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173 lines
5.4 KiB
173 lines
5.4 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/point_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_POINT_CONSTRAINT_HPP
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#define ACADO_TOOLKIT_POINT_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 Stores and evaluates pointwise 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 PointConstraint allows to manage and evaluate pointwise
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* constraints within optimal control problems.
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*
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* \author Boris Houska, Hans Joachim Ferreau
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*/
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class PointConstraint : 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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PointConstraint( );
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/** Default constructor. */
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PointConstraint( const Grid& grid_, int point_index_ );
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/** Copy constructor (deep copy). */
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PointConstraint( const PointConstraint& rhs );
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/** Destructor. */
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virtual ~PointConstraint( );
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/** Assignment operator (deep copy). */
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PointConstraint& operator=( const PointConstraint& rhs );
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/** Adds a point-constraint component.
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* \return SUCCESSFUL_RETURN
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* RET_MEMBER_NOT_INITIALISED (if the ConstraintElement::fcn is not initialized)
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*/
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returnValue add( const double lb_, const Expression& arg, const double ub_ );
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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( const DMatrix &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 whether object only comprises box constraints. */
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inline BooleanType isBoxConstraint( ) const;
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/** Writes a special copy of the bounds that is needed within the
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* OptimizationAlgorithm into the optimization variables.
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*/
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returnValue getBounds( const OCPiterate& iter );
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// PROTECTED FUNCTIONS:
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// --------------------
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protected:
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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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returnValue computeForwardSensitivityBlock( int offset, int offset2, DMatrix *seed );
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// DATA MEMBERS:
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// -------------
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protected:
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int point_index; /**< index of the constraint relative to the constraint grid */
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int nb ; /**< counts the number of simple point bounds */
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VariableType *var ; /**< variable types */
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int *index ; /**< component of the variable */
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double *blb ; /**< lower bounds */
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double *bub ; /**< upper bounds */
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};
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CLOSE_NAMESPACE_ACADO
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#include <acado/constraint/point_constraint.ipp>
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#endif // ACADO_TOOLKIT_POINT_CONSTRAINT_HPP
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/*
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* end of file
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*/
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