constraint_component.cpp
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00001 /*
00002  *    This file is part of ACADO Toolkit.
00003  *
00004  *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
00005  *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
00006  *    Milan Vukov, Rien Quirynen, KU Leuven.
00007  *    Developed within the Optimization in Engineering Center (OPTEC)
00008  *    under supervision of Moritz Diehl. All rights reserved.
00009  *
00010  *    ACADO Toolkit is free software; you can redistribute it and/or
00011  *    modify it under the terms of the GNU Lesser General Public
00012  *    License as published by the Free Software Foundation; either
00013  *    version 3 of the License, or (at your option) any later version.
00014  *
00015  *    ACADO Toolkit is distributed in the hope that it will be useful,
00016  *    but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00018  *    Lesser General Public License for more details.
00019  *
00020  *    You should have received a copy of the GNU Lesser General Public
00021  *    License along with ACADO Toolkit; if not, write to the Free Software
00022  *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
00023  *
00024  */
00025 
00026 
00027 
00037 #include <acado/symbolic_expression/constraint_component.hpp>
00038 
00039 
00040 BEGIN_NAMESPACE_ACADO
00041 
00042 
00043 
00044 // --------------------------------------------------------------------------------------------
00045 // --------------------------------------------------------------------------------------------
00046 
00047 
00048 ConstraintComponent::ConstraintComponent(){
00049 
00050     ub.init(1);
00051     lb.init(1);
00052     ub.setAll(INFTY);
00053     lb.setAll(-INFTY);
00054 }
00055 
00056 ConstraintComponent::ConstraintComponent( const ConstraintComponent &arg ){
00057 
00058     expression = arg.expression;
00059     ub         = arg.ub        ;
00060     lb         = arg.lb        ;
00061     lbGrid     = arg.lbGrid    ;
00062     ubGrid     = arg.ubGrid    ;
00063 }
00064 
00065 
00066 ConstraintComponent::~ConstraintComponent(){
00067 
00068 }
00069 
00070 
00071 ConstraintComponent& ConstraintComponent::operator=( const ConstraintComponent &arg ){
00072 
00073     if( this != &arg ){
00074 
00075        expression = arg.expression;
00076        ub         = arg.ub        ;
00077        lb         = arg.lb        ;
00078        lbGrid     = arg.lbGrid    ;
00079        ubGrid     = arg.ubGrid    ;
00080     }
00081     return *this;
00082 }
00083 
00084 
00085 returnValue ConstraintComponent::initialize( const DVector& lb_, Expression arg, const DVector& ub_ ){
00086 
00087     expression = arg;
00088     ub         = ub_;
00089     lb         = lb_;
00090 
00091     return SUCCESSFUL_RETURN;
00092 }
00093 
00094 
00095 returnValue ConstraintComponent::initialize( const VariablesGrid& lb_, Expression arg, const VariablesGrid& ub_ ){
00096 
00097     expression = arg;
00098     ubGrid     = ub_;
00099     lbGrid     = lb_;
00100 
00101     return SUCCESSFUL_RETURN;
00102 }
00103 
00104 
00105 
00106 
00107 ConstraintComponent ConstraintComponent::operator()( const uint &index ) const{
00108 
00109     ASSERT( index < getDim() );
00110 
00111     ConstraintComponent tmp;
00112 
00113     tmp.expression = expression(index);
00114 
00115     if( lbGrid.isEmpty() == BT_TRUE ) tmp.lb(0)  = lb    (index);
00116     else                              tmp.lbGrid = lbGrid(index);
00117 
00118     if( ubGrid.isEmpty() == BT_TRUE ) tmp.ub(0)  = ub    (index);
00119     else                              tmp.ubGrid = ubGrid(index);
00120 
00121     return tmp;
00122 }
00123 
00124 
00125 
00126 ConstraintComponent operator<=( double lb_, const ConstraintComponent &arg ){
00127 
00128     ConstraintComponent tmp(arg);
00129     tmp.setLB( lb_ );
00130     return tmp;
00131 }
00132 
00133 ConstraintComponent operator>=( double ub_, const ConstraintComponent &arg ){
00134 
00135     ConstraintComponent tmp(arg);
00136     tmp.setUB( ub_ );
00137     return tmp;
00138 }
00139 
00140 ConstraintComponent operator<=( DVector lb_, const ConstraintComponent &arg ){
00141 
00142     ConstraintComponent tmp(arg);
00143     tmp.setLB( lb_ );
00144     return tmp;
00145 }
00146 
00147 ConstraintComponent operator>=( DVector ub_, const ConstraintComponent &arg ){
00148 
00149     ConstraintComponent tmp(arg);
00150     tmp.setUB( ub_ );
00151     return tmp;
00152 }
00153 
00154 ConstraintComponent operator<=( VariablesGrid lb_, const ConstraintComponent &arg ){
00155 
00156     ConstraintComponent tmp(arg);
00157     tmp.setLB( lb_ );
00158     return tmp;
00159 }
00160 
00161 ConstraintComponent operator>=( VariablesGrid ub_, const ConstraintComponent &arg ){
00162 
00163     ConstraintComponent tmp(arg);
00164     tmp.setUB( ub_ );
00165     return tmp;
00166 }
00167 
00168 ConstraintComponent operator<=( const Expression& arg, const double& ub ) {
00169 
00170     DVector ub_(arg.getDim());
00171     ub_.setAll(ub);
00172 
00173     return operator<=(arg, ub_);
00174 }
00175 
00176 ConstraintComponent operator>=( const Expression& arg, const double& lb ) {
00177 
00178     DVector lb_(arg.getDim());
00179     lb_.setAll(lb);
00180 
00181     return operator>=(arg, lb_);
00182 }
00183 
00184 ConstraintComponent operator==( const Expression& arg, const double& b ) {
00185 
00186     DVector b_(arg.getDim());
00187     b_.setAll(b);
00188 
00189     return operator==(arg, b_);
00190 }
00191 
00192 
00193 
00194 ConstraintComponent operator<=( const Expression& arg, const DVector& ub ) {
00195 
00196     ConstraintComponent tmp;
00197 
00198     DVector lb = ub;
00199     lb.setAll(-INFTY);
00200 
00201     tmp.initialize( lb, arg, ub );
00202 
00203     return tmp;
00204 }
00205 
00206 
00207 ConstraintComponent operator>=( const Expression& arg, const DVector& lb ) {
00208 
00209     ConstraintComponent tmp;
00210 
00211     DVector ub = lb;
00212     ub.setAll(INFTY);
00213 
00214     tmp.initialize( lb, arg, ub );
00215 
00216     return tmp;
00217 }
00218 
00219 
00220 ConstraintComponent operator==( const Expression& arg, const DVector& b ) {
00221 
00222     ConstraintComponent tmp;
00223 
00224     tmp.initialize( b, arg, b );
00225     return tmp;
00226 }
00227 
00228 
00229 
00230 ConstraintComponent operator<=( const Expression& arg, const VariablesGrid& ub ) {
00231 
00232     ConstraintComponent tmp;
00233 
00234     VariablesGrid lb = ub;
00235     lb.setAll(-INFTY);
00236 
00237     tmp.initialize( lb, arg, ub );
00238 
00239     return tmp;
00240 }
00241 
00242 
00243 ConstraintComponent operator>=( const Expression& arg, const VariablesGrid& lb ) {
00244 
00245     ConstraintComponent tmp;
00246 
00247     VariablesGrid ub = lb;
00248     ub.setAll(INFTY);
00249 
00250     tmp.initialize( lb, arg, ub );
00251 
00252     return tmp;
00253 }
00254 
00255 
00256 ConstraintComponent operator==( const Expression& arg, const VariablesGrid& b ) {
00257 
00258     ConstraintComponent tmp;
00259 
00260     tmp.initialize( b, arg, b );
00261     return tmp;
00262 }
00263 
00264 
00265 ConstraintComponent operator<=( double lb, const Expression &arg ){ return ( arg >= lb ); }
00266 ConstraintComponent operator>=( double ub, const Expression &arg ){ return ( arg <= ub ); }
00267 ConstraintComponent operator==( double  b, const Expression &arg ){ return ( arg == b  ); }
00268 
00269 ConstraintComponent operator<=( DVector lb, const Expression &arg ){ return ( arg >= lb ); }
00270 ConstraintComponent operator>=( DVector ub, const Expression &arg ){ return ( arg <= ub ); }
00271 ConstraintComponent operator==( DVector  b, const Expression &arg ){ return ( arg == b  ); }
00272 
00273 ConstraintComponent operator<=( VariablesGrid lb, const Expression &arg ){ return ( arg >= lb ); }
00274 ConstraintComponent operator>=( VariablesGrid ub, const Expression &arg ){ return ( arg <= ub ); }
00275 ConstraintComponent operator==( VariablesGrid b , const Expression &arg ){ return ( arg == b  ); }
00276 
00277 
00278 CLOSE_NAMESPACE_ACADO
00279 
00280 // end of file.


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:36:56