nlp_solver.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_NLP_SOLVER_HPP
#define ACADO_TOOLKIT_NLP_SOLVER_HPP


#include <acado/utils/acado_utils.hpp>
#include <acado/user_interaction/algorithmic_base.hpp>

#include <acado/variables_grid/variables_grid.hpp>
#include <acado/clock/real_clock.hpp>



BEGIN_NAMESPACE_ACADO



class NLPsolver : public AlgorithmicBase
{

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

        NLPsolver(      UserInteraction* _userInteraction = 0
                                        );

        NLPsolver( const NLPsolver& rhs );

        virtual ~NLPsolver( );

        NLPsolver& operator=( const NLPsolver& rhs );

        virtual NLPsolver* clone( ) const = 0;


        virtual returnValue init(VariablesGrid    *xd,
                                 VariablesGrid    *xa,
                                 VariablesGrid    *p,
                                 VariablesGrid    *u,
                                 VariablesGrid    *w   ) = 0;


        virtual returnValue solve(      const DVector &x0_ = emptyConstVector,
                                                                        const DVector &p_ = emptyConstVector
                                                                        );

        virtual returnValue step(       const DVector &x0_ = emptyConstVector,
                                                                        const DVector &p_ = emptyConstVector
                                                                        );

        virtual returnValue feedbackStep(       const DVector &x0_,
                                                                                        const DVector &p_ = emptyConstVector
                                                                                        );

        virtual returnValue performCurrentStep( );

        virtual returnValue prepareNextStep( );

        virtual returnValue shiftVariables(     double timeShift,
                                                                        DVector  lastX    =  emptyVector,
                                                                        DVector lastXA    =  emptyVector,
                                                                        DVector lastP     =  emptyVector,
                                                                        DVector lastU     =  emptyVector,
                                                                        DVector lastW     =  emptyVector  );


        virtual returnValue getVarianceCovariance( DMatrix &var ) = 0;


        virtual returnValue setReference( const VariablesGrid &ref );

//              virtual returnValue enableNeedToReevaluate( ) = 0;


                inline int getNumberOfSteps( ) const;

                inline returnValue resetNumberOfSteps( );



        virtual returnValue getDifferentialStates( VariablesGrid &xd_ ) const;
        virtual returnValue getAlgebraicStates   ( VariablesGrid &xa_ ) const;
        virtual returnValue getParameters        ( VariablesGrid &p_  ) const;
                virtual returnValue getParameters        ( DVector        &p_  ) const;
        virtual returnValue getControls          ( VariablesGrid &u_  ) const;
                virtual returnValue getFirstControl      ( DVector        &u0_ ) const;
        virtual returnValue getDisturbances      ( VariablesGrid &w_  ) const;
        virtual double      getObjectiveValue    (                    ) const;

                virtual returnValue getSensitivitiesX(  BlockMatrix& _sens
                                                                                                ) const;

                virtual returnValue getSensitivitiesXA( BlockMatrix& _sens
                                                                                                        ) const;

                virtual returnValue getSensitivitiesP(  BlockMatrix& _sens
                                                                                                ) const;

                virtual returnValue getSensitivitiesU(  BlockMatrix& _sens
                                                                                                        ) const;

                virtual returnValue getSensitivitiesW(  BlockMatrix& _sens
                                                                                                ) const;


    //
    // PROTECTED MEMBER FUNCTIONS:
    //
    protected:
                virtual returnValue setupOptions( );
                virtual returnValue setupLogging( );


    //
    // DATA MEMBERS:
    //
    protected:

        int numberOfSteps;
};


CLOSE_NAMESPACE_ACADO



#include <acado/nlp_solver/nlp_solver.ipp>


#endif  // ACADO_TOOLKIT_NLP_SOLVER_HPP

/*
 *   end of file
 */