banded_cp_solver.hpp

Go to the documentation of this file.

/*
 *    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_BANDED_CP_SOLVER_HPP
#define ACADO_TOOLKIT_BANDED_CP_SOLVER_HPP

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

#include <acado/matrix_vector/matrix_vector.hpp>
#include <acado/conic_program/banded_cp.hpp>




BEGIN_NAMESPACE_ACADO


class BandedCPsolver: public AlgorithmicBase
{

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

        BandedCPsolver( );

                BandedCPsolver( UserInteraction* _userInteraction
                                                );
                
        BandedCPsolver( const BandedCPsolver& rhs );

        virtual ~BandedCPsolver( );

        BandedCPsolver& operator=( const BandedCPsolver& rhs );


        virtual BandedCPsolver* clone() const = 0;


        virtual returnValue init( const OCPiterate &iter_ ) = 0;



        virtual returnValue prepareSolve(       BandedCP& cp
                                                                                        );

        virtual returnValue solve(      BandedCP& cp
                                                                        ) = 0;

        virtual returnValue finalizeSolve(      BandedCP& cp
                                                                                        );


                virtual returnValue getParameters        ( DVector        &p_  ) const = 0;
                virtual returnValue getFirstControl      ( DVector        &u0_ ) const = 0;


        virtual returnValue getVarianceCovariance( DMatrix &var );


                virtual returnValue setRealTimeParameters(      const DVector& DeltaX,
                                                                                                        const DVector& DeltaP = emptyConstVector
                                                                                                        );


                virtual returnValue freezeCondensing( );

                virtual returnValue unfreezeCondensing( );



        protected:

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

};


CLOSE_NAMESPACE_ACADO


//#include <acado/conic_solver/banded_cp_solver.ipp>


#endif  // ACADO_TOOLKIT_BANDED_CP_SOLVER_HPP

/*
 *  end of file
 */