- 3.0.2 optimal control module.
optcon.h
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1 /**********************************************************************************************************************
2 This file is part of the Control Toolbox (https://github.com/ethz-adrl/control-toolbox), copyright by ETH Zurich.
3 Licensed under the BSD-2 license (see LICENSE file in main directory)
4 **********************************************************************************************************************/
5 
6 #ifndef INCLUDE_CT_OPTCON_OPTCON_H_
7 #define INCLUDE_CT_OPTCON_OPTCON_H_
8 
9 #include <ct/core/core.h>
10 
11 #include "costfunction/costfun.hpp"
12 
13 #include "constraint/constraint.h"
14 
15 #include "problem/OptConProblemBase.h"
16 #include "problem/ContinuousOptConProblem.h"
17 #include "problem/DiscreteOptConProblem.h"
18 #include "problem/LQOCProblem.hpp"
19 #include "solver/NLOptConSettings.hpp"
20 
21 #include "system_interface/OptconSystemInterface.h"
22 #include "system_interface/OptconContinuousSystemInterface.h"
23 #include "system_interface/OptconDiscreteSystemInterface.h"
24 
25 #include "nloc/NLOCBackendBase.hpp"
26 #include "nloc/NLOCBackendST.hpp"
27 #include "nloc/NLOCBackendMP.hpp"
28 #include "nloc/algorithms/MultipleShooting.hpp"
29 #include "nloc/algorithms/SingleShooting.hpp"
30 
31 #include "solver/OptConSolver.h"
32 #include "solver/lqp/HPIPMInterface.hpp"
33 #include "solver/lqp/GNRiccatiSolver.hpp"
34 #include "solver/NLOptConSolver.hpp"
35 
36 #include "lqr/riccati/CARE.hpp"
37 #include "lqr/riccati/DARE.hpp"
38 #include "lqr/FHDTLQR.hpp"
39 #include "lqr/LQR.hpp"
40 
41 #include "dms/dms.h"
42 
43 #include "mpc/MpcSettings.h"
44 #include "mpc/MPC.h"
45 #include "mpc/timehorizon/MpcTimeHorizon.h"
46 #include "mpc/policyhandler/PolicyHandler.h"
47 #include "mpc/policyhandler/default/StateFeedbackPolicyHandler.h"
48 
49 #include "filter/filter.h"
50 
51 // implementations
52 #include "costfunction/costfun-impl.hpp"
53 
54 #include "constraint/constraint-impl.h"
55 
56 #include "system_interface/OptconContinuousSystemInterface-impl.h"
57 #include "system_interface/OptconDiscreteSystemInterface-impl.h"
58 
59 #include "problem/OptConProblemBase-impl.h"
60 #include "problem/LQOCProblem-impl.hpp"
61 
62 #include "solver/lqp/GNRiccatiSolver-impl.hpp"
63 #include "solver/lqp/HPIPMInterface-impl.hpp"
64 #include "solver/NLOptConSolver-impl.hpp"
65 
66 #include "lqr/riccati/CARE-impl.hpp"
67 #include "lqr/riccati/DARE-impl.hpp"
68 #include "lqr/FHDTLQR-impl.hpp"
69 #include "lqr/LQR-impl.hpp"
70 
71 #include "nloc/NLOCBackendBase-impl.hpp"
72 #include "nloc/NLOCBackendST-impl.hpp"
73 #include "nloc/NLOCBackendMP-impl.hpp"
74 #include "nloc/algorithms/MultipleShooting-impl.hpp"
75 #include "nloc/algorithms/SingleShooting-impl.hpp"
76 
77 #include "mpc/MPC-impl.h"
78 #include "mpc/timehorizon/MpcTimeHorizon-impl.h"
79 #include "mpc/policyhandler/PolicyHandler-impl.h"
80 #include "mpc/policyhandler/default/StateFeedbackPolicyHandler-impl.h"
81 
82 #include "filter/filter-impl.h"
83 
84 // keep standard header guard (easy debugging)
85 // header guard is identical to the one in optcon-prespec.h
86 #endif /* INCLUDE_CT_OPTCON_OPTCON_H_ */