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143 lines
4.3 KiB
143 lines
4.3 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/constraint/boundary_constraint.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_BOUNDARY_CONSTRAINT_HPP
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#define ACADO_TOOLKIT_BOUNDARY_CONSTRAINT_HPP
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#include <acado/constraint/constraint_element.hpp>
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BEGIN_NAMESPACE_ACADO
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/**
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* \brief Stores and evaluates boundary constraints within optimal control problems.
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*
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* \ingroup BasicDataStructures
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*
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* The class BoundaryConstraint allows to manage and evaluate constraints
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* at the boundary of the horizon within optimal control problems.
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*
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* \author Boris Houska, Hans Joachim Ferreau
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*/
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class BoundaryConstraint : public ConstraintElement{
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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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BoundaryConstraint( );
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/** Default constructor. */
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BoundaryConstraint( const Grid& grid_ );
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/** Copy constructor (deep copy). */
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BoundaryConstraint( const BoundaryConstraint& rhs );
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/** Destructor. */
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virtual ~BoundaryConstraint( );
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/** Assignment operator (deep copy). */
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BoundaryConstraint& operator=( const BoundaryConstraint& rhs );
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/** Adds a boundary-constraint component.
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* \return SUCCESSFUL_RETURN
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* RET_MEMBER_NOT_INITIALISED (if the ConstraintElement::fcn is not initialized)
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*/
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inline returnValue add( const double lb_ , const Expression& arg1,
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const Expression& arg2, const double ub_ );
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// =======================================================================================
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//
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// EVALUATION ROUTINES
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//
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// =======================================================================================
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/** Evaluates all components in this constraint and stores the \n
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* residuum. \n
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* \n
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* \return SUCESSFUL_RETURN \n
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*/
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returnValue evaluate( const OCPiterate& iter );
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/** Evaluates the sensitivities of all components in this \n
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* constraint. Note that the seed can be defined via the base \n
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* class ConstraintElement. \n
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* \n
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* \return SUCESSFUL_RETURN \n
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*/
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returnValue evaluateSensitivities();
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/** Evaluates the sensitivities and Hessian. \n
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* \n
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* \return SUCESSFUL_RETURN \n
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*/
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returnValue evaluateSensitivities( const DMatrix &seed, BlockMatrix &hessian );
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// =========================================================================
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/** returns the number of constraints */
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inline int getNC() const;
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protected:
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};
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CLOSE_NAMESPACE_ACADO
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#include <acado/constraint/boundary_constraint.ipp>
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#endif // ACADO_TOOLKIT_BOUNDARY_CONSTRAINT_HPP
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/*
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* end of file
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*/
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