export_gauss_newton_cn2.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_EXPORT_GAUSS_NEWTON_CN2_HPP
#define ACADO_TOOLKIT_EXPORT_GAUSS_NEWTON_CN2_HPP

#include <acado/code_generation/export_nlp_solver.hpp>

BEGIN_NAMESPACE_ACADO

class ExportGaussNewtonCN2 : public ExportNLPSolver
{
public:

        ExportGaussNewtonCN2(   UserInteraction* _userInteraction = 0,
                                                        const std::string& _commonHeaderName = ""
                                                        );

        virtual ~ExportGaussNewtonCN2( )
        {}

        virtual returnValue setup( );

        virtual returnValue getDataDeclarations(        ExportStatementBlock& declarations,
                                                                                                ExportStruct dataStruct = ACADO_ANY
                                                                                                ) const;

        virtual returnValue getFunctionDeclarations(    ExportStatementBlock& declarations
                                                                                                        ) const;


        virtual returnValue getCode(    ExportStatementBlock& code
                                                                        );


        unsigned getNumQPvars( ) const;

        virtual unsigned getNumStateBounds( ) const;

protected:

        virtual returnValue setupObjectiveEvaluation( void );

        virtual returnValue setupConstraintsEvaluation( void );

        virtual returnValue setupVariables( );

        virtual returnValue setupMultiplicationRoutines( );

        virtual returnValue setupEvaluation( );

        virtual returnValue setupQPInterface( );

        virtual returnValue setupCondensing( );

        bool performFullCondensing( ) const;

protected:

        ExportFunction evaluateObjective;

        ExportVariable x0, Dx0;

        ExportFunction setObjQ1Q2;
        ExportFunction setObjR1R2;
        ExportFunction setObjS1;
        ExportFunction setObjQN1QN2;

        ExportVariable H;
        ExportVariable A;

        ExportVariable g;

        ExportVariable lb;

        ExportVariable ub;

        ExportVariable lbA;

        ExportVariable ubA;

        ExportVariable xVars;

        ExportVariable yVars;

        std::vector< unsigned > xBoundsIdx;
        ExportVariable lbValues, ubValues;
        ExportVariable lbAValues, ubAValues;

        ExportFunction condensePrep;
        ExportFunction condenseFdb;
        ExportFunction expand;

        ExportVariable C, E, QDy, Qd;

        ExportFunction multGxd;
        ExportFunction moveGxT;
        ExportFunction multGxGx;
        ExportFunction multGxGu;
        ExportFunction moveGuE;
        ExportFunction copyHTH;
        ExportFunction copyHTH1;
        ExportFunction multQ1d;
        ExportFunction multQN1d;
        ExportFunction multRDy;
        ExportFunction multQDy;
        ExportFunction multEQDy;
        ExportFunction multQETGx;
        ExportFunction multEDu;
        ExportFunction multQ1Gx;
        ExportFunction multQN1Gx;
        ExportFunction multQ1Gu;
        ExportFunction multQN1Gu;

        ExportFunction preparation;
        ExportFunction feedback;

        ExportFunction getKKT;

        //
        // N2 condensing related
        //
        ExportVariable T1, T2, W1, W2;
        ExportVariable sbar, w1, w2;

        ExportFunction multBTW1, macBTW1_R1, multGxTGu, macQEW2, mac_S1T_E;
        ExportFunction macATw1QDy, macBTw1, macQSbarW2, macASbar, macS1TSbar;
        ExportFunction expansionStep;

        // lagrange multipliers
        ExportFunction expansionStep2;

        // H00 and H10 computations
        ExportFunction mult_BT_T1, mac_ST_C, multGxTGx, macGxTGx;
};

CLOSE_NAMESPACE_ACADO

#endif  // ACADO_TOOLKIT_EXPORT_GAUSS_NEWTON_CN2_HPP