scp_step.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 
00034 #ifndef ACADO_TOOLKIT_SCP_STEP_HPP
00035 #define ACADO_TOOLKIT_SCP_STEP_HPP
00036 
00037 
00038 #include <acado/utils/acado_utils.hpp>
00039 #include <acado/user_interaction/algorithmic_base.hpp>
00040 
00041 #include <acado/function/ocp_iterate.hpp>
00042 #include <acado/conic_program/banded_cp.hpp>
00043 #include <acado/conic_solver/banded_cp_solver.hpp>
00044 
00045 #include <acado/nlp_solver/scp_merit_function.hpp>
00046 
00047 
00048 
00049 BEGIN_NAMESPACE_ACADO
00050 
00051 
00062 class SCPstep : public AlgorithmicBase
00063 {
00064 //      friend class SCPmethod;
00065 
00066     //
00067     // PUBLIC MEMBER FUNCTIONS:
00068     //
00069     public:
00070 
00072         SCPstep( );
00073 
00074         SCPstep(        UserInteraction* _userInteraction
00075                                         );
00076                 
00078         SCPstep( const SCPstep& rhs );
00079 
00081         virtual ~SCPstep( );
00082 
00084         SCPstep& operator=( const SCPstep& rhs );
00085 
00086         virtual SCPstep* clone() const = 0;
00087 
00088 
00089         virtual returnValue performStep(        OCPiterate& iter,
00090                                                                                 BandedCP& cp,
00091                                                                                 SCPevaluation* eval
00092                                                                                 ) = 0;
00093 
00094 
00095     //
00096     // PROTECTED MEMBER FUNCTIONS:
00097     //
00098     protected:
00099                 
00100                 virtual returnValue setupOptions( );
00101                 virtual returnValue setupLogging( );
00102 
00107         virtual returnValue applyStep(  OCPiterate& iter,
00108                                                                         BandedCP& cp,
00109                                                                         double alpha
00110                                                                         ) const;
00111 
00112 //              virtual returnValue getUpdatedFirstControl(     const OCPiterate& iter,
00113 //                                                                                                      const BandedCP& cp,
00114 //                                                                                                      double alpha,
00115 //                                                                                                      DVector& _u
00116 //                                                                                                      ) const;
00117 
00118 
00119     //
00120     // DATA MEMBERS:
00121     //
00122     protected:
00123 
00124                 SCPmeritFunction* meritFcn;
00125 
00126 };
00127 
00128 
00129 CLOSE_NAMESPACE_ACADO
00130 
00131 
00132 
00133 //#include <acado/nlp_solver/scp_step.ipp>
00134 
00135 
00136 #endif  // ACADO_TOOLKIT_SCP_STEP_HPP
00137 
00138 /*
00139  *  end of file
00140  */


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