ocp.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_OCP_HPP
#define ACADO_TOOLKIT_OCP_HPP

#include <acado/ocp/multi_objective_functionality.hpp>
#include <acado/ocp/model_container.hpp>

BEGIN_NAMESPACE_ACADO

class Grid;
class Objective;
class Constraint;

class OCP: public MultiObjectiveFunctionality, public ModelContainer
{
public:

        OCP(    const double &tStart_ = 0.0,  
                        const double &tEnd_   = 1.0,  
                        const int    &N_      = 20     );


        OCP(    const double &tStart_,                  
                        const double &tEnd_,                    
                        const DVector& _numSteps                 );


        OCP(    const double    &tStart_,  
                        const Parameter &tEnd_,    
                        const int       &N_ = 20    );


        OCP(    const Grid &grid_   );


        virtual ~OCP( );

        returnValue minimizeMayerTerm( const Expression& arg );


        returnValue minimizeMayerTerm( const int &multiObjectiveIdx,  const Expression& arg );


        returnValue maximizeMayerTerm( const Expression& arg );


        returnValue minimizeLagrangeTerm( const Expression& arg );


        returnValue maximizeLagrangeTerm( const Expression& arg );

        returnValue minimizeLSQ(        const DMatrix   &S,   
                                                                const Function  &h,   
                                                                const DVector   &r     );

        returnValue minimizeLSQ(        const Function &h,   
                                                                const DVector  &r     );

        returnValue minimizeLSQ(        const Function &h     );

        returnValue minimizeLSQ(        const MatrixVariablesGrid &S,   
                                                                const Function            &h,   
                                                                const VariablesGrid       &r     );

        returnValue minimizeLSQ(        const DMatrix       &S,   
                                                                const Function      &h,   
                                                                const VariablesGrid &r     );

        returnValue minimizeLSQ(        const Function      &h, 
                                                                const VariablesGrid &r   );

        returnValue minimizeLSQ(        const MatrixVariablesGrid &S,   
                                                                const Function            &h,   
                                                                const char*        rFilename     );

        returnValue minimizeLSQ(        const DMatrix        &S,
                                                                const Function      &h, 
                                                                const char*  rFilename   );

        returnValue minimizeLSQ(        const Function      &h,   
                                                                const char*  rFilename     );

        returnValue minimizeLSQ(        const DMatrix& S,       
                                                                const Function& h        );

        returnValue minimizeLSQ(        const BMatrix& S,       
                                                                const Function& h        );

        returnValue minimizeLSQ(        const DMatrix& S,               
                                                                const std::string& h     );

        returnValue minimizeLSQ(        const BMatrix& S,               
                                                                const std::string& h     );

        returnValue minimizeLSQEndTerm( const DMatrix  & S,     
                                                                        const Function & m,     
                                                                        const DVector  & r       );

        returnValue minimizeLSQEndTerm( const Function & m,     
                                                                        const DVector  & r       );

        returnValue minimizeLSQEndTerm( const DMatrix& S,               
                                                                        const Function& m                );

        returnValue minimizeLSQEndTerm( const DMatrix& S,               
                                                                        const std::string& m     );

        returnValue minimizeLSQEndTerm( const BMatrix& S,               
                                                                        const Function& m                );

        returnValue minimizeLSQEndTerm( const BMatrix& S,               
                                                                        const std::string& m     );

        returnValue minimizeLSQLinearTerms(     const DVector& Slx,     
                                                                                const DVector& Slu       );

        returnValue minimizeLSQLinearTerms(     const BVector& Slx,     
                                                                                const BVector& Slu       );
        returnValue subjectTo( const DifferentialEquation& differentialEquation_ );


        returnValue subjectTo( const ConstraintComponent& component );


        returnValue subjectTo( int index_, const ConstraintComponent& component );


        returnValue subjectTo(  const double lb_,
                                                        const Expression& arg1,
                                                        const Expression& arg2,
                                                        const double ub_ );


        returnValue subjectTo( const double lb_, const Expression *arguments, const double ub_ );

        returnValue subjectTo( const DVector& _lb, const Expression& _expr, const DVector& _ub );

        returnValue subjectTo( int _index, const DVector& _lb, const Expression& _expr, const DVector& _ub );

        BooleanType hasObjective           () const;
        BooleanType hasConstraint          () const;

        returnValue getGrid                ( Grid&      grid_                               ) const;
        returnValue getObjective           ( Objective& objective_                          ) const;
        returnValue getObjective           ( const int &multiObjectiveIdx, Expression **arg ) const;

        returnValue getConstraint( Constraint& constraint_ ) const;

        returnValue setObjective ( const Objective & objective_  );
        returnValue setConstraint( const Constraint& constraint_ );
        returnValue setNumberIntegrationSteps( const uint numSteps );

        virtual BooleanType hasEquidistantGrid( ) const;

        double getStartTime ( ) const;
        double getEndTime( ) const;
protected:

        void setupGrid( double tStart, double tEnd, int N );
        void setupGrid( const DVector& times );

        std::shared_ptr<Grid> grid;
        std::shared_ptr<Objective> objective;
        std::shared_ptr<Constraint> constraint;
};

CLOSE_NAMESPACE_ACADO

#endif  // ACADO_TOOLKIT_OCP_HPP