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128 lines
3.4 KiB
128 lines
3.4 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/scp_step_linesearch.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_SCP_STEP_LINESEARCH_HPP
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#define ACADO_TOOLKIT_SCP_STEP_LINESEARCH_HPP
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#include <acado/utils/acado_utils.hpp>
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#include <acado/nlp_solver/scp_step.hpp>
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BEGIN_NAMESPACE_ACADO
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/**
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* \brief Implements linesearch techniques to perform a globalized step of an SCPmethod for solving NLPs.
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*
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* \ingroup NumericalAlgorithms
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*
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* The class SCPstepLinesearch implements linesearch techniques to perform a
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* globalized step of an SCPmethod 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 SCPstepLinesearch : public SCPstep {
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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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SCPstepLinesearch( );
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SCPstepLinesearch( UserInteraction* _userInteraction
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);
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/** Copy constructor (deep copy). */
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SCPstepLinesearch( const SCPstepLinesearch& rhs );
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/** Destructor. */
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virtual ~SCPstepLinesearch( );
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/** Assignment operator (deep copy). */
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SCPstepLinesearch& operator=( const SCPstepLinesearch& rhs );
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virtual SCPstep* clone() const;
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virtual returnValue performStep( OCPiterate& iter,
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BandedCP& cp,
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SCPevaluation* eval
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);
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//
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// PROTECTED MEMBER FUNCTIONS:
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//
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protected:
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/** This routine starts a the line search routine and searches a \n
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* step size parameter alpha which yields a descent in the \n
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* specified merit function. \n
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* \n
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* \return SUCCESSFUL_RETURN \n
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* \n
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*/
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returnValue performLineSearch( const OCPiterate& iter,
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BandedCP& cp,
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SCPevaluation& eval,
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double& alpha,
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const double& alphaMin
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);
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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/scp_step_linesearch.ipp>
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#endif // ACADO_TOOLKIT_SCP_STEP_LINESEARCH_HPP
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/*
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* end of file
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*/
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