You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
111 lines
3.6 KiB
111 lines
3.6 KiB
/*
|
|
* This file is part of ACADO Toolkit.
|
|
*
|
|
* ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
|
|
* Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
|
|
* Milan Vukov, Rien Quirynen, KU Leuven.
|
|
* Developed within the Optimization in Engineering Center (OPTEC)
|
|
* under supervision of Moritz Diehl. All rights reserved.
|
|
*
|
|
* ACADO Toolkit is free software; you can redistribute it and/or
|
|
* modify it under the terms of the GNU Lesser General Public
|
|
* License as published by the Free Software Foundation; either
|
|
* version 3 of the License, or (at your option) any later version.
|
|
*
|
|
* ACADO Toolkit is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
|
* Lesser General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU Lesser General Public
|
|
* License along with ACADO Toolkit; if not, write to the Free Software
|
|
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
|
|
*
|
|
*/
|
|
|
|
|
|
|
|
/**
|
|
* \file include/acado/function/evaluation_point.ipp
|
|
* \author Boris Houska, Hans Joachim Ferreau
|
|
* \date 2010
|
|
*/
|
|
|
|
|
|
//
|
|
// PUBLIC MEMBER FUNCTIONS:
|
|
//
|
|
|
|
|
|
BEGIN_NAMESPACE_ACADO
|
|
|
|
|
|
|
|
inline returnValue EvaluationPoint::copy( const int *order, const DVector &rhs ){
|
|
|
|
uint i;
|
|
for( i = 0; i < rhs.getDim(); i++ )
|
|
z[order[i]] = rhs(i);
|
|
return SUCCESSFUL_RETURN;
|
|
}
|
|
|
|
|
|
inline DVector EvaluationPoint::backCopy( const int *order, const uint &dim ) const{
|
|
|
|
DVector tmp(dim);
|
|
uint i;
|
|
for( i = 0; i < dim; i++ )
|
|
tmp(i) = z[order[i]];
|
|
return tmp;
|
|
}
|
|
|
|
inline returnValue EvaluationPoint::setT ( const double &t ){ return copy( idx[0], DVector(1,&t) ); }
|
|
inline returnValue EvaluationPoint::setX ( const DVector &x ){ return copy( idx[1], x ); }
|
|
inline returnValue EvaluationPoint::setXA( const DVector &xa ){ return copy( idx[2], xa ); }
|
|
inline returnValue EvaluationPoint::setP ( const DVector &p ){ return copy( idx[3], p ); }
|
|
inline returnValue EvaluationPoint::setU ( const DVector &u ){ return copy( idx[4], u ); }
|
|
inline returnValue EvaluationPoint::setW ( const DVector &w ){ return copy( idx[5], w ); }
|
|
inline returnValue EvaluationPoint::setDX( const DVector &dx ){ return copy( idx[6], dx ); }
|
|
|
|
|
|
inline returnValue EvaluationPoint::setZ ( const uint &idx_,
|
|
const OCPiterate &iter ){
|
|
|
|
setT ( iter.getTime (idx_) );
|
|
setX ( iter.getX (idx_) );
|
|
setXA( iter.getXA (idx_) );
|
|
setP ( iter.getP (idx_) );
|
|
setU ( iter.getU (idx_) );
|
|
setW ( iter.getW (idx_) );
|
|
|
|
return SUCCESSFUL_RETURN;
|
|
}
|
|
|
|
|
|
|
|
|
|
inline returnValue EvaluationPoint::setZero( )
|
|
{
|
|
if ( z != 0 )
|
|
{
|
|
for( uint run1 = 0; run1 < N; run1++ )
|
|
z[run1] = 0.0;
|
|
}
|
|
|
|
return SUCCESSFUL_RETURN;
|
|
}
|
|
|
|
|
|
inline double EvaluationPoint::getT () const{ return z[*idx[0]] ; }
|
|
inline DVector EvaluationPoint::getX () const{ return backCopy( idx[1], nx ); }
|
|
inline DVector EvaluationPoint::getXA() const{ return backCopy( idx[2], na ); }
|
|
inline DVector EvaluationPoint::getP () const{ return backCopy( idx[3], np ); }
|
|
inline DVector EvaluationPoint::getU () const{ return backCopy( idx[4], nu ); }
|
|
inline DVector EvaluationPoint::getW () const{ return backCopy( idx[5], nw ); }
|
|
inline DVector EvaluationPoint::getDX() const{ return backCopy( idx[6], nd ); }
|
|
|
|
inline double* EvaluationPoint::getEvaluationPointer() const{ return z; }
|
|
|
|
CLOSE_NAMESPACE_ACADO
|
|
|
|
// end of file.
|
|
|