116 lines
3.4 KiB
C++
116 lines
3.4 KiB
C++
/*
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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/code_generation/export_gauss_newton_qpdunes.hpp
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* \author Rien Quirynen
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* \date 2014
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*/
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#ifndef ACADO_TOOLKIT_EXPORT_EXACT_HESSIAN_QPDUNES_HPP
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#define ACADO_TOOLKIT_EXPORT_EXACT_HESSIAN_QPDUNES_HPP
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#include <acado/code_generation/export_nlp_solver.hpp>
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#include <acado/code_generation/export_gauss_newton_qpdunes.hpp>
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BEGIN_NAMESPACE_ACADO
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/**
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* \brief A class for export of an OCP solver using sparse QP solver qpDUNES
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*
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* \ingroup NumericalAlgorithms
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*
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* The class ExportExactHessianQpDunes allows export of an OCP solver using
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* the generalized Exact-Hessian method. The underlying QP is solved using the
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* structured sparse QP solver qpDUNES.
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*
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* \author Rien Quirynen
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*/
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class ExportExactHessianQpDunes : public ExportGaussNewtonQpDunes
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{
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public:
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/** Default constructor.
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*
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* @param[in] _userInteraction Pointer to corresponding user interface.
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* @param[in] _commonHeaderName Name of common header file to be included.
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*/
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ExportExactHessianQpDunes( UserInteraction* _userInteraction = 0,
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const std::string& _commonHeaderName = ""
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);
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/** Destructor.
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*/
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virtual ~ExportExactHessianQpDunes( )
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{}
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/** Initializes export of an algorithm.
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*
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* \return SUCCESSFUL_RETURN
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*/
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virtual returnValue setup( );
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/** Adds all function (forward) declarations of the auto-generated condensing algorithm
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* to given list of declarations.
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*
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* @param[in] declarations List of declarations.
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*
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* \return SUCCESSFUL_RETURN
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*/
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virtual returnValue getFunctionDeclarations( ExportStatementBlock& declarations
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) const;
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/** Exports source code of the auto-generated condensing algorithm
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* into the given directory.
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*
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* @param[in] code Code block containing the auto-generated condensing algorithm.
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*
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* \return SUCCESSFUL_RETURN
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*/
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virtual returnValue getCode( ExportStatementBlock& code
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);
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protected:
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/** Setting up of an objective evaluation:
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* - functions and derivatives evaulation
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* - creating Hessians and gradients
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*
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* \return SUCCESSFUL_RETURN
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*/
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virtual returnValue setupObjectiveEvaluation( void );
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/** Setting up of a Hessian regularization routine */
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virtual returnValue setupHessianRegularization( void );
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protected:
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};
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CLOSE_NAMESPACE_ACADO
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#endif // ACADO_TOOLKIT_EXPORT_EXACT_HESSIAN_QPDUNES_HPP
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