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226 lines
4.9 KiB
226 lines
4.9 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/symbolic_expression/constraint_component.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 ConstraintComponent ConstraintComponent::operator<=( const double& ub_ ) const{
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ConstraintComponent tmp(*this);
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tmp.setUB( ub_ );
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return tmp;
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}
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inline ConstraintComponent ConstraintComponent::operator>=( const double& lb_ ) const{
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ConstraintComponent tmp(*this);
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tmp.setLB( lb_ );
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return tmp;
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}
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inline ConstraintComponent ConstraintComponent::operator==( const double& b_ ) const{
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ConstraintComponent tmp(*this);
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tmp.setLB( b_ );
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tmp.setUB( b_ );
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return tmp;
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}
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inline ConstraintComponent ConstraintComponent::operator<=( const DVector& ub_ ) const{
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ConstraintComponent tmp(*this);
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tmp.setUB( ub_ );
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return tmp;
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}
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inline ConstraintComponent ConstraintComponent::operator>=( const DVector& lb_ ) const{
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ConstraintComponent tmp(*this);
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tmp.setLB( lb_ );
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return tmp;
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}
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inline ConstraintComponent ConstraintComponent::operator==( const DVector& b_ ) const{
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ConstraintComponent tmp(*this);
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tmp.setLB( b_ );
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tmp.setUB( b_ );
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return tmp;
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}
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inline ConstraintComponent ConstraintComponent::operator<=( const VariablesGrid& ub_ ) const{
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ConstraintComponent tmp(*this);
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tmp.setUB( ub_ );
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return tmp;
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}
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inline ConstraintComponent ConstraintComponent::operator>=( const VariablesGrid& lb_ ) const{
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ConstraintComponent tmp(*this);
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tmp.setLB( lb_ );
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return tmp;
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}
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inline ConstraintComponent ConstraintComponent::operator==( const VariablesGrid& b_ ) const{
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ConstraintComponent tmp(*this);
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tmp.setLB( b_ );
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tmp.setUB( b_ );
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return tmp;
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}
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inline uint ConstraintComponent::getDim( ) const{
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return expression.getDim();
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}
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inline const DVector& ConstraintComponent::getLB() const{
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return lb;
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}
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inline const DVector& ConstraintComponent::getUB() const{
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return ub;
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}
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inline returnValue ConstraintComponent::setLB( const double &lb_ ){
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lb.init( expression.getDim() );
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lb.setAll( lb_ );
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return SUCCESSFUL_RETURN;
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}
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inline returnValue ConstraintComponent::setLB( const DVector& lb_ ){
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if( lb_.getDim() != expression.getDim() )
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return ACADOERROR( RET_INCOMPATIBLE_DIMENSIONS );;
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lb = lb_;
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return SUCCESSFUL_RETURN;
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}
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inline returnValue ConstraintComponent::setLB( const VariablesGrid& lb_ ){
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if( lb_.getNumValues() != expression.getDim() )
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return ACADOERROR( RET_INCOMPATIBLE_DIMENSIONS );;
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lbGrid = lb_;
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return SUCCESSFUL_RETURN;
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}
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inline returnValue ConstraintComponent::setUB( const double &ub_ ){
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ub.init( expression.getDim() );
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ub.setAll( ub_ );
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return SUCCESSFUL_RETURN;
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}
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inline returnValue ConstraintComponent::setUB( const DVector& ub_ ){
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if( ub_.getDim() != expression.getDim() )
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return ACADOERROR( RET_INCOMPATIBLE_DIMENSIONS );;
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ub = ub_;
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return SUCCESSFUL_RETURN;
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}
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inline returnValue ConstraintComponent::setUB( const VariablesGrid& ub_ ){
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if( ub_.getNumValues() != expression.getDim() )
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return ACADOERROR( RET_INCOMPATIBLE_DIMENSIONS );;
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ubGrid = ub_;
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return SUCCESSFUL_RETURN;
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}
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inline Expression ConstraintComponent::getExpression() const{
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return expression;
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}
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inline BooleanType ConstraintComponent::hasUBgrid( ) const{
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if( ubGrid.isEmpty() == BT_TRUE ) return BT_FALSE;
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return BT_TRUE;
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}
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inline BooleanType ConstraintComponent::hasLBgrid( ) const{
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if( lbGrid.isEmpty() == BT_TRUE ) return BT_FALSE;
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return BT_TRUE;
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}
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inline const VariablesGrid& ConstraintComponent::getLBgrid() const{
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return lbGrid;
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}
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inline const VariablesGrid& ConstraintComponent::getUBgrid() const{
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return ubGrid;
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}
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CLOSE_NAMESPACE_ACADO
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// end of file.
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