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179 lines
6.2 KiB
179 lines
6.2 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/algebraic_consistency_constraint.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_ALGEBRAIC_CONSISTENCY_CONSTRAINT_HPP
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#define ACADO_TOOLKIT_ALGEBRAIC_CONSISTENCY_CONSTRAINT_HPP
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#include <acado/constraint/constraint_element.hpp>
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BEGIN_NAMESPACE_ACADO
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/**
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* \brief Deals with algebraic consistency constraints within optimal control problems.
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*
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* \ingroup BasicDataStructures
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*
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* The class AlgebraicConsistencyConstraint has been introduced in order to deal with
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* algebraic consistency constraints. Usually, the user does not get in touch with this
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* class, as algebraic consistency constraints should automatically be introduced by
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* the optimization routine. It is possible to add several DAE right-hand sides which
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* will be evaluated on a grid (usually, the multiple shooting ot collocation grid)
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* depending on the model stage number. In the easiest case, i.e. for one stage, the
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* evaluation routine will return the algebraic residuum of the DAE at a given point.
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* The differentiation of the AlgebraicConsistencyConstraint will return the derivatives
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* in form of a structured block matrix, which is typically sparse.
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*
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* \author Boris Houska, Hans Joachim Ferreau
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*
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*/
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class AlgebraicConsistencyConstraint : public ConstraintElement{
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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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AlgebraicConsistencyConstraint( );
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/** Default constructor. */
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AlgebraicConsistencyConstraint( const Grid& grid_ , /**< union grid of the constraint */
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const uint& numberOfStages /**< number of model stages */ );
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/** Copy constructor (deep copy). */
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AlgebraicConsistencyConstraint( const AlgebraicConsistencyConstraint& rhs );
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/** Destructor. */
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virtual ~AlgebraicConsistencyConstraint( );
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/** Assignment operator (deep copy). */
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AlgebraicConsistencyConstraint& operator=( const AlgebraicConsistencyConstraint& rhs );
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// =======================================================================================
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/** Adds a consistency constraint for a specified stage.
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* \return SUCCESSFUL_RETURN
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* RET_INDEX_OUT_OF_BOUNDS (if the start/end of the stage are not well defined)
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*/
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inline returnValue add( const uint& endOfStage_ , /**< end of the stage */
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const DifferentialEquation& dae /**< the DAE itself */ );
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// =======================================================================================
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//
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// EVALUATION ROUTINES
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//
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// =======================================================================================
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/** Evaluates all components in this constraint and stores the \n
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* residuum. \n
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* \n
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* \return SUCESSFUL_RETURN \n
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*/
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returnValue evaluate( const OCPiterate& iter );
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/** Evaluates the sensitivities of all components in this \n
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* constraint. Note that the seed can be defined via the base \n
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* class ConstraintElement. \n
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* \n
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* \return SUCESSFUL_RETURN \n
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*/
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returnValue evaluateSensitivities();
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/** Evaluates the sensitivities and Hessian. \n
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* \n
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* \return SUCESSFUL_RETURN \n
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*/
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returnValue evaluateSensitivities( int &count, const BlockMatrix &seed, BlockMatrix &hessian );
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// =========================================================================
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/** returns the number of constraints */
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inline int getNC() const;
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/** returns the dimensions of the idx-th block */
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inline int getDim( const int& idx_ );
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// PROOTECTED MEMBER FUNCIONS:
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// ---------------------------
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protected:
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virtual returnValue initializeEvaluationPoints( const OCPiterate& iter
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);
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/** only for internal use (routine which computes a part of the block
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* matrix needed for forward differentiation.) */
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inline returnValue computeForwardSensitivityBlock( int offset1, int offset2, int offset3, int stageIdx, DMatrix *seed );
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//
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// DATA MEMBERS:
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//
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protected:
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int numberOfStages ;
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int counter ;
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int *numberOfDifferentialStates;
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int *numberOfAlgebraicStates ;
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int *breakPoints ;
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};
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CLOSE_NAMESPACE_ACADO
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#include <acado/constraint/algebraic_consistency_constraint.ipp>
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#endif // ACADO_TOOLKIT_ALGEBRAIC_CONSISTENCY_CONSTRAINT_HPP
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/*
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* end of file
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*/
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