path_constraint.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_PATH_CONSTRAINT_HPP
#define ACADO_TOOLKIT_PATH_CONSTRAINT_HPP


#include <acado/constraint/constraint_element.hpp>


BEGIN_NAMESPACE_ACADO


class PathConstraint : public ConstraintElement{

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

        PathConstraint( );

        PathConstraint( const Grid& grid_ );

        PathConstraint( const PathConstraint& rhs );

        virtual ~PathConstraint( );

        PathConstraint& operator=( const PathConstraint& rhs );


// =======================================================================================

        inline returnValue add( const DVector lb_, const Expression& arg, const DVector ub_  );


// =======================================================================================
//
//                                   EVALUATION ROUTINES
//
// =======================================================================================


        returnValue evaluate( const OCPiterate& iter );


        returnValue evaluateSensitivities();


        returnValue evaluateSensitivities( int &count, const BlockMatrix &seed, BlockMatrix &hessian );



//  =========================================================================

        inline int getNC() const;

        inline int getDim( const int& idx_ );


                inline BooleanType isBoxConstraint( ) const;

        protected:

};


CLOSE_NAMESPACE_ACADO



#include <acado/constraint/path_constraint.ipp>


#endif  // ACADO_TOOLKIT_PATH_CONSTRAINT_HPP
/*
 *    end of file
 */