maximizeLagrangeTerm

 Adds an expression as a the Lagrange term to be maximized. 
 
  IMPORTANT NOTICE: LAGRANGE TERMS ARE NOT YET IMPLEMENTED TO BE USED
  TOGHETHER WITH MATLAB ODE CALLS. ONLY USE THEM WHEN DEFINING
  A DIFFERENTIAL EQUATION INSIDE ACADO.

  Usage:
    >> ocp.maximizeLagrangeTerm(expression)

  Parameters:
    expression     expression to be maximized     [  ]

  Example:
    >> ocp = acado.OCP(0.0, 1.0, 20);
    >> ocp.maximizeLagrangeTerm(x);

  Licence:
    This file is part of ACADO Toolkit  - (http://www.acadotoolkit.org/)

    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
    Copyright (C) 2008-2009 by Boris Houska and Hans Joachim Ferreau, K.U.Leuven.
    Developed within the Optimization in Engineering Center (OPTEC) under
    supervision of Moritz Diehl. All rights reserved.

    ACADO Toolkit 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.

    ACADO Toolkit 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 ACADO Toolkit; if not, write to the Free Software
    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA

    Author: David Ariens
    Date: 2009

0001 function maximizeLagrangeTerm(obj, varargin)
0002 % Adds an expression as a the Lagrange term to be maximized.
0003 %
0004 %  IMPORTANT NOTICE: LAGRANGE TERMS ARE NOT YET IMPLEMENTED TO BE USED
0005 %  TOGHETHER WITH MATLAB ODE CALLS. ONLY USE THEM WHEN DEFINING
0006 %  A DIFFERENTIAL EQUATION INSIDE ACADO.
0007 %
0008 %  Usage:
0009 %    >> ocp.maximizeLagrangeTerm(expression)
0010 %
0011 %  Parameters:
0012 %    expression     expression to be maximized     [  ]
0013 %
0014 %  Example:
0015 %    >> ocp = acado.OCP(0.0, 1.0, 20);
0016 %    >> ocp.maximizeLagrangeTerm(x);
0017 %
0018 %  Licence:
0019 %    This file is part of ACADO Toolkit  - (http://www.acadotoolkit.org/)
0020 %
0021 %    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
0022 %    Copyright (C) 2008-2009 by Boris Houska and Hans Joachim Ferreau, K.U.Leuven.
0023 %    Developed within the Optimization in Engineering Center (OPTEC) under
0024 %    supervision of Moritz Diehl. All rights reserved.
0025 %
0026 %    ACADO Toolkit is free software; you can redistribute it and/or
0027 %    modify it under the terms of the GNU Lesser General Public
0028 %    License as published by the Free Software Foundation; either
0029 %    version 3 of the License, or (at your option) any later version.
0030 %
0031 %    ACADO Toolkit is distributed in the hope that it will be useful,
0032 %    but WITHOUT ANY WARRANTY; without even the implied warranty of
0033 %    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
0034 %    Lesser General Public License for more details.
0035 %
0036 %    You should have received a copy of the GNU Lesser General Public
0037 %    License along with ACADO Toolkit; if not, write to the Free Software
0038 %    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
0039 %
0040 %    Author: David Ariens
0041 %    Date: 2009
0042 %
0043 
0044     if (isa(varargin{1}, 'acado.Expression'))
0045 
0046         obj.maxLagrangeTerms{end+1} = varargin{1};
0047 
0048     else
0049         error('ERROR: Invalid OCP.maximizeLagrangeTerm call. <a href="matlab: help acado.OCP.maximizeLagrangeTerm">help acado.OCP.maximizeLagrangeTerm</a>'); 
0050 
0051     end
0052 
0053 end