scp_step_fullstep.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 
00034 #include <acado/nlp_solver/scp_step_fullstep.hpp>
00035 
00036 
00037 
00038 BEGIN_NAMESPACE_ACADO
00039 
00040 
00041 //
00042 // PUBLIC MEMBER FUNCTIONS:
00043 //
00044 
00045 SCPstepFullstep::SCPstepFullstep( ) : SCPstep( )
00046 {
00047 }
00048 
00049 
00050 SCPstepFullstep::SCPstepFullstep( UserInteraction* _userInteraction ) : SCPstep( _userInteraction )
00051 {
00052 }
00053 
00054 
00055 SCPstepFullstep::SCPstepFullstep( const SCPstepFullstep& rhs ) : SCPstep( rhs )
00056 {
00057 }
00058 
00059 
00060 SCPstepFullstep::~SCPstepFullstep( )
00061 {
00062 }
00063 
00064 
00065 SCPstepFullstep& SCPstepFullstep::operator=( const SCPstepFullstep& rhs )
00066 {
00067     if ( this != &rhs )
00068     {
00069                 SCPstep::operator=( rhs );
00070     }
00071 
00072     return *this;
00073 }
00074 
00075 
00076 
00077 
00078 SCPstep* SCPstepFullstep::clone() const
00079 {
00080         return new SCPstepFullstep( *this );
00081 }
00082 
00083 
00084 
00085 returnValue SCPstepFullstep::performStep(       OCPiterate& iter,
00086                                                                                 BandedCP& cp,
00087                                                                                 SCPevaluation* eval
00088                                                                                         )
00089 {
00090 //      RealClock clock;
00091 //      clock.reset();
00092 //      clock.start();
00093         
00094         double meritFcnValue;
00095         meritFcn->evaluate( 1.0,iter,cp,*eval, meritFcnValue );
00096         setLast( LOG_LINESEARCH_STEPLENGTH, 1.0 );
00097         setLast( LOG_MERIT_FUNCTION_VALUE,meritFcnValue );
00098 //      clock.stop();
00099 //      printf("meritFcn time = %e\n", clock.getTime());
00100         
00101         
00102 //      clock.reset();
00103 //      clock.start();
00104         returnValue returnvalue = applyStep( iter,cp,1.0 );
00105         if( returnvalue != SUCCESSFUL_RETURN )
00106                 ACADOERROR( returnvalue );
00107 //      clock.stop();
00108 //      printf("applyStep time = %e\n", clock.getTime());
00109         
00110         
00111         return SUCCESSFUL_RETURN;
00112 }
00113 
00114 
00115 
00116 
00117 //
00118 // PROTECTED MEMBER FUNCTIONS:
00119 //
00120 
00121 
00122 
00123 
00124 CLOSE_NAMESPACE_ACADO
00125 
00126 // end of file.


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:38:51