Allows to export code of an ACADO function. More...

#include <export_acado_function.hpp>

Inheritance diagram for ExportAcadoFunction:

Public Member Functions
virtual ExportStatement *	clone () const
	ExportAcadoFunction ()
	ExportAcadoFunction (const Function &_f, const std::string &_name="acadoFcn")
	ExportAcadoFunction (const std::string &_name)
virtual returnValue	exportCode (std::ostream &stream, const std::string &_realString="real_t", const std::string &_intString="int", int _precision=16) const
virtual returnValue	exportDataDeclaration (std::ostream &stream, const std::string &_realString="real_t", const std::string &_intString="int", int _precision=16) const
virtual returnValue	exportForwardDeclaration (std::ostream &stream, const std::string &_realString="real_t", const std::string &_intString="int", int _precision=16) const
unsigned	getFunctionDim (void)
ExportVariable	getGlobalExportVariable () const
returnValue	init (const Function &_f, const std::string &_name="acadoFcn", const uint _numX=0, const uint _numXA=0, const uint _numU=0, const uint _numP=0, const uint _numDX=0, const uint _numOD=0)
virtual bool	isDefined () const
bool	isExternal () const
returnValue	setGlobalExportVariable (const ExportVariable &var)
virtual	~ExportAcadoFunction ()
Protected Attributes
bool	external
std::tr1::shared_ptr< Function >	f
ExportVariable	globalVar
unsigned	numDX
unsigned	numOD
unsigned	numP
unsigned	numU
unsigned	numX
unsigned	numXA

Detailed Description

Allows to export code of an ACADO function.

The class ExportAcadoFunction allows to export code of an ACADO function.

Author:: Hans Joachim Ferreau, Boris Houska, Milan Vukov

Definition at line 50 of file export_acado_function.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO ExportAcadoFunction::ExportAcadoFunction ( )

Default constructor.

Definition at line 45 of file export_acado_function.cpp.

ExportAcadoFunction::ExportAcadoFunction	(	const Function &	_f,
		const std::string &	_name = `"acadoFcn"`
	)

Constructor which takes the differential equation to be exported as well as the name of the exported ODE.

Parameters:

[in]	_f	Differential equation to be exported.
[in]	_name	Name of exported ODE function.

Definition at line 60 of file export_acado_function.cpp.

ExportAcadoFunction::ExportAcadoFunction ( const std::string & _name )

Constructor which takes name of a function only.

This way, we can define an "external symbolic function" with the following prototype:

	 *  void (const real_t* in, real_t* out);
	 *

Parameters:

[in] _name Name of exported ODE function.

Definition at line 67 of file export_acado_function.cpp.

ExportAcadoFunction::~ExportAcadoFunction ( ) [virtual]

Destructor.

Definition at line 74 of file export_acado_function.cpp.

Member Function Documentation

ExportStatement * ExportAcadoFunction::clone ( ) const [virtual]

Clone constructor (deep copy).

Returns:: Pointer to cloned object.

Reimplemented from ExportFunction.

Definition at line 78 of file export_acado_function.cpp.

returnValue ExportAcadoFunction::exportCode	(	std::ostream &	stream,
		const std::string &	_realString = `"real_t"`,
		const std::string &	_intString = `"int"`,
		int	_precision = `16`
	)		const `[virtual]`

Exports source code of the ODE function into given file. Its appearance can can be adjusted by various options.

Parameters:

[in]	string	Name of file to be used to export function.
[in]	_realString	std::string to be used to declare real variables.
[in]	_intString	std::string to be used to declare integer variables.
[in]	_precision	Number of digits to be used for exporting real values.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ExportFunction.

Definition at line 148 of file export_acado_function.cpp.

returnValue ExportAcadoFunction::exportDataDeclaration	(	std::ostream &	stream,
		const std::string &	_realString = `"real_t"`,
		const std::string &	_intString = `"int"`,
		int	_precision = `16`
	)		const `[virtual]`

Exports data declaration of the ODE function into given file. Its appearance can can be adjusted by various options.

Parameters:

[in]	stream	Name of file to be used to export function.
[in]	_realString	std::string to be used to declare real variables.
[in]	_intString	std::string to be used to declare integer variables.
[in]	_precision	Number of digits to be used for exporting real values.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ExportFunction.

Definition at line 111 of file export_acado_function.cpp.

returnValue ExportAcadoFunction::exportForwardDeclaration	(	std::ostream &	stream,
		const std::string &	_realString = `"real_t"`,
		const std::string &	_intString = `"int"`,
		int	_precision = `16`
	)		const `[virtual]`

Exports forward declaration of the ODE function into given file. Its appearance can can be adjusted by various options.

Parameters:

[in]	file	Name of file to be used to export statement.
[in]	_realString	std::string to be used to declare real variables.
[in]	_intString	std::string to be used to declare integer variables.
[in]	_precision	Number of digits to be used for exporting real values.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ExportFunction.

Definition at line 126 of file export_acado_function.cpp.

unsigned ExportAcadoFunction::getFunctionDim ( void )

Get output dimension of the ACADO function.

Definition at line 173 of file export_acado_function.cpp.

ExportVariable ExportAcadoFunction::getGlobalExportVariable ( ) const

Set global export variable - a variable that holds intermediate values.

Definition at line 180 of file export_acado_function.cpp.

returnValue ExportAcadoFunction::init	(	const Function &	_f,
		const std::string &	_name = `"acadoFcn"`,
		const uint	_numX = `0`,
		const uint	_numXA = `0`,
		const uint	_numU = `0`,
		const uint	_numP = `0`,
		const uint	_numDX = `0`,
		const uint	_numOD = `0`
	)

Initializes ODE function export by taking the differential equation to be exported as well as the name of the exported ODE.

Parameters:

[in]	_f	Differential equation to be exported.
[in]	_name	Name of exported ODE function.
[in]	_numX	The number of states that are needed to evaluate the system of differential equations (needed when the number of equations is not equal to the number of given states).
[in]	_numXA	The number of algebraic states in the input for the evaluation of the system of equations.
[in]	_numU	The number of control inputs given for the evaluation of the system of equations.
[in]	_numP	The number of parameters given for the evaluation of the system of equations.
[in]	_numDX	The number of differential state derivatives given for the evaluation of the system of equations.

Definition at line 83 of file export_acado_function.cpp.

bool ExportAcadoFunction::isDefined ( ) const [virtual]

Returns whether function has been defined.

Returns:: true iff function has been defined,
false otherwise

Reimplemented from ExportFunction.

Definition at line 164 of file export_acado_function.cpp.

bool ExportAcadoFunction::isExternal ( ) const

A helper function to check whether a function is external.

Definition at line 203 of file export_acado_function.cpp.

returnValue ExportAcadoFunction::setGlobalExportVariable ( const ExportVariable & var )

Get global export variable - a variable that holds intermediate values.

Definition at line 185 of file export_acado_function.cpp.

Member Data Documentation

bool ExportAcadoFunction::external [protected]

Flag indicating whether the symbolic function is external or not.

Definition at line 200 of file export_acado_function.hpp.

std::tr1::shared_ptr< Function > ExportAcadoFunction::f [protected]

ACADO function to be exported.

Definition at line 196 of file export_acado_function.hpp.

ExportVariable ExportAcadoFunction::globalVar [protected]

A variable that holds intermediate values.

Definition at line 198 of file export_acado_function.hpp.

unsigned ExportAcadoFunction::numDX [protected]

The number of differential state derivatives given for the evaluation of the system of equations.

Definition at line 192 of file export_acado_function.hpp.

unsigned ExportAcadoFunction::numOD [protected]

The number of "online data" objects.

Definition at line 194 of file export_acado_function.hpp.

unsigned ExportAcadoFunction::numP [protected]

The number of parameters given for the evaluation of the system of equations.

Definition at line 189 of file export_acado_function.hpp.

unsigned ExportAcadoFunction::numU [protected]

The number of control inputs given for the evaluation of the system of equations (similar to numX).

Definition at line 187 of file export_acado_function.hpp.

unsigned ExportAcadoFunction::numX [protected]

The number of states that are needed to evaluate the system of differential equations. If this number isn't specified, then it will be set to the number of equations (minus the number of algebraic states).

Definition at line 181 of file export_acado_function.hpp.

unsigned ExportAcadoFunction::numXA [protected]

The number of algebraic states in the input for the evaluation of the system of equations (similar to numX).

Definition at line 184 of file export_acado_function.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation