export_gauss_newton_block_cn2.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_EXPORT_GAUSS_NEWTON_BLOCK_CN2_HPP
#define ACADO_TOOLKIT_EXPORT_GAUSS_NEWTON_BLOCK_CN2_HPP

#include <acado/code_generation/export_gauss_newton_cn2.hpp>

BEGIN_NAMESPACE_ACADO

class ExportQpDunesInterface;

class ExportGaussNewtonBlockCN2 : public ExportGaussNewtonCN2
{
public:

        ExportGaussNewtonBlockCN2(      UserInteraction* _userInteraction = 0,
                                                        const std::string& _commonHeaderName = ""
                                                        );

        virtual ~ExportGaussNewtonBlockCN2( )
        {}

        virtual returnValue setup( );

        virtual returnValue getDataDeclarations(        ExportStatementBlock& declarations,
                                                                                                ExportStruct dataStruct = ACADO_ANY
                                                                                                ) const;

        virtual returnValue getFunctionDeclarations(    ExportStatementBlock& declarations
                                                                                                        ) const;


        virtual returnValue getCode(    ExportStatementBlock& code
                                                                        ) = 0;


        unsigned getNumQPvars( ) const;

        uint getBlockSize( ) const;

        uint getNumberOfBlocks( ) const;

        uint getNumBlockVariables( ) const;

        virtual unsigned getNumStateBoundsPerBlock( ) const;


protected:

        virtual returnValue setupConstraintsEvaluation( void );

        virtual returnValue setupVariables( );

        virtual returnValue setupMultiplicationRoutines( );

        virtual returnValue setupEvaluation( ) = 0;

        virtual returnValue setupQPInterface( ) = 0;

        virtual returnValue setupCondensing( );

protected:

        ExportIndex blockI;

        std::vector< unsigned > qpConDim;

        ExportVariable qpgN;

        ExportVariable qpH;
        ExportVariable qpC;
        ExportVariable qpc;
        ExportVariable qpLb0, qpUb0;

        ExportVariable qpLambda, qpMu;

        ExportFunction cleanup;
        ExportFunction shiftQpData;

        ExportFunction evaluateConstraints;

};

CLOSE_NAMESPACE_ACADO

#endif  // ACADO_TOOLKIT_EXPORT_GAUSS_NEWTON_BLOCK_CN2_HPP