path_constraint.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_PATH_CONSTRAINT_HPP
00036 #define ACADO_TOOLKIT_PATH_CONSTRAINT_HPP
00037 
00038 
00039 #include <acado/constraint/constraint_element.hpp>
00040 
00041 
00042 BEGIN_NAMESPACE_ACADO
00043 
00044 
00057 class PathConstraint : public ConstraintElement{
00058 
00059     //
00060     // PUBLIC MEMBER FUNCTIONS:
00061     //
00062     public:
00063 
00065         PathConstraint( );
00066 
00068         PathConstraint( const Grid& grid_ );
00069 
00071         PathConstraint( const PathConstraint& rhs );
00072 
00074         virtual ~PathConstraint( );
00075 
00077         PathConstraint& operator=( const PathConstraint& rhs );
00078 
00079 
00080 // =======================================================================================
00081 
00086         inline returnValue add( const DVector lb_, const Expression& arg, const DVector ub_  );
00087 
00088 
00089 // =======================================================================================
00090 //
00091 //                                   EVALUATION ROUTINES
00092 //
00093 // =======================================================================================
00094 
00095 
00101         returnValue evaluate( const OCPiterate& iter );
00102 
00103 
00110         returnValue evaluateSensitivities();
00111 
00112 
00117         returnValue evaluateSensitivities( int &count, const BlockMatrix &seed, BlockMatrix &hessian );
00118 
00119 
00120 
00121 //  =========================================================================
00122 
00124         inline int getNC() const;
00125 
00127         inline int getDim( const int& idx_ );
00128 
00129 
00130                 inline BooleanType isBoxConstraint( ) const;
00131 
00132         protected:
00133 
00134 };
00135 
00136 
00137 CLOSE_NAMESPACE_ACADO
00138 
00139 
00140 
00141 #include <acado/constraint/path_constraint.ipp>
00142 
00143 
00144 #endif  // ACADO_TOOLKIT_PATH_CONSTRAINT_HPP
00145 /*
00146  *    end of file
00147  */


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:38:34