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200 lines
5.3 KiB
200 lines
5.3 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_evaluation.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_EVALUATION_HPP
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#define ACADO_TOOLKIT_SCP_EVALUATION_HPP
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#include <acado/utils/acado_utils.hpp>
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#include <acado/user_interaction/algorithmic_base.hpp>
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#include <acado/objective/objective.hpp>
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#include <acado/dynamic_discretization/dynamic_discretization.hpp>
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#include <acado/constraint/constraint.hpp>
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#include <acado/function/ocp_iterate.hpp>
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#include <acado/conic_program/banded_cp.hpp>
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BEGIN_NAMESPACE_ACADO
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/**
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* \brief Base class for different ways to evaluate functions and derivatives within 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 SCPevaluation serves as a base class for different ways to evaluate
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* functions and derivatives within 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 SCPevaluation : public AlgorithmicBase
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{
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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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SCPevaluation( );
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SCPevaluation( UserInteraction* _userInteraction,
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const Objective* const objective_,
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const DynamicDiscretization* const dynamic_discretization_,
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const Constraint* const constraint_,
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BooleanType _isCP = BT_FALSE
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);
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/** Copy constructor (deep copy). */
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SCPevaluation( const SCPevaluation& rhs );
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/** Destructor. */
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virtual ~SCPevaluation( );
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/** Assignment operator (deep copy). */
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SCPevaluation& operator=( const SCPevaluation& rhs );
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virtual SCPevaluation* clone() const;
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virtual returnValue init( const OCPiterate& iter
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);
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/** Evaluates the objective as well as the ODE/DAE discretization
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* and the constraints for the case that they exist.
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*/
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virtual returnValue evaluate( OCPiterate& iter, BandedCP& cp );
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/** Evaluates the sensitivities of the objective as well as
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* the ODE/DAE discretization
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* and the constraints for the case that they exist.
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*/
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virtual returnValue evaluateSensitivities( const OCPiterate& iter,
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BandedCP& cp
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);
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/** Evaluates the gradient "nablaL" of the Lagrangian function.
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*
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* \return SUCCESSFUL_RETURN
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*/
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virtual returnValue evaluateLagrangeGradient( uint N,
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const OCPiterate& iter,
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const BandedCP& cp,
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BlockMatrix &nablaL
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);
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/** computes the KKT-tolerance (only for internal termination check). \n
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*
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* \return The requested KKT tolerance.
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*/
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virtual double getKKTtolerance( const OCPiterate& iter,
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const BandedCP& cp,
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double KKTmultiplierRegularisation = 0.0
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);
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virtual double getObjectiveValue( ) const;
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returnValue setReference( const VariablesGrid& ref
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);
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returnValue clearDynamicDiscretization( );
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inline BooleanType hasLSQobjective( ) const;
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inline BooleanType isDynamicNLP( ) const;
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inline BooleanType isStaticNLP( ) const;
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inline uint getNumConstraints( ) const;
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inline uint getNumConstraintBlocks( ) const;
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inline DVector getConstraintBlockDims( ) const;
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virtual returnValue freezeSensitivities( );
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virtual returnValue unfreezeSensitivities( );
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//
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// PROTECTED MEMBER FUNCTIONS:
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//
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protected:
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virtual returnValue setupOptions( );
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virtual returnValue setupLogging( );
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//
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// DATA MEMBERS:
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//
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protected:
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Objective* objective ; /**< Objective function */
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DynamicDiscretization* dynamicDiscretization; /**< Descretized ODE or DAE */
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Constraint* constraint ; /**< Constraint functions */
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double objectiveValue; /**< The objective value. */
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BooleanType isCP;
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BooleanType areSensitivitiesFrozen;
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};
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CLOSE_NAMESPACE_ACADO
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#include <acado/nlp_solver/scp_evaluation.ipp>
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#endif // ACADO_TOOLKIT_SCP_EVALUATION_HPP
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/*
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* end of file
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*/
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