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144 lines
4.2 KiB
144 lines
4.2 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/constraint/box_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_BOX_CONSTRAINT_HPP
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#define ACADO_TOOLKIT_BOX_CONSTRAINT_HPP
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#include <acado/matrix_vector/matrix_vector.hpp>
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#include <acado/variables_grid/variables_grid.hpp>
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#include <acado/function/ocp_iterate.hpp>
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BEGIN_NAMESPACE_ACADO
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/**
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* \brief Stores and evaluates box 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 BoxConstraint allows to manage and evaluate box (path) constraints
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* (simple upper or lower bounds) on the optimization variables within
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* 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 BoxConstraint{
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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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BoxConstraint( );
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/** Copy constructor (deep copy). */
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BoxConstraint( const BoxConstraint& rhs );
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/** Destructor. */
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virtual ~BoxConstraint( );
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/** Assignment operator (deep copy). */
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BoxConstraint& operator=( const BoxConstraint& rhs );
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/** Initialization Routine. */
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returnValue init( const Grid& grid_ );
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//
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// PROTECTED MEMBER FUNCTIONS:
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//
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protected:
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/** Protected destructor. */
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void deleteAll();
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returnValue evaluateBounds( const OCPiterate& iter );
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/** Writes a special copy of the bounds that is needed within the
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* OptimizationAlgorithm into the optimization variables.
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*/
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virtual returnValue getBounds( const OCPiterate& iter );
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//
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// DATA MEMBERS:
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//
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protected:
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Grid grid ; /**< the grid */
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// BOUNDS:
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// ----------------------
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int nb ; /**< counts the number of bounds */
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VariableType *var ; /**< variable types */
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int *index ; /**< component of the variable */
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DVector **blb ; /**< lower bounds */
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DVector **bub ; /**< upper bounds */
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DMatrix *residuumXL ; /**< residuum of the differential states to the lower bound */
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DMatrix *residuumXU ; /**< residuum of the differential states to the upper bound */
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DMatrix *residuumXAL; /**< residuum of the algebraic states to the lower bound */
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DMatrix *residuumXAU; /**< residuum of the algebraic states to the upper bound */
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DMatrix *residuumPL ; /**< residuum of the parameters to the lower bound */
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DMatrix *residuumPU ; /**< residuum of the parameters to the upper bound */
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DMatrix *residuumUL ; /**< residuum of the controls to the lower bound */
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DMatrix *residuumUU ; /**< residuum of the controls to the upper bound */
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DMatrix *residuumWL ; /**< residuum of the disturbances to the lower bound */
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DMatrix *residuumWU ; /**< residuum of the disturbances to the upper bound */
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};
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CLOSE_NAMESPACE_ACADO
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#include <acado/constraint/box_constraint.ipp>
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#endif // ACADO_TOOLKIT_BOX_CONSTRAINT_HPP
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/*
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* end of file
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*/
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