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200 lines
6.1 KiB
200 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/nlp_solver/nlp_solver.hpp
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* \author Boris Houska, Hans Joachim Ferreau
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*/
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#ifndef ACADO_TOOLKIT_NLP_SOLVER_HPP
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#define ACADO_TOOLKIT_NLP_SOLVER_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/variables_grid/variables_grid.hpp>
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#include <acado/clock/real_clock.hpp>
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BEGIN_NAMESPACE_ACADO
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/**
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* \brief Base class for different algorithms for solving nonlinear programming (NLP) problems.
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*
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* \ingroup AlgorithmInterfaces
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*
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* The class NLPsolver serves as a base class for all kind of different
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* algorithms for solving nonlinear programming (NLP) problems.
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*
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* \author Boris Houska, Hans Joachim Ferreau
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*/
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class NLPsolver : 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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NLPsolver( UserInteraction* _userInteraction = 0
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);
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/** Copy constructor (deep copy). */
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NLPsolver( const NLPsolver& rhs );
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/** Destructor. */
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virtual ~NLPsolver( );
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/** Assignment operator (deep copy). */
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NLPsolver& operator=( const NLPsolver& rhs );
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virtual NLPsolver* clone( ) const = 0;
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/** Initializes the problem. */
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virtual returnValue init(VariablesGrid *xd,
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VariablesGrid *xa,
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VariablesGrid *p,
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VariablesGrid *u,
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VariablesGrid *w ) = 0;
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/** Solves current real-time optimization problem. */
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virtual returnValue solve( const DVector &x0_ = emptyConstVector,
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const DVector &p_ = emptyConstVector
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);
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/** Executes a complete real-time step. */
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virtual returnValue step( const DVector &x0_ = emptyConstVector,
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const DVector &p_ = emptyConstVector
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);
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/** Executes a real-time feedback step */
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virtual returnValue feedbackStep( const DVector &x0_,
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const DVector &p_ = emptyConstVector
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);
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/** Executes a real-time preparation step */
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virtual returnValue performCurrentStep( );
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/** Executes a real-time preparation step */
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virtual returnValue prepareNextStep( );
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/** Applies a shift of the SQP data (for moving horizons) */
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virtual returnValue shiftVariables( double timeShift,
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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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/** Returns a variance-covariance estimate if possible or an error message otherwise.
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*
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* \return SUCCESSFUL_RETURN
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* RET_MEMBER_NOT_INITIALISED
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*/
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virtual returnValue getVarianceCovariance( DMatrix &var ) = 0;
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/** Sets the reference to be used in the LSQ tracking terms. If the objective \n
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* has also non-LSQ terms a error message will be returned (cf. objective.hpp). \n
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* This routine has been designed for real-time applications where the reference \n
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* is explicitly time-dependent. \n
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* \n
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* \return SUCCESSFUL_RETURN \n
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*/
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virtual returnValue setReference( const VariablesGrid &ref );
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// virtual returnValue enableNeedToReevaluate( ) = 0;
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inline int getNumberOfSteps( ) const;
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inline returnValue resetNumberOfSteps( );
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virtual returnValue getDifferentialStates( VariablesGrid &xd_ ) const;
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virtual returnValue getAlgebraicStates ( VariablesGrid &xa_ ) const;
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virtual returnValue getParameters ( VariablesGrid &p_ ) const;
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virtual returnValue getParameters ( DVector &p_ ) const;
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virtual returnValue getControls ( VariablesGrid &u_ ) const;
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virtual returnValue getFirstControl ( DVector &u0_ ) const;
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virtual returnValue getDisturbances ( VariablesGrid &w_ ) const;
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virtual double getObjectiveValue ( ) const;
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virtual returnValue getSensitivitiesX( BlockMatrix& _sens
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) const;
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virtual returnValue getSensitivitiesXA( BlockMatrix& _sens
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) const;
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virtual returnValue getSensitivitiesP( BlockMatrix& _sens
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) const;
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virtual returnValue getSensitivitiesU( BlockMatrix& _sens
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) const;
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virtual returnValue getSensitivitiesW( BlockMatrix& _sens
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) const;
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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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int numberOfSteps;
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};
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CLOSE_NAMESPACE_ACADO
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#include <acado/nlp_solver/nlp_solver.ipp>
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#endif // ACADO_TOOLKIT_NLP_SOLVER_HPP
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/*
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* end of file
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*/
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