curve.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_CURVE_HPP
#define ACADO_TOOLKIT_CURVE_HPP

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

BEGIN_NAMESPACE_ACADO


class Curve{

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

        Curve();

        Curve( const Curve& arg );

        ~Curve( );

        Curve& operator=( const Curve& arg );

                
                Curve operator()(       uint idx
                                                        ) const;

        returnValue add( double tStart,
                         double tEnd,
                         const DVector constant );


        returnValue add( const VariablesGrid& sampledData, InterpolationMode mode = IM_LINEAR );


        returnValue add( double tStart,
                         double tEnd,
                         const Function& parameterization_ );


        inline int getDim( ) const;


        inline BooleanType isEmpty( ) const;



        inline BooleanType isContinuous( ) const;



        inline int getNumIntervals( ) const;



        returnValue evaluate( double t, double *result ) const;


         returnValue evaluate( double t, DVector &result ) const;


         returnValue evaluate( double tStart, double tEnd, VariablesGrid &result ) const;



         returnValue discretize( const Grid &discretizationGrid, VariablesGrid &result ) const;



         returnValue getTimeDomain( double tStart, double tEnd ) const;


         returnValue getTimeDomain( const uint &idx, double tStart, double tEnd ) const;



         BooleanType isInTimeDomain(    double t
                                                                                ) const;





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


    //
    // DATA MEMBERS:
    //
    protected:

        uint                 nIntervals      ;   // number of intervals of the curve.
        uint                 dim             ;   // the dimension of the curve.
        Function           **parameterization;   // the parameterizations of the curve pieces
        Grid                *grid            ;   // the grid points associated with the intervals of the curve.
};


CLOSE_NAMESPACE_ACADO


#include <acado/curve/curve.ipp>


#endif  // ACADO_TOOLKIT_CURVE_HPP

/*
 *    end of file
 */