export_gauss_newton_forces.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_FORCES_HPP
#define ACADO_TOOLKIT_EXPORT_GAUSS_NEWTON_FORCES_HPP

#include <acado/code_generation/export_nlp_solver.hpp>

BEGIN_NAMESPACE_ACADO

class ExportForcesInterface;
class ExportForcesGenerator;

class ExportGaussNewtonForces : public ExportNLPSolver
{
public:

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

        virtual ~ExportGaussNewtonForces( )
        {}

        virtual returnValue setup( );

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

        virtual returnValue getFunctionDeclarations(    ExportStatementBlock& declarations
                                                                                                        ) const;


        virtual returnValue getCode(    ExportStatementBlock& code
                                                                        );


        unsigned getNumQPvars( ) const;

        unsigned getNumLowerBounds( ) const;

        unsigned getNumUpperBounds( ) const;

protected:

        virtual returnValue setupObjectiveEvaluation( void );

        virtual returnValue setupConstraintsEvaluation( void );

        virtual returnValue setupVariables( );

        virtual returnValue setupMultiplicationRoutines( );

        virtual returnValue setupEvaluation( );

        virtual returnValue setupQPInterface( );

private:
        ExportVariable x0;

        ExportFunction evaluateObjective;

        std::vector< ExportVariable > objHessians;
        std::vector< ExportVariable > objGradients;

        ExportFunction setStageH;
        ExportFunction setStagef;

        ExportFunction setObjQ1Q2;
        ExportFunction setObjR1R2;
        ExportFunction setObjQN1QN2;
        ExportFunction setObjS1;

        bool diagH;
        bool diagHN;
        std::vector< ExportVariable > conLB;
        std::vector< ExportVariable > conUB;
        ExportVariable lbValues, ubValues;

        unsigned numLB;
        unsigned numUB;

        std::vector< std::vector< unsigned > > conLBIndices, conUBIndices;
        std::vector< unsigned > conABDimensions;
        std::vector< std::vector< double > > conLBValues, conUBValues;

        ExportFunction evaluateConstraints;
        ExportFunction conSetGxGu;
        ExportVariable conStageC;

        std::vector< ExportVariable > conC;
        std::vector< ExportVariable > cond;
        ExportFunction conSetd;
        ExportFunction preparation;
        ExportFunction feedback;

        ExportFunction getKKT;
        ExportFunction acc;
        std::string qpModuleName;
        std::string qpObjPrefix;

        std::shared_ptr< ExportForcesInterface > qpInterface;
        std::shared_ptr< ExportForcesGenerator > qpGenerator;
};

CLOSE_NAMESPACE_ACADO

#endif  // ACADO_TOOLKIT_EXPORT_GAUSS_NEWTON_FORCES_HPP