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119 lines
2.9 KiB
119 lines
2.9 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/nlp_solver/ip_method.hpp
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* \author Boris Houska, Hans Joachim Ferreau
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*
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*/
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#ifndef ACADO_TOOLKIT_IP_METHOD_HPP
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#define ACADO_TOOLKIT_IP_METHOD_HPP
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#include <acado/utils/acado_utils.hpp>
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#include <acado/nlp_solver/nlp_solver.hpp>
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BEGIN_NAMESPACE_ACADO
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/**
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* \brief Implements different interior-point methods for solving NLPs.
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*
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* \ingroup NumericalAlgorithms
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*
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* The class IPmethod implements different interior-point methods
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* for solving nonlinear programming problems.
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*
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* \author Boris Houska, Hans Joachim Ferreau
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*/
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class IPmethod : public NLPsolver
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{
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//
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// PUBLIC MEMBER FUNCTIONS:
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//
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public:
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/** Default constructor. */
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IPmethod( );
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IPmethod( UserInteraction* _userInteraction
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);
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/** Default constructor. */
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IPmethod( const NLP& nlp_ );
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/** Copy constructor (deep copy). */
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IPmethod( const IPmethod& rhs );
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/** Destructor. */
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~IPmethod( );
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/** Assignment operator (deep copy). */
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IPmethod& operator=( const IPmethod& rhs );
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/** Initialization. */
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virtual returnValue init(VariablesGrid *xd,
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VariablesGrid *xa,
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VariablesGrid *p,
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VariablesGrid *u,
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VariablesGrid *w );
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/** Starts execution. */
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virtual returnValue solve( int maxNumSteps );
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//
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// PROTECTED MEMBER FUNCTIONS:
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//
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protected:
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//
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// DATA MEMBERS:
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//
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protected:
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};
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CLOSE_NAMESPACE_ACADO
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#include <acado/nlp_solver/ip_method.ipp>
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#endif // ACADO_TOOLKIT_IP_METHOD_HPP
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/*
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* end of file
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*/
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