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92 lines
2.4 KiB
92 lines
2.4 KiB
/*
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* This file is part of ACADO Toolkit.
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*
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* ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
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* Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
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* Milan Vukov, Rien Quirynen, KU Leuven.
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* Developed within the Optimization in Engineering Center (OPTEC)
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* under supervision of Moritz Diehl. All rights reserved.
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*
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* ACADO Toolkit is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 3 of the License, or (at your option) any later version.
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*
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* ACADO Toolkit is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with ACADO Toolkit; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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/**
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* \file include/acado/objective/lagrange_term.ipp
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* \author Boris Houska, Hans Joachim Ferreau
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*
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*/
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//
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// PUBLIC MEMBER FUNCTIONS:
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//
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BEGIN_NAMESPACE_ACADO
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inline const Grid& LagrangeTerm::getGrid() const{
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return grid;
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}
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inline returnValue LagrangeTerm::addLagrangeTerm( const Expression& arg ){
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if( lagrangeFcn != 0 ){
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*lagrangeFcn[0] += arg;
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}
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else{
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nLagrangeTerms = 1;
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lagrangeFcn = (Expression**)realloc(lagrangeFcn,nLagrangeTerms*sizeof(Expression*));
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lagrangeFcn[0] = new Expression(arg);
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}
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return SUCCESSFUL_RETURN;
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}
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inline returnValue LagrangeTerm::addLagrangeTerm( const Expression& arg,
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const int& stageNumber ){
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int run1;
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if( nLagrangeTerms > stageNumber ){
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*lagrangeFcn[stageNumber] = *lagrangeFcn[stageNumber] + arg;
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}
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else{
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lagrangeFcn = (Expression**)realloc(lagrangeFcn,(stageNumber+1)*sizeof(Expression*));
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for( run1 = nLagrangeTerms; run1 < stageNumber+1; run1++ )
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lagrangeFcn[run1] = 0;
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nLagrangeTerms = stageNumber+1;
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lagrangeFcn[stageNumber] = new Expression( arg );
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}
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return SUCCESSFUL_RETURN;
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}
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CLOSE_NAMESPACE_ACADO
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// end of file.
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