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92 lines
3.2 KiB
92 lines
3.2 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/ocp/multi_objective_functionality.hpp
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* \author Boris Houska, Hans Joachim Ferreau
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*/
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#ifndef ACADO_TOOLKIT_MULTI_OBJECTIVE_FUNCTIONALITY_HPP
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#define ACADO_TOOLKIT_MULTI_OBJECTIVE_FUNCTIONALITY_HPP
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#include <acado/utils/acado_types.hpp>
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BEGIN_NAMESPACE_ACADO
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class Expression;
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/**
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* \brief Encapsulates functionality for defining OCPs having multiple objectives.
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*
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* \ingroup AuxiliaryFunctionality
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*
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* The class MultiObjectiveFunctionality is a data class that encapsulates
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* all functionality for defining optimal control problems having multiple
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* objectives.
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*
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* \author Boris Houska, Hans Joachim Ferreau
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*/
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class MultiObjectiveFunctionality
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{
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public:
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/** Default constructor. */
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MultiObjectiveFunctionality( );
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/** Copy constructor (deep copy). */
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MultiObjectiveFunctionality( const MultiObjectiveFunctionality& rhs );
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/** Destructor. */
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~MultiObjectiveFunctionality( );
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/** Assignment operator (deep copy). */
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MultiObjectiveFunctionality& operator=( const MultiObjectiveFunctionality& rhs );
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/** Adds an expression as a the Mayer term to be minimized, within \n
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* a multi-objective context. \n
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* \n
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* @param multiObjectiveIdx The index of the objective the \n
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* expression should be added to. \n
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* \n
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* @param arg The expression to be added as a Mayer term. \n
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* \n
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* \return SUCCESSFUL_RETURN \n
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*/
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returnValue minimizeMayerTerm( const int &multiObjectiveIdx, const Expression& arg );
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int getNumberOfMayerTerms() const;
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returnValue getObjective( const int &multiObjectiveIdx, Expression **arg ) const;
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protected:
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int nMayer;
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Expression **mayerTerms;
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};
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CLOSE_NAMESPACE_ACADO
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#endif // ACADO_TOOLKIT_MULTI_OBJECTIVE_FUNCTIONALITY_HPP
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