collocation_method.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_COLLOCATION_METHOD_HPP
#define ACADO_TOOLKIT_COLLOCATION_METHOD_HPP

#include <acado/dynamic_discretization/dynamic_discretization.hpp>


BEGIN_NAMESPACE_ACADO


class CollocationMethod : public DynamicDiscretization
{

//
// PUBLIC MEMBER FUNCTIONS:
//

public:

    CollocationMethod();

    CollocationMethod(  UserInteraction* _userInteraction
                                                        );
                                                                        
    CollocationMethod( const CollocationMethod& rhs );

    virtual ~CollocationMethod( );

    CollocationMethod& operator=( const CollocationMethod& rhs );

    virtual DynamicDiscretization* clone() const;



        virtual returnValue addStage( const DynamicSystem  &dynamicSystem_,
                                      const Grid           &stageIntervals,
                                      const IntegratorType &integratorType_ = INT_UNKNOWN );

                virtual returnValue addTransition( const Transition& transition_ );


        virtual returnValue clear();



                virtual returnValue evaluate( OCPiterate &iter );




    virtual returnValue evaluateSensitivities( );


                virtual returnValue evaluateSensitivitiesLifted( );


    virtual returnValue evaluateSensitivities( const BlockMatrix &seed, BlockMatrix &hessian );


        virtual BooleanType isAffine( ) const;



    virtual returnValue unfreeze( );
    virtual returnValue deleteAllSeeds();


protected:


};


CLOSE_NAMESPACE_ACADO



#include <acado/dynamic_discretization/collocation_method.ipp>


#endif  // ACADO_TOOLKIT_COLLOCATION_METHOD_HPP

// end of file