integrator_discretized_ode.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_INTEGRATOR_DISCRETIZED_ODE_HPP
#define ACADO_TOOLKIT_INTEGRATOR_DISCRETIZED_ODE_HPP


#include <acado/integrator/integrator_fwd.hpp>
#include <acado/integrator/integrator_runge_kutta12.hpp>




BEGIN_NAMESPACE_ACADO


class IntegratorDiscretizedODE : public IntegratorRK12{


friend class ShootingMethod;

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

    IntegratorDiscretizedODE( );

    IntegratorDiscretizedODE( const DifferentialEquation &rhs_ );

    IntegratorDiscretizedODE( const IntegratorDiscretizedODE& arg );

    virtual ~IntegratorDiscretizedODE( );

    virtual IntegratorDiscretizedODE& operator=( const IntegratorDiscretizedODE& arg );

        virtual Integrator* clone() const;


        virtual returnValue init( const DifferentialEquation &rhs_ );
        
    virtual returnValue step(   int number  
                                                                );


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

    returnValue performDiscreteStep ( const int& number_ );

    returnValue performADforwardStep( const int& number_ );

    returnValue performADbackwardStep( const int& number_ );

    returnValue performADforwardStep2( const int& number_ );

    returnValue performADbackwardStep2( const int& number_ );


//
// PROTECTED MEMBERS:
//
protected:

    double stepLength;
};


CLOSE_NAMESPACE_ACADO



#include <acado/integrator/integrator_discretized_ode.ipp>


#endif  // ACADO_TOOLKIT_INTEGRATOR_DISCRETIZED_ODE_HPP

// end of file.