variable_settings.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_VARIABLE_SETTINGS_HPP
#define ACADO_TOOLKIT_VARIABLE_SETTINGS_HPP


#include <string.h>

#include <acado/matrix_vector/matrix_vector.hpp>


BEGIN_NAMESPACE_ACADO


const char defaultName[] = "-";
const char defaultUnit[] = "-";

const double defaultScaling = 1.0;
const double defaultUpperBound =  INFTY;
const double defaultLowerBound = -INFTY;

const BooleanType defaultAutoInit = BT_TRUE;


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

        VariableSettings( );

        VariableSettings(       uint _dim,
                                                        VariableType _type = VT_UNKNOWN,
                                                        const char** const _names = 0,
                                                        const char** const _units = 0,
                                                        const DVector& _scaling = emptyConstVector,
                                                        const DVector& _lb = emptyConstVector,
                                                        const DVector& _ub = emptyConstVector,
                                                        BooleanType _autoInit = defaultAutoInit
                                                        );

                VariableSettings(       const VariableSettings& rhs
                                                        );

                ~VariableSettings( );

                VariableSettings& operator=(    const VariableSettings& rhs
                                                                                );


                returnValue init( );

                returnValue init(       uint _dim,
                                                        VariableType _type,
                                                        const char** const _names,
                                                        const char** const _units,
                                                        const DVector& _scaling = emptyConstVector,
                                                        const DVector& _lb = emptyConstVector,
                                                        const DVector& _ub = emptyConstVector,
                                                        BooleanType _autoInit = defaultAutoInit
                                                        );


                returnValue appendSettings(     const VariableSettings& rhs
                                                                        );

                returnValue appendSettings(     uint _dim,
                                                                        const char** const _names,
                                                                        const char** const _units,
                                                                        const DVector& _scaling = emptyConstVector,
                                                                        const DVector& _lb = emptyConstVector,
                                                                        const DVector& _ub = emptyConstVector
                                                                        );


        inline VariableType getType( ) const;

        inline returnValue setType(     VariableType _type
                                                                        );


                returnValue getName(    uint idx,
                                                                char* _name
                                                                ) const;

                returnValue setName(    uint idx,
                                                                const char* const _name
                                                                );


                returnValue getUnit(    uint idx,
                                                                char* _unit
                                                                ) const;

                returnValue setUnit(    uint idx,
                                                                const char* const _unit
                                                                );


                inline DVector getScaling( ) const;

                inline returnValue setScaling(  const DVector& _scaling
                                                                                );

                inline double getScaling(       uint idx
                                                                        ) const;

                inline returnValue setScaling(  uint idx,
                                                                                double _scaling
                                                                                );


                inline DVector getLowerBounds( ) const;

                inline returnValue setLowerBounds(      const DVector& _lb
                                                                                        );

                inline double getLowerBound(    uint idx
                                                                                ) const;

                inline returnValue setLowerBound(       uint idx,
                                                                                        double _lb
                                                                                        );


                inline DVector getUpperBounds( ) const;

                inline returnValue setUpperBounds(      const DVector& _ub
                                                                                        );

                inline double getUpperBound(    uint idx
                                                                                ) const;

                inline returnValue setUpperBound(       uint idx,
                                                                                        double _ub
                                                                                        );


                inline BooleanType getAutoInit( ) const;

                inline returnValue setAutoInit( BooleanType _autoInit
                                                                                );


                inline BooleanType hasNames( ) const;

                inline BooleanType hasUnits( ) const;

                inline BooleanType hasScaling( ) const;

                inline BooleanType hasLowerBounds( ) const;

                inline BooleanType hasUpperBounds( ) const;



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

                returnValue clear( );



    //
    // DATA MEMBERS:
    //
    protected:

                uint dim;                                                       
                VariableType type;                                      
                char** names;                                           
                char** units;                                           
                DVector scaling;                        
                DVector lb;                             
                DVector ub;                             
        BooleanType autoInit;                           
};


CLOSE_NAMESPACE_ACADO


#include <acado/variables_grid/variable_settings.ipp>


#endif  // ACADO_TOOLKIT_VARIABLE_SETTINGS_HPP

/*
 *      end of file
 */