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158 lines
4.5 KiB
158 lines
4.5 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/conic_solver/banded_cp_solver.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_BANDED_CP_SOLVER_HPP
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#define ACADO_TOOLKIT_BANDED_CP_SOLVER_HPP
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#include <acado/utils/acado_utils.hpp>
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#include <acado/user_interaction/algorithmic_base.hpp>
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#include <acado/matrix_vector/matrix_vector.hpp>
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#include <acado/conic_program/banded_cp.hpp>
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BEGIN_NAMESPACE_ACADO
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/**
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* \brief Base class for algorithms solving banded conic programs arising in optimal control.
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*
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* \ingroup AlgorithmInterfaces
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*
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* The class Banded CP Solver is a base class for all
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* conic solvers that are able to deal with the specific
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* band structure that arises in the optimal control context.
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*
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* \author Boris Houska, Hans Joachim Ferreau
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*/
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class BandedCPsolver: public AlgorithmicBase
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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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BandedCPsolver( );
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BandedCPsolver( UserInteraction* _userInteraction
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);
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/** Copy constructor (deep copy). */
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BandedCPsolver( const BandedCPsolver& rhs );
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/** Destructor. */
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virtual ~BandedCPsolver( );
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/** Assignment operator (deep copy). */
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BandedCPsolver& operator=( const BandedCPsolver& rhs );
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/** Assignment operator (deep copy). */
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virtual BandedCPsolver* clone() const = 0;
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/** Initializes the banded conic solver */
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virtual returnValue init( const OCPiterate &iter_ ) = 0;
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/** Solves a given banded conic program */
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virtual returnValue prepareSolve( BandedCP& cp
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);
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/** Solves a given banded conic program in feedback mode: \n
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* \n
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* \param cp the banded conic program to be solved \n
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* \param DeltaX difference between state estimate and previous prediction \n
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* \param DeltaP difference between current and previous parameter value \n
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* \n
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* \return SUCCESSFUL_RETURN (if successful) \n
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* or a specific error message from the dense CP solver. \n
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*/
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virtual returnValue solve( BandedCP& cp
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) = 0;
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/** Solves a given banded conic program */
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virtual returnValue finalizeSolve( BandedCP& cp
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);
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virtual returnValue getParameters ( DVector &p_ ) const = 0;
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virtual returnValue getFirstControl ( DVector &u0_ ) const = 0;
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/** Returns a variance-covariance estimate if possible or an error message otherwise.
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*
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* \return SUCCESSFUL_RETURN
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* RET_MEMBER_NOT_INITIALISED
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*/
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virtual returnValue getVarianceCovariance( DMatrix &var );
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virtual returnValue setRealTimeParameters( const DVector& DeltaX,
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const DVector& DeltaP = emptyConstVector
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);
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virtual returnValue freezeCondensing( );
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virtual returnValue unfreezeCondensing( );
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protected:
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virtual returnValue setupOptions( );
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virtual returnValue setupLogging( );
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};
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CLOSE_NAMESPACE_ACADO
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//#include <acado/conic_solver/banded_cp_solver.ipp>
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#endif // ACADO_TOOLKIT_BANDED_CP_SOLVER_HPP
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/*
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* end of file
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*/
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