collocation.hpp

/*
 *    This file is part of CasADi.
 *
 *    CasADi -- A symbolic framework for dynamic optimization.
 *    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl,
 *                            KU Leuven. All rights reserved.
 *    Copyright (C) 2011-2014 Greg Horn
 *
 *    CasADi is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    CasADi is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with CasADi; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */
 
 
#ifndef CASADI_COLLOCATION_HPP
#define CASADI_COLLOCATION_HPP
 
#include "casadi/core/integrator_impl.hpp"
#include "casadi/core/integration_tools.hpp"
#include <casadi/solvers/casadi_integrator_collocation_export.h>
 
namespace casadi {
 
  class  Collocation : public ImplicitFixedStepIntegrator {
   public:
 
    Collocation(const std::string& name, const Function& dae,
      double t0, const std::vector<double>& tout);
 
    static Integrator* creator(const std::string& name, const Function& dae,
        double t0, const std::vector<double>& tout) {
      return new Collocation(name, dae, t0, tout);
    }
 
    ~Collocation() override;
 
    // Get name of the plugin
    const char* plugin_name() const override { return "collocation";}
 
    // Get name of the class
    std::string class_name() const override { return "Collocation";}
 
 
    static const Options options_;
    const Options& get_options() const override { return options_;}
 
    void init(const Dict& opts) override;
 
    void setup_step() override;
 
    // Return zero if smaller than machine epsilon
    static double zeroIfSmall(double x);
 
    void reset(IntegratorMemory* mem,
      const double* u, const double* x, const double* z, const double* p) const override;
 
    MX algebraic_state_init(const MX& x0, const MX& z0) const override;
    MX algebraic_state_output(const MX& Z) const override;
 
    // Interpolation order
    casadi_int deg_;
 
    // Collocation scheme
    std::string collocation_scheme_;
 
    static const std::string meta_doc;
 
    void serialize_body(SerializingStream &s) const override;
 
    static ProtoFunction* deserialize(DeserializingStream& s) { return new Collocation(s); }
 
   protected:
 
    explicit Collocation(DeserializingStream& s);
  };
 
} // namespace casadi
#endif // CASADI_COLLOCATION_HPP