taylor_model.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_TAYLOR_MODEL_HPP
#define ACADO_TOOLKIT_TAYLOR_MODEL_HPP

#include <acado/utils/acado_utils.hpp>


BEGIN_NAMESPACE_ACADO

template <typename T> class TaylorVariable;

template <typename T>
class TaylorModel
{

friend class TaylorVariable<T>;
template <typename U> friend class TaylorModel;

public:

  TaylorModel
    ( const unsigned int nvar_, const unsigned int nord_ )
    { _size( nvar_, nord_ ); }

  ~TaylorModel()
    { _cleanup(); }

  unsigned int nvar() const
    { return _nvar; };
  unsigned int nord() const
    { return _nord; };
  void reset()
    { _reset(); };

  class Exceptions
  {
  public:
    enum TYPE{
      DIV=1,    
      INTER,    
      EIGEN,    
      SCALING,  
      SIZE=-1,  
      INIT=-2,  
      INCON=-3, 
      TMODEL=-4,
      UNDEF=-33 
    };
    Exceptions( TYPE ierr_ ) : _ierr( ierr_ ){}
    int ierr(){ return _ierr; }

  private:
    TYPE _ierr;
  };

  struct Options
  {
    Options():
      BOUNDER_TYPE(LSB), PROPAGATE_BNDT(false), INTER_WITH_BNDT(false),
      SCALE_VARIABLES(true), CENTER_REMAINDER(true), REF_MIDPOINT(true)
      {}
    template <typename U> Options
      ( U&_options )
      : BOUNDER_TYPE( _options.BOUNDER_TYPE ),
        PROPAGATE_BNDT( _options.PROPAGATE_BNDT ),
        INTER_WITH_BNDT( _options.INTER_WITH_BNDT ),
        SCALE_VARIABLES( _options.SCALE_VARIABLES ),
        CENTER_REMAINDER( _options.CENTER_REMAINDER ),
        REF_MIDPOINT( _options.REF_MIDPOINT )
      {}
    template <typename U> Options& operator =
      ( U&_options ){
        BOUNDER_TYPE = _options.BOUNDER_TYPE;
        PROPAGATE_BNDT = _options.PROPAGATE_BNDT;
        INTER_WITH_BNDT = _options.INTER_WITH_BNDT;
        SCALE_VARIABLES = _options.SCALE_VARIABLES;
        CENTER_REMAINDER = _options.CENTER_REMAINDER;
        REF_MIDPOINT = _options.REF_MIDPOINT;
        return *this;
      }
    enum BOUNDER{
      NAIVE=0,  
      LSB,      
      EIGEN,    
      HYBRID    
    };
    int BOUNDER_TYPE;
    bool PROPAGATE_BNDT;
    bool INTER_WITH_BNDT;
    bool SCALE_VARIABLES;
    bool CENTER_REMAINDER;
    bool REF_MIDPOINT;
  } options;
  
  static void pause();
    
private:  
  unsigned int _nord;
  unsigned int _nvar;
  unsigned int _nmon;
  unsigned int *_posord;
  unsigned int *_expmon;
  unsigned int **_prodmon;
  T *_bndmon;
  bool _modvar;
  unsigned int *_binom;
  T **_bndpow;
  double *_refpoint;
  double *_scaling; 

  TaylorVariable<T>* _TV;

  void _size
    ( const unsigned int nvar, const unsigned int nord );

//   //! @brief Set the order (nord) and number of variables (nvar)
//   template <typename U> void _copy_data
//     ( const TaylorModel<U>&TM );

  void _set_bndpow
    ( const unsigned int ix, const T&X, const double scaling );

  void _set_bndmon();

  void _set_posord();

  void _set_expmon();
  
  void _next_expmon
    ( unsigned int *iexp, const unsigned int iord );

  void _set_prodmon();
    
  unsigned int _loc_expmon
    ( const unsigned int *iexp );
    
  void _set_binom();

  unsigned int _get_binom
    ( const unsigned int n, const unsigned int k ) const;

  void _reset();

  void _cleanup();

  template< typename U > static void _display
    ( const unsigned int m, const unsigned int n, U*&a, const unsigned int lda,
      const std::string&stra, std::ostream&os );
};


CLOSE_NAMESPACE_ACADO

#include <acado/set_arithmetics/taylor_variable.hpp>
#include <acado/set_arithmetics/taylor_model.ipp>
#include <acado/set_arithmetics/taylor_variable.ipp>

#endif  // ACADO_TOOLKIT_TAYLOR_MODEL_HPP