matrix_variable.cpp

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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
 *
 */


#include <acado/variables_grid/matrix_variable.hpp>



BEGIN_NAMESPACE_ACADO



//
// PUBLIC MEMBER FUNCTIONS:
//

MatrixVariable::MatrixVariable( ) : DMatrix( ), VariableSettings( )
{
}


MatrixVariable::MatrixVariable( uint _nRows,
                                                                uint _nCols,
                                                                VariableType _type,
                                                                const char** const _names,
                                                                const char** const _units,
                                                                DVector _scaling,
                                                                DVector _lb,
                                                                DVector _ub,
                                                                BooleanType _autoInit
                                                                ) : DMatrix( _nRows,_nCols ), VariableSettings( _nRows*_nCols,_type,_names,_units,_scaling,_lb,_ub,_autoInit )
{
}


MatrixVariable::MatrixVariable( const MatrixVariable& rhs ) : DMatrix( rhs ), VariableSettings( rhs )
{
}


MatrixVariable::MatrixVariable( const DMatrix& _matrix,
                                                                VariableType _type
                                                                ) : DMatrix( _matrix ), VariableSettings( _matrix.getDim(),_type )
{
}


MatrixVariable::~MatrixVariable( )
{
}


MatrixVariable& MatrixVariable::operator=( const MatrixVariable& rhs )
{
    if ( this != &rhs )
    {
                VariableSettings::operator=( rhs );
                DMatrix::operator=( rhs );
    }

    return *this;
}


MatrixVariable& MatrixVariable::operator=( const DMatrix& rhs )
{
    if ( this != &rhs )
    {
                VariableSettings::operator=( rhs.getDim() );
                DMatrix::operator=( rhs );
    }

    return *this;
}



returnValue MatrixVariable::init(       uint _nRows,
                                                                        uint _nCols,
                                                                        VariableType _type,
                                                                        const char** const _names,
                                                                        const char** const _units,
                                                                        DVector _scaling,
                                                                        DVector _lb,
                                                                        DVector _ub,
                                                                        BooleanType _autoInit
                                                                        )
{
        DMatrix::init( _nRows,_nCols );

        if ( VariableSettings::init( _nRows*_nCols,_type,_names,_units,_scaling,_lb,_ub,_autoInit ) != SUCCESSFUL_RETURN )
                return ACADOERROR( RET_UNKNOWN_BUG );

        return SUCCESSFUL_RETURN;
}



MatrixVariable MatrixVariable::getRows( uint startIdx,
                                                                                uint endIdx
                                                                                ) const
{
        MatrixVariable newMatrixVariable;

        if ( ( startIdx >= getNumRows( ) ) || ( endIdx >= getNumRows( ) ) )
                return newMatrixVariable;

        if ( startIdx > endIdx )
                return newMatrixVariable;

        newMatrixVariable.init( endIdx-startIdx+1,getNumCols() );
        newMatrixVariable.operator=( DMatrix::getRows( startIdx,endIdx ) );
        // needs to be implemented for VariableSettings!!

        return newMatrixVariable;
}


MatrixVariable MatrixVariable::getCols( uint startIdx,
                                                                                uint endIdx
                                                                                ) const
{
        MatrixVariable newMatrixVariable;

        if ( ( startIdx >= getNumCols( ) ) || ( endIdx >= getNumCols( ) ) )
                return newMatrixVariable;

        if ( startIdx > endIdx )
                return newMatrixVariable;


        newMatrixVariable.init( getNumRows(),endIdx-startIdx+1 );
        newMatrixVariable.operator=( DMatrix::getCols( startIdx,endIdx ) );
        // needs to be implemented for VariableSettings!!

        return newMatrixVariable;
}


//
// PROTECTED MEMBER FUNCTIONS:
//



CLOSE_NAMESPACE_ACADO


/*
 *      end of file
 */