returnValue setLast(LogName _name, int lastValue, double time=-INFTY)
Data class for storing generic optimization variables.
SCPmeritFunction * meritFcn
virtual SCPstep * clone() const
virtual ~SCPstepFullstep()
Allows to pass back messages to the calling function.
virtual returnValue evaluate(double alpha, const OCPiterate &iter, BandedCP &cp, SCPevaluation &eval, double &result)
Base class for different ways to perform a step of an SCPmethod for solving NLPs. ...
virtual returnValue applyStep(OCPiterate &iter, BandedCP &cp, double alpha) const
SCPstep & operator=(const SCPstep &rhs)
#define CLOSE_NAMESPACE_ACADO
Implements a fullstep to perform a step of an SCPmethod for solving NLPs.
virtual returnValue performStep(OCPiterate &iter, BandedCP &cp, SCPevaluation *eval)
Encapsulates all user interaction for setting options, logging data and plotting results.
void rhs(const real_t *x, real_t *f)
Base class for different ways to evaluate functions and derivatives within an SCPmethod for solving N...
#define BEGIN_NAMESPACE_ACADO
SCPstepFullstep & operator=(const SCPstepFullstep &rhs)
#define ACADOERROR(retval)
Data class for storing conic programs arising from optimal control.