export_gauss_newton_forces.hpp
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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 
00032 #ifndef ACADO_TOOLKIT_EXPORT_GAUSS_NEWTON_FORCES_HPP
00033 #define ACADO_TOOLKIT_EXPORT_GAUSS_NEWTON_FORCES_HPP
00034 
00035 #include <acado/code_generation/export_nlp_solver.hpp>
00036 
00037 BEGIN_NAMESPACE_ACADO
00038 
00039 class ExportForcesInterface;
00040 class ExportForcesGenerator;
00041 
00053 class ExportGaussNewtonForces : public ExportNLPSolver
00054 {
00055 public:
00056 
00062         ExportGaussNewtonForces(        UserInteraction* _userInteraction = 0,
00063                                                                 const std::string& _commonHeaderName = ""
00064                                                                 );
00065 
00068         virtual ~ExportGaussNewtonForces( )
00069         {}
00070 
00075         virtual returnValue setup( );
00076 
00084         virtual returnValue getDataDeclarations(        ExportStatementBlock& declarations,
00085                                                                                                 ExportStruct dataStruct = ACADO_ANY
00086                                                                                                 ) const;
00087 
00095         virtual returnValue getFunctionDeclarations(    ExportStatementBlock& declarations
00096                                                                                                         ) const;
00097 
00098 
00106         virtual returnValue getCode(    ExportStatementBlock& code
00107                                                                         );
00108 
00109 
00114         unsigned getNumQPvars( ) const;
00115 
00116 protected:
00117 
00124         virtual returnValue setupObjectiveEvaluation( void );
00125 
00131         virtual returnValue setupConstraintsEvaluation( void );
00132 
00137         virtual returnValue setupVariables( );
00138 
00143         virtual returnValue setupMultiplicationRoutines( );
00144 
00149         virtual returnValue setupEvaluation( );
00150 
00151         virtual returnValue setupQPInterface( );
00152 
00153 private:
00155         ExportVariable x0;
00156 
00159         ExportFunction evaluateObjective;
00160 
00161         std::vector< ExportVariable > objHessians;
00162         std::vector< ExportVariable > objGradients;
00163 
00164         ExportFunction setStageH;
00165         ExportFunction setStagef;
00166 
00167         ExportFunction setObjQ1Q2;
00168         ExportFunction setObjR1R2;
00169         ExportFunction setObjQN1QN2;
00170 
00171         bool diagH;
00172         bool diagHN;
00177         std::vector< ExportVariable > conLB;
00178         std::vector< ExportVariable > conUB;
00179         ExportVariable lbValues, ubValues;
00180 
00181         std::vector< std::vector< unsigned > > conLBIndices, conUBIndices;
00182         std::vector< std::vector< double > > conLBValues, conUBValues;
00183 
00184         ExportFunction evaluateConstraints;
00185         ExportFunction conSetGxGu;
00186         ExportVariable conStageC;
00187 
00188         std::vector< ExportVariable > conC;
00189         std::vector< ExportVariable > cond;
00190         ExportFunction conSetd;
00195         ExportFunction preparation;
00196         ExportFunction feedback;
00197 
00198         ExportFunction getKKT;
00203         ExportFunction acc;
00208         std::string qpModuleName;
00209         std::string qpObjPrefix;
00210 
00211         std::tr1::shared_ptr< ExportForcesInterface > qpInterface;
00212         std::tr1::shared_ptr< ExportForcesGenerator > qpGenerator;
00214 };
00215 
00216 CLOSE_NAMESPACE_ACADO
00217 
00218 #endif  // ACADO_TOOLKIT_EXPORT_GAUSS_NEWTON_FORCES_HPP


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:37:01