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R1517/src/kite_control/kiteNMPF.h
6a026746f521simple_kite

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kiteNMPF.h
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#ifndef KITENMPF_H
#define KITENMPF_H
#include "kite.h"
#include <memory>
enum CollocationType{GLOBAL, MULTIPLE_SHOOTING};
class KiteNMPF
{
public:
//KiteNMPF(const KiteProperties &KiteProps, const AlgorithmProperties &AlgoProps);
KiteNMPF(std::shared_ptr<KiteDynamics> _Kite, const casadi::Function &_Path);
//KiteNMPF(const KiteProperties &KiteProps, const AlgorithmProperties &AlgoProps, const casadi::Function &_Path);
virtual ~KiteNMPF(){}
/** contsraints setters */
void setLBX(const casadi::DM &_lbx){this->LBX = _lbx;}
void setUBX(const casadi::DM &_ubx){this->UBX = _ubx;}
void setLBG(const casadi::DM &_lbg){this->LBG = _lbg;}
void setUBG(const casadi::DM &_ubg){this->UBG = _ubg;}
void setLBU(const casadi::DM &_lbu){this->LBU = _lbu;}
void setUBU(const casadi::DM &_ubu){this->UBU = _ubu;}
void setStateScaling(const casadi::DM &Scaling){Scale_X = Scaling;
invSX = casadi::DM::solve(Scale_X, casadi::DM::eye(Scale_X.size1()));}
void setControlScaling(const casadi::DM &Scaling){Scale_U = Scaling;
invSU = casadi::DM::solve(Scale_U, casadi::DM::eye(Scale_U.size1()));}
void setReferenceVelocity(const casadi::DM &vel_ref){reference_velocity = vel_ref;}
void setPath(const casadi::SX &_path);
void createNLP();
void enableWarmStart(){WARM_START = true;}
void disableWarmStart(){WARM_START = false;}
void computeControl(const casadi::DM &_X0);
casadi::DM findClosestPointOnPath(const casadi::DM &position, const casadi::DM &init_guess = casadi::DM(0));
casadi::DM getOptimalControl(){return OptimalControl;}
casadi::DM getOptimalTrajetory(){return OptimalTrajectory;}
casadi::Function getPathFunction(){return PathFunc;}
casadi::Dict getStats(){return stats;}
bool initialized(){return _initialized;}
double getPathError();
double getVirtState();
double getVelocityError();
/** lower-upper bounds for state variables */
static const casadi::DM DEFAULT_LBX;
static const casadi::DM DEFAULT_UBX;
/** lower-upper bounds for nonlinear constraints */
static const casadi::DM DEFAULT_LBG;
static const casadi::DM DEFAULT_UBG;
/** lower-upper bounds for control variables */
static const casadi::DM DEFAULT_LBU;
static const casadi::DM DEFAULT_UBU;
private:
std::shared_ptr<KiteDynamics> Kite;
casadi::SX Path;
casadi::Function PathFunc;
casadi::SX Contraints;
casadi::Function ContraintsFunc;
casadi::SX reference_velocity;
/** state box constraints */
casadi::DM LBX, UBX;
/** nonlinear inequality constraints */
casadi::DM LBG, UBG;
/** control box constraints */
casadi::DM LBU, UBU;
/** state and control scaling matrixces */
casadi::DM Scale_X, invSX;
casadi::DM Scale_U, invSU;
/** cost function weight matrices */
casadi::SX Q, R, W, Wq;
casadi::DM NLP_X;
casadi::Function NLP_Solver;
casadi::SXDict NLP;
casadi::Dict OPTS;
casadi::DMDict ARG;
casadi::Dict stats;
casadi::DM OptimalControl;
casadi::DM OptimalTrajectory;
unsigned NUM_SHOOTING_INTERVALS;
bool WARM_START;
bool _initialized;
/** TRACE FUNCTIONS */
casadi::Function DynamicsFunc;
casadi::Function DynamicConstraints;
casadi::Function CostFunction;
casadi::Function PathError;
casadi::Function VelError;
};
#endif // KITENMPF_H
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