35 #ifndef ACADO_TOOLKIT_CONSTRAINT_HPP 36 #define ACADO_TOOLKIT_CONSTRAINT_HPP 404 inline int getNX ()
const;
409 inline int getNXA ()
const;
414 inline int getNP ()
const;
419 inline int getNU ()
const;
424 inline int getNW ()
const;
500 #include <acado/constraint/constraint.ipp> 503 #endif // ACADO_TOOLKIT_CONSTRAINT_HPP Data class for storing generic optimization variables.
Implements a very rudimentary block sparse matrix class.
Allows to setup and evaluate a general function based on SymbolicExpressions.
returnValue getPathConstraints(Function &function_, DMatrix &lb_, DMatrix &ub_) const
virtual returnValue setUnitForwardSeed()
virtual returnValue setBackwardSeed(BlockMatrix *seed, int order)
User-interface to formulate and solve optimal control problems and static NLPs.
returnValue getPointConstraint(const unsigned index, Function &function_, DMatrix &lb_, DMatrix &ub_) const
Stores and evaluates the constraints of optimal control problems.
BoundaryConstraint * boundary_constraint
int getNumberOfBlocks() const
Allows to pass back messages to the calling function.
virtual returnValue setUnitBackwardSeed()
Stores and evaluates box constraints within optimal control problems.
BooleanType isAffine() const
BEGIN_NAMESPACE_ACADO typedef unsigned int uint
Allows to conveniently handle (one-dimensional) grids consisting of time points.
User-interface to formulate and solve model predictive control problems.
Stores and evaluates boundary constraints within optimal control problems.
Stores and evaluates pointwise constraints within optimal control problems.
#define CLOSE_NAMESPACE_ACADO
Base class for user-interfaces to formulate and solve optimal control problems and static NLPs...
Stores and evaluates path constraints within optimal control problems.
virtual returnValue setForwardSeed(BlockMatrix *xSeed_, BlockMatrix *xaSeed_, BlockMatrix *pSeed_, BlockMatrix *uSeed_, BlockMatrix *wSeed_, int order)
Data class for symbolically formulating constraints within optimal control problems.
virtual returnValue getBoundResiduum(BlockMatrix &lowerRes, BlockMatrix &upperRes)
Base class for export of NLP/OCP solvers.
virtual returnValue getBounds(const OCPiterate &iter)
returnValue add(const double lb_, const Expression &arg, const double ub_)
Base class for all variables within the symbolic expressions family.
Deals with algebraic consistency constraints within optimal control problems.
BooleanType isBoxConstraint() const
PathConstraint * path_constraint
returnValue evaluate(const OCPiterate &iter)
virtual returnValue getForwardSensitivities(BlockMatrix &D, int order)
AlgebraicConsistencyConstraint * algebraic_consistency_constraint
Constraint & operator=(const Constraint &rhs)
Stores and evaluates coupled path constraints within optimal control problems.
BooleanType isEmpty() const
void rhs(const real_t *x, real_t *f)
int getBlockDim(int idx) const
returnValue evaluateSensitivities()
#define BEGIN_NAMESPACE_ACADO
PointConstraint ** point_constraints
CoupledPathConstraint * coupled_path_constraint
virtual returnValue getConstraintResiduum(BlockMatrix &lowerRes, BlockMatrix &upperRes)
returnValue init(const Grid &grid_, const int &numberOfStages_=1)
DVector getBlockDims() const
Allows to setup and evaluate differential equations (ODEs and DAEs) based on SymbolicExpressions.
virtual returnValue getBackwardSensitivities(BlockMatrix &D, int order)