variables_grid.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_VARIABLES_GRID_HPP
#define ACADO_TOOLKIT_VARIABLES_GRID_HPP

#include <acado/variables_grid/matrix_variables_grid.hpp>


BEGIN_NAMESPACE_ACADO


class VariablesGrid : public MatrixVariablesGrid
{
        friend class OptimizationAlgorithmBase;
        friend class OptimizationAlgorithm;
        friend class RealTimeAlgorithm;

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

        VariablesGrid( );

        VariablesGrid(  uint _dim,
                                                const Grid& _grid,
                                                VariableType _type = VT_UNKNOWN,
                                                const char** const _names = 0,
                                                const char** const _units = 0,
                                                const DVector* const _scaling = 0,
                                                const DVector* const _lb = 0,
                                                const DVector* const _ub = 0,
                                                const BooleanType* const _autoInit = 0
                                                );


        VariablesGrid(  uint _dim,
                                                uint _nPoints,
                                                VariableType _type = VT_UNKNOWN,
                                                const char** const _names = 0,
                                                const char** const _units = 0,
                                                const DVector* const _scaling = 0,
                                                const DVector* const _lb = 0,
                                                const DVector* const _ub = 0,
                                                const BooleanType* const _autoInit = 0
                                                );

        VariablesGrid(  uint _dim,
                                                double _firstTime,
                                                double _lastTime,
                                                uint _nPoints,
                                                VariableType _type = VT_UNKNOWN,
                                                const char** const _names = 0,
                                                const char** const _units = 0,
                                                const DVector* const _scaling = 0,
                                                const DVector* const _lb = 0,
                                                const DVector* const _ub = 0,
                                                const BooleanType* const _autoInit = 0
                                                );

        VariablesGrid(  const DVector& arg,
                                                const Grid& _grid = trivialGrid,
                                                VariableType _type = VT_UNKNOWN
                                                );

        VariablesGrid(  const DMatrix& arg,
                                                VariableType _type = VT_UNKNOWN
                                                );

        VariablesGrid(  const VariablesGrid& rhs
                                                );

        VariablesGrid(  const MatrixVariablesGrid& rhs
                                                );


        ~VariablesGrid( );


        VariablesGrid& operator=(       const VariablesGrid& rhs
                                                                        );

        VariablesGrid& operator=(       const MatrixVariablesGrid& rhs
                                                                        );

        operator DMatrix() const;

        VariablesGrid& operator=(       const DMatrix& rhs
                                                                        );


        inline BooleanType operator==(  const VariablesGrid& arg
                                                                        ) const;

        inline double& operator()(      uint pointIdx,
                                                                        uint rowIdx
                                                                        );

        inline double operator()(       uint pointIdx,
                                                                        uint rowIdx
                                                                        ) const;


        VariablesGrid operator()(       const uint rowIdx
                                                                        ) const;

        VariablesGrid operator[](       const uint pointIdx
                                                                        ) const;


                inline VariablesGrid operator+( const VariablesGrid& arg
                                                                                ) const;

                inline VariablesGrid& operator+=(       const VariablesGrid& arg
                                                                                        );


                inline VariablesGrid operator-( const VariablesGrid& arg
                                                                                ) const;

                inline VariablesGrid& operator-=(       const VariablesGrid& arg
                                                                                        );


        returnValue init( );

                returnValue     init(   uint _dim,
                                                        const Grid& _grid,
                                                        VariableType _type = VT_UNKNOWN,
                                                        const char** const _names = 0,
                                                        const char** const _units = 0,
                                                        const DVector* const _scaling = 0,
                                                        const DVector* const _lb = 0,
                                                        const DVector* const _ub = 0,
                                                        const BooleanType* const _autoInit = 0
                                                        );

        returnValue init(       uint _dim,
                                                        uint _nPoints,
                                                        VariableType _type = VT_UNKNOWN,
                                                        const char** const _names = 0,
                                                        const char** const _units = 0,
                                                        const DVector* const _scaling = 0,
                                                        const DVector* const _lb = 0,
                                                        const DVector* const _ub = 0,
                                                        const BooleanType* const _autoInit = 0
                                                        );

        returnValue init(       uint _dim,
                                                        double _firstTime,
                                                        double _lastTime,
                                                        uint _nPoints,
                                                        VariableType _type = VT_UNKNOWN,
                                                        const char** const _names = 0,
                                                        const char** const _units = 0,
                                                        const DVector* const _scaling = 0,
                                                        const DVector* const _lb = 0,
                                                        const DVector* const _ub = 0,
                                                        const BooleanType* const _autoInit = 0
                                                        );

        returnValue init(       const DVector& arg,
                                                        const Grid& _grid = trivialGrid,
                                                        VariableType _type = VT_UNKNOWN
                                                        );


                returnValue addVector(  const DVector& newVector,
                                                                double newTime = -INFTY
                                                                );


                returnValue setVector(  uint pointIdx,                  
                                                                const DVector& _values  
                                                                );

                returnValue setAllVectors(      const DVector& _values
                                                                        );


                DVector getVector(      uint pointIdx
                                                        ) const;

                DVector getFirstVector( ) const;

                DVector getLastVector( ) const;


                returnValue appendTimes(        const VariablesGrid& arg,
                                                                        MergeMethod _mergeMethod = MM_DUPLICATE
                                                                        );

                returnValue appendTimes(        const DMatrix& arg,
                                                                        MergeMethod _mergeMethod = MM_DUPLICATE
                                                                        );
                                                                        
                returnValue appendValues(       const VariablesGrid& arg
                                                                        );


                returnValue merge(      const VariablesGrid& arg,
                                                        MergeMethod _mergeMethod = MM_DUPLICATE,
                                                        BooleanType keepOverlap = BT_TRUE
                                                        );


        VariablesGrid getTimeSubGrid(   uint startIdx,
                                                                                uint endIdx
                                                                                ) const;

                VariablesGrid getTimeSubGrid(   double startTime,
                                                                                double endTime
                                                                                ) const;

        VariablesGrid getValuesSubGrid( uint startIdx,
                                                                                uint endIdx
                                                                                ) const;


        VariablesGrid& shiftTimes(      double timeShift
                                                                        );

                VariablesGrid& shiftBackwards( DVector lastValue = emptyVector );


                returnValue getSum(     DVector& sum
                                                        ) const;

                returnValue getIntegral(        InterpolationMode mode,
                                                                        DVector& value
                                                                        ) const;

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

        returnValue initializeFromBounds( );
};

CLOSE_NAMESPACE_ACADO

#include <acado/variables_grid/variables_grid.ipp>

BEGIN_NAMESPACE_ACADO

static       VariablesGrid emptyVariablesGrid;
static const VariablesGrid emptyConstVariablesGrid;

CLOSE_NAMESPACE_ACADO

#endif  // ACADO_TOOLKIT_VARIABLES_GRID_HPP

/*
 *      end of file
 */