143 lines
4.0 KiB
C++
143 lines
4.0 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_block_forces.hpp
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* \authors Rien Quirynen
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* \date 2014
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*/
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#ifndef ACADO_TOOLKIT_EXPORT_GAUSS_NEWTON_BLOCK_FORCES_HPP
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#define ACADO_TOOLKIT_EXPORT_GAUSS_NEWTON_BLOCK_FORCES_HPP
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#include <acado/code_generation/export_gauss_newton_block_cn2.hpp>
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#include <acado/code_generation/export_forces_interface.hpp>
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#include <acado/code_generation/export_forces_generator.hpp>
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BEGIN_NAMESPACE_ACADO
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class ExportQpDunesInterface;
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/**
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* \brief An OCP solver based on the block N^2 condensing algorithm, in combination with qpDUNES as the QP solver.
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*
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* \ingroup NumericalAlgorithms
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*
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* \authors Rien Quirynen
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*
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* \note Still a limited experimental version
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*/
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class ExportGaussNewtonBlockForces : public ExportGaussNewtonBlockCN2
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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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ExportGaussNewtonBlockForces( UserInteraction* _userInteraction = 0,
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const std::string& _commonHeaderName = ""
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);
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/** Destructor. */
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virtual ~ExportGaussNewtonBlockForces( )
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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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/** 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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virtual returnValue setupCondensing( );
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/** Set-up evaluation of constraints
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* - box constraints on states and controls
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*
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* \return SUCCESSFUL_RETURN
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*/
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virtual returnValue setupConstraintsEvaluation( void );
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/** Initialization of all member variables.
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*
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* \return SUCCESSFUL_RETURN
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*/
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virtual returnValue setupVariables( );
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/** Exports source code containing the evaluation routines of the algorithm.
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*
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* \return SUCCESSFUL_RETURN
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*/
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virtual returnValue setupEvaluation( );
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virtual returnValue setupQPInterface( );
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protected:
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/** \name QP interface */
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/** @{ */
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std::string qpModuleName;
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std::string qpObjPrefix;
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/** @} */
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std::vector< ExportVariable > objHessians;
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std::vector< ExportVariable > objGradients;
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std::vector< ExportVariable > conLB;
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std::vector< ExportVariable > conUB;
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std::vector< std::vector< unsigned > > conLBIndices, conUBIndices;
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std::vector< ExportVariable > conA, conAB;
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ExportFunction evaluateAffineConstraints;
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std::vector< unsigned > conABDimensions;
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std::vector< ExportVariable > conC;
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std::vector< ExportVariable > cond;
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/** FORCES interface object. */
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std::shared_ptr< ExportForcesInterface > qpInterface;
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std::shared_ptr< ExportForcesGenerator > qpGenerator;
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};
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CLOSE_NAMESPACE_ACADO
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#endif // ACADO_TOOLKIT_EXPORT_GAUSS_NEWTON_BLOCK_QPDUNES_HPP
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