grid.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_GRID_HPP
#define ACADO_TOOLKIT_GRID_HPP


#include <acado/utils/acado_utils.hpp>
#include <acado/matrix_vector/matrix_vector.hpp>


BEGIN_NAMESPACE_ACADO



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

                Grid( );

                Grid(   uint    nPoints_,
                                double* times_ = 0
                                );

                Grid(   const DVector& times_
                                );

                Grid(   double _firstTime,
                                double _lastTime,
                                uint _nPoints = 2
                                );

        Grid(   const Grid& rhs
                                );

        ~Grid( );

        Grid& operator=(        const Grid& rhs
                                                        );


                returnValue init(       uint _nPoints = 0,
                                                        const double* const _times = 0
                                                        );

                returnValue init(       const DVector& times_
                                                        );

                returnValue init(       double _firstTime,
                                                        double _lastTime,
                                                        uint _nPoints = 2
                                                        );

                returnValue init(       const Grid& rhs
                                                        );


                inline BooleanType operator==(  const Grid& arg
                                                                                ) const;

                inline BooleanType operator!=(  const Grid& arg
                                                                                ) const;

                inline BooleanType operator<(   const Grid& arg
                                                                                ) const;

                inline BooleanType operator<=(  const Grid& arg
                                                                                ) const;

                inline BooleanType operator>(   const Grid& arg
                                                                                ) const;

                inline BooleanType operator>=(  const Grid& arg
                                                                                ) const;


                Grid& operator&(        const Grid& arg
                                                        );


                returnValue equalizeGrids(      Grid& arg
                                                                        );


                returnValue setTime(    double _time
                                                                );

                returnValue setTime(    uint pointIdx,
                                                                double _time
                                                                );

                returnValue addTime(    double _time
                                                                );


                returnValue merge(      const Grid& arg,
                                                        MergeMethod _mergeMethod = MM_DUPLICATE,
                                                        BooleanType keepOverlap = BT_TRUE
                                                        );


                inline BooleanType isEmpty( ) const;

                inline uint getNumPoints( ) const;

                inline uint getNumIntervals( ) const;


                inline double getFirstTime( ) const;

                inline double getLastTime( ) const;

                inline double getTime(  uint pointIdx
                                                                ) const;


        Grid& shiftTimes(       double timeShift
                                                        );


                inline BooleanType isEquidistant( ) const;

                inline double getIntervalLength( ) const;

                inline double getIntervalLength(        uint pointIdx
                                                                                        ) const;

                returnValue scaleTimes( double scaling
                                                                );


                returnValue refineGrid( uint factor
                                                                );

                returnValue coarsenGrid(        uint factor
                                                                        );


                BooleanType hasTime(    double _time
                                                                ) const;


                int findTime(   double _time,
                                                uint startIdx = 0
                                                ) const;

                int findFirstTime(      double _time,
                                                        uint startIdx = 0
                                                        ) const;

                int findLastTime(       double _time,
                                                        uint startIdx = 0
                                                        ) const;


                uint getFloorIndex(     double time
                                                        ) const;

                uint getCeilIndex (     double time
                                                        ) const;


                inline uint getLastIndex (      ) const;


                inline BooleanType isLast(      uint pointIdx
                                                                        ) const;


                inline BooleanType isInInterval(        double _time
                                                                                        ) const;

        inline BooleanType isInInterval(        uint pointIdx,
                                                                                        double _time
                                                                                        ) const;

        inline BooleanType isInUpperHalfOpenInterval(   uint pointIdx,
                                                                                                                double _time
                                                                                                                ) const;

        inline BooleanType isInLowerHalfOpenInterval(   uint pointIdx,
                                                                                                                double _time
                                                                                                                ) const;


                returnValue getSubGrid( double tStart,
                                                                double tEnd,
                                                                Grid& _subGrid
                                                                ) const;


        returnValue print( ) const;



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

                returnValue setupEquidistant(   double _firstTime,
                                                                                double _lastTime
                                                                                );

                int findNextIndex( ) const;


    //
    // DATA MEMBERS:
    //
    protected:

                uint nPoints;                                   
                double* times;                                  
};


CLOSE_NAMESPACE_ACADO

#include <acado/variables_grid/grid.ipp>

#endif  // ACADO_TOOLKIT_GRID_HPP

/*
 *      end of file
 */