point_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_POINT_CONSTRAINT_HPP
00036 #define ACADO_TOOLKIT_POINT_CONSTRAINT_HPP
00037 
00038 
00039 #include <acado/constraint/constraint_element.hpp>
00040 
00041 
00042 BEGIN_NAMESPACE_ACADO
00043 
00044 
00055 class PointConstraint : public ConstraintElement{
00056 
00057     //
00058     // PUBLIC MEMBER FUNCTIONS:
00059     //
00060     public:
00061 
00063         PointConstraint( );
00064 
00066         PointConstraint( const Grid& grid_, int point_index_ );
00067 
00069         PointConstraint( const PointConstraint& rhs );
00070 
00072         virtual ~PointConstraint( );
00073 
00075         PointConstraint& operator=( const PointConstraint& rhs );
00076 
00077 
00078 
00083         returnValue add( const double lb_, const Expression& arg, const double ub_  );
00084 
00085 
00086 
00087 // =======================================================================================
00088 //
00089 //                                   EVALUATION ROUTINES
00090 //
00091 // =======================================================================================
00092 
00093 
00099         returnValue evaluate( const OCPiterate& iter );
00100 
00101 
00108         returnValue evaluateSensitivities();
00109 
00110 
00111 
00116         returnValue evaluateSensitivities( const DMatrix &seed, BlockMatrix &hessian );
00117 
00118 
00119 
00120 //  =========================================================================
00121 
00123         inline int getNC() const;
00124 
00125 
00127                 inline BooleanType isBoxConstraint( ) const;
00128 
00129 
00133     returnValue getBounds( const OCPiterate& iter );
00134 
00135 
00136 
00137     // PROTECTED FUNCTIONS:
00138     // --------------------
00139         protected:
00140 
00143         returnValue computeForwardSensitivityBlock( int offset, int offset2, DMatrix *seed );
00144 
00145 
00146 
00147     // DATA MEMBERS:
00148     // -------------
00149 
00150     protected:
00151 
00152        int         point_index;   
00154        int              nb    ;   
00155        VariableType    *var   ;   
00156        int             *index ;   
00157        double          *blb   ;   
00158        double          *bub   ;   
00159 };
00160 
00161 
00162 CLOSE_NAMESPACE_ACADO
00163 
00164 
00165 
00166 #include <acado/constraint/point_constraint.ipp>
00167 
00168 
00169 #endif  // ACADO_TOOLKIT_POINT_CONSTRAINT_HPP
00170 
00171 /*
00172  *    end of file
00173  */


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:38:42