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76 lines
2.0 KiB
76 lines
2.0 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/boundary_constraint.ipp
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* \author Boris Houska, Hans Joachim Ferreau
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*
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*/
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//
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// PUBLIC MEMBER FUNCTIONS:
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//
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BEGIN_NAMESPACE_ACADO
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inline int BoundaryConstraint::getNC() const{
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if( fcn == 0 )
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return 0;
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return fcn[0].getDim();
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}
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inline returnValue BoundaryConstraint::add( const double lb_ , const Expression& arg1,
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const Expression& arg2, const double ub_ ){
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if( fcn == 0 )
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return ACADOERROR(RET_MEMBER_NOT_INITIALISED);
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fcn[0] << arg1;
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fcn[1] << arg2;
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lb[0] = (double*)realloc(lb[0],fcn[0].getDim()*sizeof(double));
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ub[0] = (double*)realloc(ub[0],fcn[0].getDim()*sizeof(double));
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ub[0][fcn[0].getDim()-1] = ub_;
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lb[0][fcn[0].getDim()-1] = lb_;
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return SUCCESSFUL_RETURN;
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}
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CLOSE_NAMESPACE_ACADO
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// end of file.
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