optimization_algorithm.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_OPTIMIZATION_ALGORITHM_HPP
#define ACADO_TOOLKIT_OPTIMIZATION_ALGORITHM_HPP

#include <acado/user_interaction/user_interaction.hpp>
#include <acado/optimization_algorithm/optimization_algorithm_base.hpp>

BEGIN_NAMESPACE_ACADO


class OptimizationAlgorithm : public OptimizationAlgorithmBase, public UserInteraction
{
    //
    // PUBLIC MEMBER FUNCTIONS:
    //
    public:

        OptimizationAlgorithm();

        OptimizationAlgorithm( const OCP& ocp_ );

        OptimizationAlgorithm( const OptimizationAlgorithm& arg );

        virtual ~OptimizationAlgorithm( );

        OptimizationAlgorithm& operator=( const OptimizationAlgorithm& arg );


                virtual returnValue init( );

        virtual returnValue solve( );



    //
    // PROTECTED MEMBER FUNCTIONS:
    //
    protected:

                virtual returnValue setupOptions( );

                virtual returnValue setupLogging( );

        virtual returnValue allocateNlpSolver(  Objective *F,
                                                                                                DynamicDiscretization *G,
                                                                                                Constraint *H
                                                                                                );

        virtual returnValue initializeNlpSolver(        const OCPiterate& _userInit
                                                                                                        );

        virtual returnValue initializeObjective(        Objective* F
                                                                                                        );


    //
    // DATA MEMBERS:
    //
    protected:
};


CLOSE_NAMESPACE_ACADO



//#include <acado/optimization_algorithm/optimization_algorithm.ipp>


#endif  // ACADO_TOOLKIT_OPTIMIZATION_ALGORITHM_HPP

/*
 *   end of file
 */