sparse_solver.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_SPARSE_SOLVER_HPP
#define ACADO_TOOLKIT_SPARSE_SOLVER_HPP


#include <acado/utils/acado_utils.hpp>


BEGIN_NAMESPACE_ACADO


class SparseSolver{


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

        SparseSolver( );

        virtual ~SparseSolver( );

        virtual SparseSolver* clone() const = 0;


        virtual returnValue setDimension( const int &n ) = 0;


        virtual returnValue setNumberOfEntries( const int &nDense_ ) = 0;



        virtual returnValue setIndices( const int *rowIdx_,
                                        const int *colIdx_  ) = 0;



        virtual returnValue setMatrix( double *A_ ) = 0;



        virtual returnValue solve( double *b ) = 0;


        virtual returnValue solveTranspose( double *b );


        virtual returnValue getX( double *x ) = 0;



        virtual returnValue setTolerance( double TOL ) = 0;


        virtual returnValue setPrintLevel( PrintLevel PrintLevel_ ) = 0;




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



    //
    // DATA MEMBERS:
    //
    protected:


};


CLOSE_NAMESPACE_ACADO

#include <acado/sparse_solver/sparse_solver.ipp>

#endif  // ACADO_TOOLKIT_SPARSE_SOLVER_HPP

#include <acado/sparse_solver/conjugate_gradient_method.hpp>
#include <acado/sparse_solver/normal_conjugate_gradient_method.hpp>
#include <acado/sparse_solver/symmetric_conjugate_gradient_method.hpp>

/*
 *   end of file
 */