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136 lines
3.9 KiB
136 lines
3.9 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/parameter.hpp
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* \author Boris Houska, Hans Joachim Ferreau
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* \date 2008
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*/
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#ifndef ACADO_TOOLKIT_LYAPUNOV_HPP
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#define ACADO_TOOLKIT_LYAPUNOV_HPP
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#include <acado/symbolic_expression/acado_syntax.hpp>
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BEGIN_NAMESPACE_ACADO
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/**
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* \brief Implements a parameter.
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*
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* \ingroup BasicDataStructures
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*
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* The class LYAPUNOV implements a Lyapunov object
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*
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* \author Boris Houska, Hans Joachim Ferreau
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*/
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class Lyapunov: public Expression{
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public:
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Lyapunov();
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/** Default constructor */
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Lyapunov(const Expression &rhs1, const Expression &A_, const Expression &B_,
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const Expression &P_, const Expression &x1_, const Expression &u_,
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const Expression &p_);
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Lyapunov(const Expression &rhs1, const Expression &rhs2,
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const Expression &A_, const Expression &B_, const Expression &P_,
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const Expression &x1_, const Expression &x2_, const Expression &u_,
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const Expression &p_);
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Lyapunov(const Expression &rhs1, const Expression &rhs2,
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const Expression &A_, const Expression &B_, const Expression &P_,
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const Expression &x1_, const Expression &x2_, const Expression &u_,
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const Expression &p_, const Expression &useed_,
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const Expression &pseed_, const Expression &Yx1_,
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const Expression &Yx2_, const Expression &YP_);
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Lyapunov(const Expression &rhs1, const Expression &A_, const Expression &B_,
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const Expression &P_, const Expression &x1_, const Expression &u_,
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const Expression &p_, const Expression &w_);
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Lyapunov(const Expression &rhs1, const Expression &rhs2,
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const Expression &A_, const Expression &B_, const Expression &P_,
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const Expression &x1_, const Expression &x2_, const Expression &u_,
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const Expression &p_, const Expression &w_);
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Lyapunov(const Expression &rhs1, const Expression &rhs2,
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const Expression &A_, const Expression &B_, const Expression &P_,
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const Expression &x1_, const Expression &x2_, const Expression &u_,
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const Expression &p_, const Expression &w_,
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const Expression &useed_, const Expression &pseed_,
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const Expression &Yx1_, const Expression &Yx2_,
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const Expression &YP_);
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/** Default constructor */
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Lyapunov( const Lyapunov &arg );
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/** Default destructor. */
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virtual ~Lyapunov();
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Lyapunov& operator=( const Lyapunov &arg );
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BooleanType isEmpty() const;
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//
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// PROTECTED MEMBERS:
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//
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public:
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Expression rhs1;
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Expression rhs2;
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Expression A;
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Expression B;
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Expression P;
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Expression x1;
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Expression x2;
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Expression u;
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Expression p;
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Expression w;
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Expression pseed;
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Expression useed;
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Expression Yx1;
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Expression Yx2;
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Expression YP;
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};
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CLOSE_NAMESPACE_ACADO
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#endif
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