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226 lines
6.1 KiB
226 lines
6.1 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/function/ocp_iterate.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_OCP_ITERATE_HPP
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#define ACADO_TOOLKIT_OCP_ITERATE_HPP
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#include <acado/utils/acado_utils.hpp>
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#include <acado/variables_grid/variables_grid.hpp>
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BEGIN_NAMESPACE_ACADO
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/**
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* \brief Data class for storing generic optimization variables.
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*
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* \ingroup BasicDataStructures
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*
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* The class OCPiterate is a data class
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* to store generic optimization variables as arising in the
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* optimal control context. (Philosophy: This class is used liked
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* a struct with some add-on functionality.)
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*
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* \author Boris Houska, Hans Joachim Ferreau
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*/
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class OCPiterate{
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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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OCPiterate( );
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OCPiterate( const VariablesGrid* const _x,
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const VariablesGrid* const _xa,
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const VariablesGrid* const _p,
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const VariablesGrid* const _u,
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const VariablesGrid* const _w
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);
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/** Copy constructor (deep copy). */
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OCPiterate( const OCPiterate& rhs );
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/** Destructor. */
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virtual ~OCPiterate( );
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/** Assignment operator (deep copy). */
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OCPiterate& operator=( const OCPiterate& rhs );
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returnValue allocateAll( );
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returnValue init( const VariablesGrid* const _x,
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const VariablesGrid* const _xa,
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const VariablesGrid* const _p,
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const VariablesGrid* const _u,
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const VariablesGrid* const _w
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);
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returnValue clear( );
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/** Assignment operator (deep copy). */
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//OCPiterate& operator+=( const OCPiterate& rhs );
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/** Returns the dimension of the differential state vector. */
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inline uint getNX( ) const;
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/** Returns the dimension of the algebraic state vector. */
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inline uint getNXA( ) const;
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/** Returns the dimension of the parameter vector. */
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inline uint getNP( ) const;
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/** Returns the dimension of the control vector. */
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inline uint getNU( ) const;
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/** Returns the dimension of the disturbance vector. */
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inline uint getNW( ) const;
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uint getNumPoints( ) const;
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returnValue print( ) const;
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inline double getTime( const uint &idx ) const;
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inline DVector getX ( const uint &idx ) const;
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inline DVector getXA ( const uint &idx ) const;
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inline DVector getP ( const uint &idx ) const;
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inline DVector getU ( const uint &idx ) const;
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inline DVector getW ( const uint &idx ) const;
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inline Grid getGrid() const;
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/** Returns the union grid of all members, i.e. x, xa, p, u, and w. \n
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* \n
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* \return The requested union grid. \n
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*/
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Grid getUnionGrid( ) const;
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BooleanType areGridsConsistent( );
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returnValue getInitialData( DVector &x_ = emptyVector,
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DVector &xa_ = emptyVector,
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DVector &p_ = emptyVector,
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DVector &u_ = emptyVector,
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DVector &w_ = emptyVector ) const;
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returnValue updateData( double t ,
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DVector &x_ = emptyVector,
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DVector &xa_ = emptyVector,
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DVector &p_ = emptyVector,
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DVector &u_ = emptyVector,
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DVector &w_ = emptyVector );
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returnValue applyStep( const BlockMatrix& bm,
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double alpha
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);
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returnValue enableSimulationMode( );
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inline BooleanType isInSimulationMode( ) const;
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/** Shifts all grids by given amount.
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*
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* \return SUCCESSFUL_RETURN \n
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* RET_INVALID_ARGUMENTS
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*/
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virtual returnValue shift( double timeShift = -1.0,
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DVector lastX = emptyVector,
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DVector lastXA = emptyVector,
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DVector lastP = emptyVector,
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DVector lastU = emptyVector,
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DVector lastW = emptyVector );
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//
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// PUBLIC DATA MEMBERS:
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//
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public:
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VariablesGrid *x ; // the differential state variables
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VariablesGrid *xa; // the algebraic state variables
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VariablesGrid *p ; // the parameter
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VariablesGrid *u ; // the control variables
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VariablesGrid *w ; // the disturbances
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// PROTECTED MEMBER FUNCTIONS:
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// ---------------------------
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protected:
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void copy (const OCPiterate& rhs);
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inline DVector copy ( const VariablesGrid *z, const uint &idx ) const;
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inline uint getDim( VariablesGrid *z ) const;
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void update( double t, VariablesGrid &z1, DVector &z2 ) const;
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//
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// PUBLIC DATA MEMBERS:
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//
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protected:
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BooleanType inSimulationMode;
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};
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CLOSE_NAMESPACE_ACADO
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#include <acado/function/ocp_iterate.ipp>
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#endif // ACADO_TOOLKIT_OCP_ITERATE_HPP
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/*
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* end of file
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*/
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