real_time_algorithm.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_REAL_TIME_ALGORITHM_HPP
#define ACADO_TOOLKIT_REAL_TIME_ALGORITHM_HPP


#include <acado/optimization_algorithm/optimization_algorithm.hpp>
#include <acado/control_law/control_law.hpp>


BEGIN_NAMESPACE_ACADO



class RealTimeAlgorithm : public OptimizationAlgorithmBase, public ControlLaw
{
        //
        // PUBLIC MEMBER FUNCTIONS:
        //
        public:

                RealTimeAlgorithm( );

                RealTimeAlgorithm(      const OCP& ocp_,
                                                        double _samplingTime = DEFAULT_SAMPLING_TIME
                                                        );

                RealTimeAlgorithm(      const RealTimeAlgorithm& rhs
                                                        );

                virtual ~RealTimeAlgorithm( );

                RealTimeAlgorithm& operator=(   const RealTimeAlgorithm& rhs
                                                                                );

                virtual ControlLaw* clone( ) const;


                virtual returnValue initializeAlgebraicStates(  const VariablesGrid& _xa_init
                                                                                                                );

                virtual returnValue initializeAlgebraicStates(  const char* fileName
                                                                                                                );


                virtual returnValue initializeControls( const VariablesGrid& _u_init
                                                                                                );

                virtual returnValue initializeControls( const char* fileName
                                                                                                );


                virtual returnValue init( );

                virtual returnValue init(       double startTime,
                                                                        const DVector &_x = emptyConstVector,
                                                                        const DVector &_p = emptyConstVector,
                                                                        const VariablesGrid& _yRef = emptyConstVariablesGrid
                                                                        );


                virtual returnValue step(       double currentTime,
                                                                        const DVector& _x,
                                                                        const DVector& _p = emptyConstVector,
                                                                        const VariablesGrid& _yRef = emptyConstVariablesGrid
                                                                        );

                virtual returnValue feedbackStep(       double currentTime,
                                                                                        const DVector &_x,
                                                                                        const DVector &_p = emptyConstVector,
                                                                                        const VariablesGrid& _yRef = emptyConstVariablesGrid
                                                                                        );

                virtual returnValue preparationStep(    double nextTime = 0.0,
                                                                                                const VariablesGrid& _yRef = emptyConstVariablesGrid
                                                                                                );


                virtual returnValue solve(      double startTime,
                                                                        const DVector &_x,
                                                                        const DVector &_p = emptyConstVector,
                                                                        const VariablesGrid& _yRef = emptyConstVariablesGrid
                                                                        );


                virtual returnValue shift(      double timeShift = -1.0
                                                                        );


                virtual returnValue setReference(       const VariablesGrid &ref
                                                                                        );

                
                virtual uint getNX( ) const;

                virtual uint getNXA( ) const;

                virtual uint getNU( ) const;

                virtual uint getNP( ) const;

                virtual uint getNW( ) const;

                virtual uint getNY( ) const;


                virtual double getLengthPredictionHorizon( ) const;

                virtual double getLengthControlHorizon( ) const;


                virtual BooleanType isDynamic( ) const;

                virtual BooleanType isStatic( ) const;

                virtual BooleanType isInRealTimeMode( ) const;


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

                virtual returnValue setupOptions( );

                virtual returnValue setupLogging( );

                returnValue clear( );

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

                virtual returnValue initializeNlpSolver(        const OCPiterate& userInit
                                                                                                        );

                virtual returnValue initializeObjective(        Objective *F
                                                                                                        );


                returnValue performFeedbackStep(        double currentTime,
                                                                                        const DVector &_x,
                                                                                        const DVector &_p = emptyConstVector
                                                                                        );

                returnValue performPreparationStep(     const VariablesGrid& _yRef = emptyConstVariablesGrid,
                                                                                        BooleanType isLastIteration = BT_TRUE
                                                                                        );


        //
        // DATA MEMBERS:
        //
        protected:

                DVector* x0;                                            
                DVector* p0;                                            
                VariablesGrid* reference;               
};


CLOSE_NAMESPACE_ACADO



#include <acado/optimization_algorithm/real_time_algorithm.ipp>


#endif  // ACADO_TOOLKIT_REAL_TIME_ALGORITHM_HPP

/*
 *   end of file
 */