matrix_variable.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_MATRIX_VARIABLE_HPP
#define ACADO_TOOLKIT_MATRIX_VARIABLE_HPP


#include <acado/variables_grid/variable_settings.hpp>
#include <acado/matrix_vector/matrix_vector.hpp>


BEGIN_NAMESPACE_ACADO



class MatrixVariable : public DMatrix, public VariableSettings
{
    //
    // PUBLIC MEMBER FUNCTIONS:
    //
    public:
        MatrixVariable( );

                MatrixVariable( uint _nRows,
                                                uint _nCols,
                                                VariableType _type = VT_UNKNOWN,
                                                const char** const _names = 0,
                                                const char** const _units = 0,
                                                DVector _scaling = emptyVector,
                                                DVector _lb = emptyVector,
                                                DVector _ub = emptyVector,
                                                BooleanType _autoInit = defaultAutoInit
                                                );

                MatrixVariable( const MatrixVariable& rhs
                                                );

        MatrixVariable( const DMatrix& _matrix,
                                                VariableType _type = VT_UNKNOWN
                                                );

        ~MatrixVariable( );

        MatrixVariable& operator=(      const MatrixVariable& rhs
                                                                        );

        MatrixVariable& operator=(      const DMatrix& rhs
                                                                        );


                returnValue init(       uint _nRows,
                                                        uint _nCols,
                                                        VariableType _type = VT_UNKNOWN,
                                                        const char** const _names = 0,
                                                        const char** const _units = 0,
                                                        DVector _scaling = emptyVector,
                                                        DVector _lb = emptyVector,
                                                        DVector _ub = emptyVector,
                                                        BooleanType _autoInit = defaultAutoInit
                                                        );


                inline DMatrix getMatrix( ) const;


                MatrixVariable getRows( uint startIdx,
                                                                uint endIdx
                                                                ) const;

                MatrixVariable getCols( uint startIdx,
                                                                uint endIdx
                                                                ) const;


    //
    // PROTECTED MEMBER FUNCTIONS:
    //
    protected:


    //
    // DATA MEMBERS:
    //
    protected:

};


CLOSE_NAMESPACE_ACADO



#include <acado/variables_grid/matrix_variable.ipp>


#endif  // ACADO_TOOLKIT_MATRIX_VARIABLE_HPP

/*
 *      end of file
 */