constraint_element.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_CONSTRAINT_ELEMENT_HPP
#define ACADO_TOOLKIT_CONSTRAINT_ELEMENT_HPP


#include <acado/symbolic_expression/expression.hpp>
#include <acado/function/function.hpp>
#include <acado/variables_grid/variables_grid.hpp>


BEGIN_NAMESPACE_ACADO


class ConstraintElement{

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

        ConstraintElement( );

        ConstraintElement( const Grid& grid_, int nFcn_, int nB_ );

        ConstraintElement( const ConstraintElement& rhs );

        virtual ~ConstraintElement( );

        ConstraintElement& operator=( const ConstraintElement& rhs );



// ==========================================================================
//
//                               INITIALIZATION
//
// ==========================================================================


        returnValue init(  const OCPiterate& iter  );



// =======================================================================================
//
//                                  DEFINITION OF SEEDS:
//
// =======================================================================================



    virtual returnValue setForwardSeed( BlockMatrix *xSeed_ ,   
                                        BlockMatrix *xaSeed_,   
                                        BlockMatrix *pSeed_ ,   
                                        BlockMatrix *uSeed_ ,   
                                        BlockMatrix *wSeed_ ,   
                                        int          order       );



    virtual returnValue setUnitForwardSeed( );



    virtual returnValue setBackwardSeed( BlockMatrix *seed,    
                                         int          order      );






// =======================================================================================
//
//                               RESULTS OF THE EVALUATION
//
// =======================================================================================


    virtual returnValue getResiduum( BlockMatrix &lower_residuum, 
                                     BlockMatrix &upper_residuum   );



    virtual returnValue getForwardSensitivities( BlockMatrix *D  ,
                                                 int order         );



    virtual returnValue getBackwardSensitivities( BlockMatrix *D  ,
                                                  int order         );




//  =========================================================================
//
//                               MISCELLANEOUS:
//
//  =========================================================================


        inline Grid& getGrid();

        inline int getNX    () const;

        inline int getNXA   () const;

        inline int getNU   () const;

        inline int getNP   () const;

        inline int getNW  () const;



        inline BooleanType isAffine() const;

        returnValue get(Function& function_, DMatrix& lb_, DMatrix& ub_);

// ==========================================================================
//
//                          PROTECTED MEMBER FUNCTIONS:
//
// ==========================================================================

    protected:

                virtual returnValue initializeEvaluationPoints( const OCPiterate& iter
                                                                                                                );



    //
    // DATA MEMBERS:
    //
    protected:


        // DEFINITIONS OF THE CONSTRAINT FUNCTION, GRID, AND BOUNDS:
        // ---------------------------------------------------------

        Grid             grid   ;   
        Function        *fcn    ;   
        double         **lb     ;   
        double         **ub     ;   
        EvaluationPoint  *z      ;   
        EvaluationPoint  *JJ     ;


        // LOW_LEVEL EVALUATION INDICES:
        // ----------------------------- 

        int            **y_index;   
        int             *t_index;   
        // DIMENSIONS:
        // ----------------------

        int              nx     ;   
        int              na     ;   
        int              nu     ;   
        int              np     ;   
        int              nw     ;   
        int              ny     ;   
        int              nFcn   ;   
        int              nB     ;   
        // INPUT STORAGE:
        // ------------------------
        BlockMatrix      *xSeed   ;   
        BlockMatrix      *xaSeed  ;   
        BlockMatrix      *pSeed   ;   
        BlockMatrix      *uSeed   ;   
        BlockMatrix      *wSeed   ;   
        BlockMatrix      *bSeed   ;   
        BlockMatrix      *xSeed2  ;   
        BlockMatrix      *xaSeed2 ;   
        BlockMatrix      *pSeed2  ;   
        BlockMatrix      *uSeed2  ;   
        BlockMatrix      *wSeed2  ;   
        BlockMatrix      *bSeed2  ;   
        // RESULTS:
        // ------------------------
        BlockMatrix      residuumL;   
        BlockMatrix      residuumU;   
        BlockMatrix      dForward ;   
        BlockMatrix      dBackward;   
        CondensingType   condType ;   
};


CLOSE_NAMESPACE_ACADO



#include <acado/constraint/constraint_element.ipp>


#endif  // ACADO_TOOLKIT_CONSTRAINT_ELEMENT_HPP

/*
 *    end of file
 */