scp_evaluation.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_SCP_EVALUATION_HPP
#define ACADO_TOOLKIT_SCP_EVALUATION_HPP


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

#include <acado/objective/objective.hpp>
#include <acado/dynamic_discretization/dynamic_discretization.hpp>
#include <acado/constraint/constraint.hpp>

#include <acado/function/ocp_iterate.hpp>
#include <acado/conic_program/banded_cp.hpp>



BEGIN_NAMESPACE_ACADO


class SCPevaluation : public AlgorithmicBase
{


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

        SCPevaluation( );

                SCPevaluation(  UserInteraction* _userInteraction,
                                                const Objective* const objective_,
                                                const DynamicDiscretization* const dynamic_discretization_,
                                                const Constraint* const constraint_,
                                                BooleanType _isCP = BT_FALSE
                                                );

        SCPevaluation( const SCPevaluation& rhs );

        virtual ~SCPevaluation( );

        SCPevaluation& operator=( const SCPevaluation& rhs );

        virtual SCPevaluation* clone() const;


                virtual returnValue init(       const OCPiterate& iter
                                                                        );


        virtual returnValue evaluate( OCPiterate& iter, BandedCP& cp );


        virtual returnValue evaluateSensitivities(      const OCPiterate& iter,
                                                                                                BandedCP& cp
                                                                                                );

        virtual returnValue evaluateLagrangeGradient(   uint N,
                                                                                                                const OCPiterate& iter,
                                                                                                        const BandedCP& cp,
                                                                                                                BlockMatrix &nablaL
                                                                                                                );



        virtual double getKKTtolerance( const OCPiterate& iter,
                                                                        const BandedCP& cp,
                                                                        double KKTmultiplierRegularisation = 0.0
                                                                        );


        virtual double getObjectiveValue( ) const;






        returnValue setReference(       const VariablesGrid& ref
                                                                );


                returnValue clearDynamicDiscretization( );


                inline BooleanType hasLSQobjective( ) const;

                inline BooleanType isDynamicNLP( ) const;
                inline BooleanType isStaticNLP( ) const;

                inline uint getNumConstraints( ) const;
                inline uint getNumConstraintBlocks( ) const;
                inline DVector getConstraintBlockDims( ) const;


                virtual returnValue freezeSensitivities( );

                virtual returnValue unfreezeSensitivities( );



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

                virtual returnValue setupOptions( );
                virtual returnValue setupLogging( );


    //
    // DATA MEMBERS:
    //
    protected:

        Objective*             objective            ;  
        DynamicDiscretization* dynamicDiscretization;  
        Constraint*            constraint           ;  
        double objectiveValue;     
                BooleanType isCP;
                BooleanType areSensitivitiesFrozen;
};


CLOSE_NAMESPACE_ACADO



#include <acado/nlp_solver/scp_evaluation.ipp>


#endif  // ACADO_TOOLKIT_SCP_EVALUATION_HPP

/*
 *  end of file
 */