point_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_POINT_CONSTRAINT_HPP
#define ACADO_TOOLKIT_POINT_CONSTRAINT_HPP


#include <acado/constraint/constraint_element.hpp>


BEGIN_NAMESPACE_ACADO


class PointConstraint : public ConstraintElement{

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

        PointConstraint( );

        PointConstraint( const Grid& grid_, int point_index_ );

        PointConstraint( const PointConstraint& rhs );

        virtual ~PointConstraint( );

        PointConstraint& operator=( const PointConstraint& rhs );



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



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


        returnValue evaluate( const OCPiterate& iter );


        returnValue evaluateSensitivities();



        returnValue evaluateSensitivities( const DMatrix &seed, BlockMatrix &hessian );



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

        inline int getNC() const;


                inline BooleanType isBoxConstraint( ) const;


    returnValue getBounds( const OCPiterate& iter );



    // PROTECTED FUNCTIONS:
    // --------------------
        protected:

        returnValue computeForwardSensitivityBlock( int offset, int offset2, DMatrix *seed );



    // DATA MEMBERS:
    // -------------

    protected:

       int         point_index;   
       int              nb    ;   
       VariableType    *var   ;   
       int             *index ;   
       double          *blb   ;   
       double          *bub   ;   
};


CLOSE_NAMESPACE_ACADO



#include <acado/constraint/point_constraint.ipp>


#endif  // ACADO_TOOLKIT_POINT_CONSTRAINT_HPP

/*
 *    end of file
 */