         () const;

                
                returnValue getSensitivitiesX(  BlockMatrix& _sens
                                                                                ) const;

                returnValue getSensitivitiesXA( BlockMatrix& _sens
                                                                                ) const;

                returnValue getSensitivitiesP(  BlockMatrix& _sens
                                                                                ) const;

                returnValue getSensitivitiesU(  BlockMatrix& _sens
                                                                                ) const;

                returnValue getSensitivitiesW(  BlockMatrix& _sens
                                                                                ) const;


                virtual uint getNX( ) const;

                virtual uint getNXA( ) const;

                virtual uint getNP( ) const;

                virtual uint getNU( ) const;

                virtual uint getNW( ) const;


                double getStartTime ( ) const;

                double getEndTime( ) const;


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

                returnValue clear( );

                returnValue init(       UserInteraction* _userIteraction
                                                        );

                BooleanType isLinearQuadratic(  Objective *F,
                                                                                DynamicDiscretization *G,
                                                                                Constraint *H
                                                                                ) const;

        virtual returnValue allocateNlpSolver(  Objective *F,
                                                                                                DynamicDiscretization *G,
                                                                                                Constraint *H
                                                                                                ) = 0;

        virtual returnValue initializeNlpSolver(        const OCPiterate& _userInit
                                                                                                        ) = 0;

        virtual returnValue initializeObjective(        Objective* F
                                                                                                        ) = 0;


                virtual returnValue extractOCPdata(     Objective** objective,
                                                                                        DifferentialEquation*** differentialEquation,
                                                                                        Constraint** constraint,
                                                                                        Grid& unionGrid
                                                                                        );

                virtual returnValue setupObjective(     Objective* objective,
                                                                                        DifferentialEquation** differentialEquation,
                                                                                        Constraint* constraint,
                                                                                        Grid unionGrid
                                                                                        );

                virtual returnValue setupDifferentialEquation(  Objective* objective,
                                                                                                                DifferentialEquation** differentialEquation,
                                                                                                                Constraint* constraint,
                                                                                                                Grid unionGrid
                                                                                                                );

                virtual returnValue setupDynamicDiscretization( UserInteraction* _userIteraction,
                                                                                                                Objective* objective,
                                                                                                                DifferentialEquation** differentialEquation,
                                                                                                                Constraint* constraint,
                                                                                                                Grid unionGrid,
                                                                                                                DynamicDiscretization** dynamicDiscretization
                                                                                                                );

                virtual returnValue determineDimensions(        Objective* const _objective,
                                                                                                        DifferentialEquation** const _differentialEquation,
                                                                                                        Constraint* const _constraint,
                                                                                                        uint& _nx,
                                                                                                        uint& _nxa,
                                                                                                        uint& _np,
                                                                                                        uint& _nu,
                                                                                                        uint& _nw
                                                                                                        ) const;

                virtual returnValue initializeOCPiterate(       Constraint* const _constraint,
                                                                                                        const Grid& _unionGrid,
                                                                                                        uint nx,
                                                                                                        uint nxa,
                                                                                                        uint np,
                                                                                                        uint nu,
                                                                                                        uint nw
                                                                                                        );

    //
    // DATA MEMBERS:
    //
    protected:

        NLPsolver *nlpSolver ;
        OCP       *ocp       ;

                OCPiterate iter;
                OCPiterate userInit;
};

CLOSE_NAMESPACE_ACADO

#endif  // ACADO_TOOLKIT_OPTIMIZATION_ALGORITHM_BASE_HPP

/*
 *   end of file
 */