c_function.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_C_FUNCTION_HPP
#define ACADO_TOOLKIT_C_FUNCTION_HPP


#include <acado/symbolic_expression/symbolic_expression.hpp>


BEGIN_NAMESPACE_ACADO


class CFunction{

    //
    // PUBLIC MEMBER FUNCTIONS:
    //

    public:

    CFunction( );


    CFunction( uint dim, cFcnPtr cFcn_  );


    CFunction( uint dim, cFcnPtr  cFcn_        ,  
                         cFcnDPtr cFcnDForward_,  
                         cFcnDPtr cFcnDBackward_   );


    CFunction( const CFunction& rhs );

    virtual ~CFunction( );

    CFunction& operator=( const CFunction& rhs );


    virtual Expression operator()( const Expression &arg );


    virtual uint getDim () const;


    virtual returnValue evaluate( double *x         ,
                                  double *result      );



     virtual void evaluateCFunction( double *x         ,
                                     double *result       );



    virtual returnValue evaluate( double *x         ,
                                  double *result    ,
                                  PrintLevel printL     );


    virtual returnValue evaluate( int     number    ,
                                  double *x         ,
                                  double *result      );


     virtual returnValue AD_forward( double *x     ,
                                     double *seed  ,
                                     double *f     ,
                                     double *df      );


     virtual returnValue AD_forward( int     number  ,
                                     double *seed    ,
                                     double *df        );


     virtual returnValue AD_forward( int     number  ,
                                     double *x       ,
                                     double *seed    ,
                                     double *f       ,
                                     double *df        );


    // IMPORTANT REMARK FOR AD_BACKWARD: run evaluate first to define
    //                                   the point x and to compute f.

     virtual returnValue AD_backward( double *seed ,
                                      double  *df     );



    // IMPORTANT REMARK FOR AD_BACKWARD: run evaluate first to define
    //                                   the point x and to compute f.

     virtual returnValue AD_backward( int    number ,
                                      double *seed  ,
                                      double  *df   );


     virtual returnValue AD_forward2( int    number  ,
                                      double *seed1  ,
                                      double *seed2  ,
                                      double *df     ,
                                      double *ddf    );


    // IMPORTANT REMARK FOR AD_BACKWARD2: run AD_forward first to define
    //                                    the point x and to compute f and df.

     virtual returnValue AD_backward2( int    number ,
                                       double *seed1 ,
                                       double *seed2 ,
                                       double   *df  ,
                                       double  *ddf     );



     virtual returnValue clearBuffer();


     virtual returnValue setUserData( void * user_data_  );



//
//  PROTECTED FUNCTIONS:
//

protected:

     void copy( const CFunction &arg );


     void deleteAll();



//
//  PROTECTED MEMBERS:
//

     protected:

        returnValue initialize();

        cFcnPtr   cFcn         ;
        cFcnDPtr  cFcnDForward ;
        cFcnDPtr  cFcnDBackward;

  
        void* user_data        ;    
        uint     nn            ;    
        uint     dim           ;    
        uint     maxAlloc      ;    
        double **xStore        ;    
        double **seedStore     ;    
};


CLOSE_NAMESPACE_ACADO




#endif  // ACADO_TOOLKIT_C_FUNCTION_HPP

/*
 *   end of file
 */