box_constraint.hpp
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1 /*
2  * This file is part of ACADO Toolkit.
3  *
4  * ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
5  * Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
6  * Milan Vukov, Rien Quirynen, KU Leuven.
7  * Developed within the Optimization in Engineering Center (OPTEC)
8  * under supervision of Moritz Diehl. All rights reserved.
9  *
10  * ACADO Toolkit is free software; you can redistribute it and/or
11  * modify it under the terms of the GNU Lesser General Public
12  * License as published by the Free Software Foundation; either
13  * version 3 of the License, or (at your option) any later version.
14  *
15  * ACADO Toolkit is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
18  * Lesser General Public License for more details.
19  *
20  * You should have received a copy of the GNU Lesser General Public
21  * License along with ACADO Toolkit; if not, write to the Free Software
22  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
23  *
24  */
25 
26 
27 
35 #ifndef ACADO_TOOLKIT_BOX_CONSTRAINT_HPP
36 #define ACADO_TOOLKIT_BOX_CONSTRAINT_HPP
37 
38 
42 
43 
45 
46 
47 
60 
61  //
62  // PUBLIC MEMBER FUNCTIONS:
63  //
64  public:
65 
67  BoxConstraint( );
68 
71 
73  virtual ~BoxConstraint( );
74 
76  BoxConstraint& operator=( const BoxConstraint& rhs );
77 
78 
80  returnValue init( const Grid& grid_ );
81 
82 
83  //
84  // PROTECTED MEMBER FUNCTIONS:
85  //
86  protected:
87 
88 
90  void deleteAll();
91 
92 
93  returnValue evaluateBounds( const OCPiterate& iter );
94 
95 
99  virtual returnValue getBounds( const OCPiterate& iter );
100 
101 
102 
103 
104 
105  //
106  // DATA MEMBERS:
107  //
108  protected:
109 
112  // BOUNDS:
113  // ----------------------
114  int nb ;
116  int *index ;
130 };
131 
132 
134 
135 
136 
137 #include <acado/constraint/box_constraint.ipp>
138 
139 
140 #endif // ACADO_TOOLKIT_BOX_CONSTRAINT_HPP
141 
142 /*
143  * end of file
144  */
DMatrix * residuumPU
Data class for storing generic optimization variables.
Definition: ocp_iterate.hpp:57
returnValue init(const Grid &grid_)
DMatrix * residuumXAU
DMatrix * residuumUL
Allows to pass back messages to the calling function.
Stores and evaluates box constraints within optimal control problems.
Allows to conveniently handle (one-dimensional) grids consisting of time points.
Definition: grid.hpp:58
DMatrix * residuumXL
#define CLOSE_NAMESPACE_ACADO
VariableType
Definition: acado_types.hpp:95
VariableType * var
DMatrix * residuumPL
DMatrix * residuumXU
DMatrix * residuumXAL
virtual ~BoxConstraint()
void rhs(const real_t *x, real_t *f)
virtual returnValue getBounds(const OCPiterate &iter)
returnValue evaluateBounds(const OCPiterate &iter)
BoxConstraint & operator=(const BoxConstraint &rhs)
DMatrix * residuumWU
#define BEGIN_NAMESPACE_ACADO
DMatrix * residuumUU
DMatrix * residuumWL


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Mon Jun 10 2019 12:34:29