scp_step_linesearch.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_LINESEARCH_HPP
00035 #define ACADO_TOOLKIT_SCP_STEP_LINESEARCH_HPP
00036 
00037 
00038 #include <acado/utils/acado_utils.hpp>
00039 #include <acado/nlp_solver/scp_step.hpp>
00040 
00041 
00042 
00043 BEGIN_NAMESPACE_ACADO
00044 
00045 
00046 
00057 class SCPstepLinesearch : public SCPstep {
00058 
00059 
00060     //
00061     // PUBLIC MEMBER FUNCTIONS:
00062     //
00063     public:
00064 
00066         SCPstepLinesearch( );
00067 
00068                 SCPstepLinesearch(      UserInteraction* _userInteraction
00069                                                         );
00070                                         
00072         SCPstepLinesearch( const SCPstepLinesearch& rhs );
00073 
00075         virtual ~SCPstepLinesearch( );
00076 
00078         SCPstepLinesearch& operator=( const SCPstepLinesearch& rhs );
00079 
00080         virtual SCPstep* clone() const;
00081 
00082 
00083         virtual returnValue performStep(        OCPiterate& iter,
00084                                                                                 BandedCP& cp,
00085                                                                                 SCPevaluation* eval
00086                                                                                 );
00087 
00088 
00089     //
00090     // PROTECTED MEMBER FUNCTIONS:
00091     //
00092     protected:
00093 
00101                 returnValue performLineSearch(  const OCPiterate& iter,
00102                                                                                 BandedCP& cp,
00103                                                                                 SCPevaluation& eval,
00104                                                                                 double& alpha,
00105                                                                                 const double& alphaMin
00106                                                                                 );
00107 
00108 
00109 
00110     //
00111     // DATA MEMBERS:
00112     //
00113     protected:
00114 };
00115 
00116 
00117 CLOSE_NAMESPACE_ACADO
00118 
00119 
00120 
00121 //#include <acado/nlp_solver/scp_step_linesearch.ipp>
00122 
00123 
00124 #endif  // ACADO_TOOLKIT_SCP_STEP_LINESEARCH_HPP
00125 
00126 /*
00127  *  end of file
00128  */


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