scp_step.cpp
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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 
00034 #include <acado/nlp_solver/scp_step.hpp>
00035 #include <acado/curve/curve.hpp>
00036 #include <acado/bindings/acado_qpoases/qp_solver_qpoases.hpp>
00037 
00038 
00039 BEGIN_NAMESPACE_ACADO
00040 
00041 
00042 //
00043 // PUBLIC MEMBER FUNCTIONS:
00044 //
00045 
00046 SCPstep::SCPstep( ) : AlgorithmicBase( )
00047 {
00048         setupOptions( );
00049         setupLogging( );
00050 
00051         meritFcn = new SCPmeritFunction;
00052 }
00053 
00054 
00055 SCPstep::SCPstep( UserInteraction* _userInteraction ) : AlgorithmicBase( _userInteraction )
00056 {
00057         // setup options and loggings for stand-alone instances
00058         if ( _userInteraction == 0 )
00059         {
00060                 setupOptions( );
00061                 setupLogging( );
00062         }
00063 
00064         meritFcn = new SCPmeritFunction( _userInteraction );
00065 }
00066 
00067 
00068 SCPstep::SCPstep( const SCPstep& rhs ) : AlgorithmicBase( rhs )
00069 {
00070         if( rhs.meritFcn != 0 ) meritFcn = new SCPmeritFunction( *(rhs.meritFcn) );
00071         else                    meritFcn = 0;
00072 }
00073 
00074 
00075 SCPstep::~SCPstep( )
00076 {
00077     if( meritFcn != 0 )
00078                 delete meritFcn;
00079 }
00080 
00081 
00082 SCPstep& SCPstep::operator=( const SCPstep& rhs )
00083 {
00084     if ( this != &rhs )
00085     {
00086                 if( meritFcn != 0 )
00087                         delete meritFcn;
00088 
00089                 AlgorithmicBase::operator=( rhs );
00090 
00091                 if( rhs.meritFcn != 0 ) meritFcn = new SCPmeritFunction( *(rhs.meritFcn) );
00092                 else                    meritFcn = 0;
00093     }
00094 
00095     return *this;
00096 }
00097 
00098 
00099 
00100 //
00101 // PROTECTED MEMBER FUNCTIONS:
00102 //
00103 
00104 returnValue SCPstep::setupOptions( )
00105 {
00106         return SUCCESSFUL_RETURN;
00107 }
00108 
00109 
00110 returnValue SCPstep::setupLogging( )
00111 {
00112         return SUCCESSFUL_RETURN;
00113 }
00114 
00115 
00116 returnValue SCPstep::applyStep( OCPiterate& iter,
00117                                                                 BandedCP& cp,
00118                                                                 double alpha
00119                                                                 ) const
00120 {
00121     return iter.applyStep( cp.deltaX,alpha );
00122 }
00123 
00124 
00125 // returnValue SCPstep::getUpdatedFirstControl( const OCPiterate& iter,
00126 //                                                                                              const BandedCP& cp,
00127 //                                                                                              double alpha,
00128 //                                                                                              DVector& _u
00129 //                                                                                              ) const
00130 // {
00131 //     DMatrix tmp;
00132 // 
00133 //      cp.deltaX.getSubBlock( 3*iter.getNumPoints()+0, 0, tmp, _u.getDim(), 1 );
00134 // 
00135 //      for( uint run1 = 0; run1 < _u.getDim(); run1++ )
00136 //              _u(run1) += alpha*tmp(run1,0);
00137 // 
00138 //      return SUCCESSFUL_RETURN;
00139 // }
00140 
00141 
00142 CLOSE_NAMESPACE_ACADO
00143 
00144 // end of file.


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:38:51