clipping_functionality.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_CLIPPING_FUNCTIONALITY_HPP
#define ACADO_TOOLKIT_CLIPPING_FUNCTIONALITY_HPP


#include <acado/utils/acado_utils.hpp>

#include <acado/matrix_vector/matrix_vector.hpp>
#include <acado/variables_grid/variables_grid.hpp>


BEGIN_NAMESPACE_ACADO


class ClippingFunctionality
{
        //
        // PUBLIC MEMBER FUNCTIONS:
        //
        public:

                ClippingFunctionality( );

                ClippingFunctionality(  uint _nU,
                                                                uint _nP = 0
                                                                );

                ClippingFunctionality(  const ClippingFunctionality& rhs
                                                                );

                ~ClippingFunctionality( );

                ClippingFunctionality& operator=(       const ClippingFunctionality& rhs
                                                                                        );


                returnValue setControlLowerLimits(      const DVector& _lowerLimit
                                                                                        );

                returnValue setControlLowerLimit(       uint idx,
                                                                                        double _lowerLimit
                                                                                        );

                returnValue setControlUpperLimits(      const DVector& _upperLimit
                                                                                        );

                returnValue setControlUpperLimit(       uint idx,
                                                                                        double _upperLimit
                                                                                        );


                returnValue setParameterLowerLimits(    const DVector& _lowerLimit
                                                                                                );

                returnValue setParameterLowerLimit(             uint idx,
                                                                                                double _lowerLimit
                                                                                                );

                returnValue setParameterUpperLimits(    const DVector& _upperLimit
                                                                                                );

                returnValue setParameterUpperLimit(     uint idx,
                                                                                        double _upperLimit
                                                                                        );


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

                returnValue clipSignals(        VariablesGrid& _u,
                                                                        VariablesGrid& _p = emptyVariablesGrid
                                                                        );

                returnValue clipSignals(        DVector& _u,
                                                                        DVector& _p = emptyVector
                                                                        );


                inline uint getNumControlLimits( ) const;

                inline uint getNumParameterLimits( ) const;



        //
        // DATA MEMBERS:
        //
        protected:

                DVector lowerLimitControls;                                     
                DVector upperLimitControls;                                     
                DVector lowerLimitParameters;                           
                DVector upperLimitParameters;                           
};


CLOSE_NAMESPACE_ACADO



#include <acado/control_law/clipping_functionality.ipp>


#endif  // ACADO_TOOLKIT_CLIPPING_FUNCTIONALITY_HPP

/*
 *      end of file
 */