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154 lines
7.4 KiB
154 lines
7.4 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/symbolic_expression/acado_syntax.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_SYNTAX_HPP
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#define ACADO_TOOLKIT_SYNTAX_HPP
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#include <acado/symbolic_expression/expression.hpp>
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#include <acado/symbolic_expression/variable_types.hpp>
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/** Syntax of the ACADO toolkit symbolic core.
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*
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* \author Boris Houska, Hans Joachim Ferreau, Milan Vukov
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*
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* This list is a forward declaration of functions that operate on Expressions.
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* (note that this function are not in a namespace.) It defines the syntax of
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* the ACADO Toolkit.
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*
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*/
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/** \name Standard math operators
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* @{
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*/
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REFER_NAMESPACE_ACADO IntermediateState sin ( const REFER_NAMESPACE_ACADO Expression &arg );
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REFER_NAMESPACE_ACADO IntermediateState cos ( const REFER_NAMESPACE_ACADO Expression &arg );
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REFER_NAMESPACE_ACADO IntermediateState tan ( const REFER_NAMESPACE_ACADO Expression &arg );
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REFER_NAMESPACE_ACADO IntermediateState asin( const REFER_NAMESPACE_ACADO Expression &arg );
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REFER_NAMESPACE_ACADO IntermediateState acos( const REFER_NAMESPACE_ACADO Expression &arg );
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REFER_NAMESPACE_ACADO IntermediateState atan( const REFER_NAMESPACE_ACADO Expression &arg );
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REFER_NAMESPACE_ACADO IntermediateState exp ( const REFER_NAMESPACE_ACADO Expression &arg );
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REFER_NAMESPACE_ACADO IntermediateState sqrt( const REFER_NAMESPACE_ACADO Expression &arg );
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REFER_NAMESPACE_ACADO IntermediateState ln ( const REFER_NAMESPACE_ACADO Expression &arg );
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REFER_NAMESPACE_ACADO IntermediateState log ( const REFER_NAMESPACE_ACADO Expression &arg );
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REFER_NAMESPACE_ACADO IntermediateState pow ( const REFER_NAMESPACE_ACADO Expression &arg1,
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const REFER_NAMESPACE_ACADO Expression &arg2 );
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REFER_NAMESPACE_ACADO IntermediateState pow ( const double &arg1,
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const REFER_NAMESPACE_ACADO Expression &arg2 );
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REFER_NAMESPACE_ACADO IntermediateState pow ( const REFER_NAMESPACE_ACADO Expression &arg1,
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const double &arg2 );
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/** @} */
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/** \name Special convex disciplined programming functions.
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* @{
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*/
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REFER_NAMESPACE_ACADO IntermediateState square ( const REFER_NAMESPACE_ACADO Expression &arg );
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REFER_NAMESPACE_ACADO IntermediateState sum_square ( const REFER_NAMESPACE_ACADO Expression &arg );
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REFER_NAMESPACE_ACADO IntermediateState log_sum_exp ( const REFER_NAMESPACE_ACADO Expression &arg );
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REFER_NAMESPACE_ACADO IntermediateState euclidean_norm ( const REFER_NAMESPACE_ACADO Expression &arg );
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REFER_NAMESPACE_ACADO IntermediateState entropy ( const REFER_NAMESPACE_ACADO Expression &arg );
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/** @} */
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/** \name Special routines for the set up of dynamic systems.
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* @{
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*/
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REFER_NAMESPACE_ACADO Expression dot ( const REFER_NAMESPACE_ACADO Expression& arg );
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REFER_NAMESPACE_ACADO Expression next( const REFER_NAMESPACE_ACADO Expression& arg );
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/** @} */
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/** \name Symbolic derivative operators.
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* @{
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*/
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REFER_NAMESPACE_ACADO Expression forwardDerivative ( const REFER_NAMESPACE_ACADO Expression &arg1,
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const REFER_NAMESPACE_ACADO Expression &arg2 );
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REFER_NAMESPACE_ACADO Expression backwardDerivative( const REFER_NAMESPACE_ACADO Expression &arg1,
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const REFER_NAMESPACE_ACADO Expression &arg2 );
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REFER_NAMESPACE_ACADO Expression forwardDerivative ( const REFER_NAMESPACE_ACADO Expression &arg1,
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const REFER_NAMESPACE_ACADO Expression &arg2,
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const REFER_NAMESPACE_ACADO Expression &seed );
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REFER_NAMESPACE_ACADO Expression backwardDerivative( const REFER_NAMESPACE_ACADO Expression &arg1,
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const REFER_NAMESPACE_ACADO Expression &arg2,
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const REFER_NAMESPACE_ACADO Expression &seed );
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REFER_NAMESPACE_ACADO Expression multipleForwardDerivative ( const REFER_NAMESPACE_ACADO Expression &arg1,
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const REFER_NAMESPACE_ACADO Expression &arg2,
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const REFER_NAMESPACE_ACADO Expression &seed );
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REFER_NAMESPACE_ACADO Expression multipleBackwardDerivative ( const REFER_NAMESPACE_ACADO Expression &arg1,
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const REFER_NAMESPACE_ACADO Expression &arg2,
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const REFER_NAMESPACE_ACADO Expression &seed );
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REFER_NAMESPACE_ACADO Expression symmetricDerivative( const REFER_NAMESPACE_ACADO Expression &arg1,
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const REFER_NAMESPACE_ACADO Expression &arg2,
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const REFER_NAMESPACE_ACADO Expression &forward_seed,
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const REFER_NAMESPACE_ACADO Expression &backward_seed,
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REFER_NAMESPACE_ACADO Expression *forward_result = 0,
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REFER_NAMESPACE_ACADO Expression *backward_result = 0 );
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REFER_NAMESPACE_ACADO Expression jacobian ( const REFER_NAMESPACE_ACADO Expression &arg1,
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const REFER_NAMESPACE_ACADO Expression &arg2 );
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REFER_NAMESPACE_ACADO Expression laplace ( const REFER_NAMESPACE_ACADO Expression &arg1,
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const REFER_NAMESPACE_ACADO Expression &arg2 );
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REFER_NAMESPACE_ACADO Expression getRiccatiODE( const REFER_NAMESPACE_ACADO Expression &rhs,
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const REFER_NAMESPACE_ACADO DifferentialState &x ,
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const REFER_NAMESPACE_ACADO Control &u ,
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const REFER_NAMESPACE_ACADO DifferentialState &P ,
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const REFER_NAMESPACE_ACADO DMatrix &Q ,
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const REFER_NAMESPACE_ACADO DMatrix &R );
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REFER_NAMESPACE_ACADO Expression chol( const REFER_NAMESPACE_ACADO Expression &arg );
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/** Function which clears all the static counters, used throughout ACADO symbolics. */
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REFER_NAMESPACE_ACADO returnValue clearAllStaticCounters();
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/** @} */
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#endif // ACADO_TOOLKIT_SYNTAX_HPP
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