Allows to export a tailored integrator for fast model predictive control. More...

#include <integrator_export.hpp>

Inheritance diagram for IntegratorExport:

Public Member Functions
virtual bool	equidistantControlGrid () const
virtual returnValue	getCode (ExportStatementBlock &code)=0
virtual returnValue	getDataDeclarations (ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const =0
uint	getDimOUTPUT (uint index) const
virtual returnValue	getFunctionDeclarations (ExportStatementBlock &declarations) const =0
virtual returnValue	getGrid (Grid &grid_) const
const std::string	getNameDiffsOUTPUT (uint index) const
const std::string	getNameDiffsRHS () const
virtual const std::string	getNameFullRHS () const
const std::string	getNameOUTPUT (uint index) const
const std::string	getNameOutputDiffs () const
const std::string	getNameOutputRHS () const
const std::string	getNameRHS () const
virtual returnValue	getNumSteps (DVector &_numSteps) const
virtual returnValue	getOutputExpressions (std::vector< Expression > &outputExpressions_) const
virtual returnValue	getOutputGrids (std::vector< Grid > &outputGrids_) const
	IntegratorExport (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")
	IntegratorExport (const IntegratorExport &arg)
IntegratorExport &	operator= (const IntegratorExport &arg)
virtual returnValue	propagateImplicitSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index)
virtual returnValue	propagateInputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index)
virtual returnValue	propagateOutputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index)
virtual returnValue	setDifferentialEquation (const Expression &rhs)=0
virtual returnValue	setGrid (const Grid &_grid)
virtual returnValue	setLinearInput (const DMatrix &M1, const DMatrix &A1, const DMatrix &B1)
virtual returnValue	setLinearOutput (const DMatrix &M3, const DMatrix &A3, const Expression &rhs)
virtual returnValue	setLinearOutput (const DMatrix &M3, const DMatrix &A3, const std::string &_rhs3, const std::string &_diffs_rhs3)
virtual returnValue	setModel (const std::string &_name_ODE, const std::string &_name_diffs_ODE)
virtual returnValue	setModelData (const ModelData &data)
virtual returnValue	setNARXmodel (const uint delay, const DMatrix &parms)=0
virtual returnValue	setup ()=0
virtual returnValue	setupOutput (const std::vector< Grid > outputGrids_, const std::vector< Expression > rhs)=0
virtual returnValue	setupOutput (const std::vector< Grid > outputGrids_, const std::vector< std::string > _outputNames, const std::vector< std::string > _diffs_outputNames, const std::vector< uint > _dims_output)=0
virtual returnValue	setupOutput (const std::vector< Grid > outputGrids_, const std::vector< std::string > _outputNames, const std::vector< std::string > _diffs_outputNames, const std::vector< uint > _dims_output, const std::vector< DMatrix > _outputDependencies)=0
virtual returnValue	updateImplicitSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &tmp_index)
virtual returnValue	updateInputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &tmp_index)
virtual returnValue	updateOutputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &tmp_index)
virtual	~IntegratorExport ()
Protected Member Functions
virtual returnValue	clear ()
virtual returnValue	copy (const IntegratorExport &arg)
DMatrix	expandOutputMatrix (const DMatrix &A3)
virtual ExportVariable	getAuxVariable () const =0
uint	getIntegrationInterval (double time)
Protected Attributes
DMatrix	A11
DMatrix	A33
DMatrix	B11
bool	crsFormat
std::vector< ExportAcadoFunction >	diffs_outputs
ExportAcadoFunction	diffs_rhs
ExportAcadoFunction	diffs_rhs3
uint	diffsDim
DifferentialStateDerivative	dx
ExportVariable	error_code
bool	exportRhs
ExportFunction	fullRhs
Grid	grid
uint	inputDim
ExportFunction	integrate
ExportAcadoFunction	lin_input
DMatrix	M11
DMatrix	M33
uint	NDX3
std::vector< uint >	num_outputs
DVector	numSteps
uint	NX1
uint	NX2
uint	NX3
uint	NXA3
OnlineData	od
std::vector< DMatrix >	outputDependencies
std::vector< Expression >	outputExpressions
std::vector< Grid >	outputGrids
std::vector< ExportAcadoFunction >	outputs
ExportVariable	reset_int
ExportAcadoFunction	rhs
ExportAcadoFunction	rhs3
ExportVariable	rhs_in
ExportVariable	rhs_out
ExportVariable	rk_diffsNew1
ExportVariable	rk_diffsNew2
ExportVariable	rk_diffsNew3
ExportVariable	rk_diffsPrev1
ExportVariable	rk_diffsPrev2
ExportVariable	rk_diffsPrev3
ExportVariable	rk_diffsTemp2
ExportVariable	rk_eta
ExportVariable	rk_index
ExportVariable	rk_ttt
ExportVariable	rk_xxx
bool	timeDependant
Control	u
DifferentialState	x
AlgebraicState	z

Detailed Description

Allows to export a tailored integrator for fast model predictive control.

The class IntegratorExport allows to export a tailored integrator for fast model predictive control.

Author:: Hans Joachim Ferreau, Boris Houska, Rien Quirynen

Definition at line 57 of file integrator_export.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO IntegratorExport::IntegratorExport	(	UserInteraction *	_userInteraction = `0`,
		const std::string &	_commonHeaderName = `""`
	)

Default constructor.

Parameters:

[in]	_userInteraction	Pointer to corresponding user interface.
[in]	_commonHeaderName	Name of common header file to be included.

Definition at line 45 of file integrator_export.cpp.

IntegratorExport::IntegratorExport ( const IntegratorExport & arg )

Copy constructor (deep copy).

Parameters:

[in] arg Right-hand side object.

Definition at line 66 of file integrator_export.cpp.

IntegratorExport::~IntegratorExport ( ) [virtual]

Destructor.

Definition at line 83 of file integrator_export.cpp.

Member Function Documentation

returnValue IntegratorExport::clear ( ) [protected, virtual]

Frees internal dynamic memory to yield an empty function.

Returns:: SUCCESSFUL_RETURN

Definition at line 618 of file integrator_export.cpp.

returnValue IntegratorExport::copy ( const IntegratorExport & arg ) [protected, virtual]

Copies all class members from given object.

Parameters:

[in] arg Right-hand side object.

Returns:: SUCCESSFUL_RETURN

Definition at line 603 of file integrator_export.cpp.

bool IntegratorExport::equidistantControlGrid ( ) const [virtual]

Returns whether the grid is equidistant.

Returns:: true iff the grid is equidistant, false otherwise.

Definition at line 661 of file integrator_export.cpp.

DMatrix IntegratorExport::expandOutputMatrix ( const DMatrix & A3 ) [protected]

Parameters:

[in] A3 .

Returns:: SUCCESSFUL_RETURN

Definition at line 590 of file integrator_export.cpp.

virtual ExportVariable IntegratorExport::getAuxVariable ( ) const [protected, pure virtual]

Returns the largest global export variable.

Returns:: SUCCESSFUL_RETURN

Implemented in ImplicitRungeKuttaExport, ForwardIRKExport, ExplicitRungeKuttaExport, DiscreteTimeExport, and ThreeSweepsERKExport.

virtual returnValue IntegratorExport::getCode ( ExportStatementBlock & code ) [pure virtual]

Exports source code of the auto-generated integrator into the given directory.

Parameters:

[in] code Code block containing the auto-generated integrator.

Returns:: SUCCESSFUL_RETURN

Implements ExportAlgorithm.

Implemented in ImplicitRungeKuttaExport, DiscreteTimeExport, ExplicitRungeKuttaExport, RungeKuttaExport, ForwardIRKExport, ThreeSweepsERKExport, and AdjointERKExport.

virtual returnValue IntegratorExport::getDataDeclarations	(	ExportStatementBlock &	declarations,
		ExportStruct	dataStruct = `ACADO_ANY`
	)		const `[pure virtual]`

Adds all data declarations of the auto-generated integrator to given list of declarations.

Parameters:

[in] declarations List of declarations.

Returns:: SUCCESSFUL_RETURN

Implements ExportAlgorithm.

Implemented in ImplicitRungeKuttaExport, DiscreteTimeExport, ExplicitRungeKuttaExport, RungeKuttaExport, NARXExport, ThreeSweepsERKExport, AdjointERKExport, and ForwardIRKExport.

uint IntegratorExport::getDimOUTPUT ( uint index ) const

Definition at line 691 of file integrator_export.cpp.

virtual returnValue IntegratorExport::getFunctionDeclarations ( ExportStatementBlock & declarations ) const [pure virtual]

Adds all function (forward) declarations of the auto-generated integrator to given list of declarations.

Parameters:

[in] declarations List of declarations.

Returns:: SUCCESSFUL_RETURN

Implements ExportAlgorithm.

Implemented in ImplicitRungeKuttaExport, DiscreteTimeExport, ExplicitRungeKuttaExport, RungeKuttaExport, and ForwardIRKExport.

returnValue IntegratorExport::getGrid ( Grid & grid_ ) const [virtual]

Returns the grid of the integrator.

Returns:: SUCCESSFUL_RETURN

Definition at line 634 of file integrator_export.cpp.

uint IntegratorExport::getIntegrationInterval ( double time ) [protected]

Get the index of the integration interval, corresponding a certain time.

Parameters:

[in] time The time.

Returns:: The index of the integration interval.

Definition at line 624 of file integrator_export.cpp.

const std::string IntegratorExport::getNameDiffsOUTPUT ( uint index ) const

Definition at line 705 of file integrator_export.cpp.

const std::string IntegratorExport::getNameDiffsRHS ( ) const

Definition at line 701 of file integrator_export.cpp.

const std::string IntegratorExport::getNameFullRHS ( ) const [virtual]

Definition at line 670 of file integrator_export.cpp.

const std::string IntegratorExport::getNameOUTPUT ( uint index ) const

Definition at line 687 of file integrator_export.cpp.

const std::string IntegratorExport::getNameOutputDiffs ( ) const

Definition at line 683 of file integrator_export.cpp.

const std::string IntegratorExport::getNameOutputRHS ( ) const

Definition at line 679 of file integrator_export.cpp.

const std::string IntegratorExport::getNameRHS ( ) const

Definition at line 666 of file integrator_export.cpp.

returnValue IntegratorExport::getNumSteps ( DVector & _numSteps ) const [virtual]

Returns the number of integration steps along the prediction horizon.

Returns:: SUCCESSFUL_RETURN

Definition at line 641 of file integrator_export.cpp.

returnValue IntegratorExport::getOutputExpressions ( std::vector< Expression > & outputExpressions_ ) const [virtual]

Returns the output expressions.

Returns:: SUCCESSFUL_RETURN

Definition at line 648 of file integrator_export.cpp.

returnValue IntegratorExport::getOutputGrids ( std::vector< Grid > & outputGrids_ ) const [virtual]

Returns the output grids.

Returns:: SUCCESSFUL_RETURN

Definition at line 655 of file integrator_export.cpp.

IntegratorExport & IntegratorExport::operator= ( const IntegratorExport & arg )

Assignment operator (deep copy).

Parameters:

[in] arg Right-hand side object.

Definition at line 89 of file integrator_export.cpp.

returnValue IntegratorExport::propagateImplicitSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	tmp_index
	)		`[virtual]`

Exports the code needed to propagate the sensitivities of the states defined by the nonlinear, fully implicit system.

Parameters:

[in] block The block to which the code will be exported.

Returns:: SUCCESSFUL_RETURN

Reimplemented in NARXExport.

Definition at line 460 of file integrator_export.cpp.

returnValue IntegratorExport::propagateInputSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	tmp_index
	)		`[virtual]`

Exports the code needed to propagate the sensitivities of the states, defined by the linear input system.

Parameters:

[in] block The block to which the code will be exported.

Returns:: SUCCESSFUL_RETURN

Reimplemented in NARXExport.

Definition at line 394 of file integrator_export.cpp.

returnValue IntegratorExport::propagateOutputSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	tmp_index
	)		`[virtual]`

Exports the code needed to propagate the sensitivities of the states, defined by the linear output system.

Parameters:

[in] block The block to which the code will be exported.

Returns:: SUCCESSFUL_RETURN

Reimplemented in NARXExport.

Definition at line 526 of file integrator_export.cpp.

virtual returnValue IntegratorExport::setDifferentialEquation ( const Expression & rhs ) [pure virtual]

Assigns Differential Equation to be used by the integrator.

Parameters:

[in] rhs Right-hand side expression.

Returns:: SUCCESSFUL_RETURN

Implemented in RungeKuttaExport, DiscreteTimeExport, ImplicitRungeKuttaExport, ExplicitRungeKuttaExport, NARXExport, ThreeSweepsERKExport, AdjointERKExport, and ForwardOverBackwardERKExport.

returnValue IntegratorExport::setGrid ( const Grid & _grid ) [virtual]

Sets integration grid (this grid is expected to be non equidistant, otherwise use the other setGrid function).

Parameters:

[in] _grid integration grid

Returns:: SUCCESSFUL_RETURN

Definition at line 101 of file integrator_export.cpp.

returnValue IntegratorExport::setLinearInput	(	const DMatrix &	M1,
		const DMatrix &	A1,
		const DMatrix &	B1
	)		`[virtual]`

Parameters:

[in] .

Returns:: SUCCESSFUL_RETURN

Reimplemented in ExplicitRungeKuttaExport.

Definition at line 109 of file integrator_export.cpp.

returnValue IntegratorExport::setLinearOutput	(	const DMatrix &	M3,
		const DMatrix &	A3,
		const Expression &	rhs
	)		`[virtual]`

Parameters:

[in] .

Returns:: SUCCESSFUL_RETURN

Reimplemented in NARXExport, and ExplicitRungeKuttaExport.

Definition at line 174 of file integrator_export.cpp.

returnValue IntegratorExport::setLinearOutput	(	const DMatrix &	M3,
		const DMatrix &	A3,
		const std::string &	_rhs3,
		const std::string &	_diffs_rhs3
	)		`[virtual]`

Parameters:

[in] .

Returns:: SUCCESSFUL_RETURN

Reimplemented in NARXExport, and ExplicitRungeKuttaExport.

Definition at line 253 of file integrator_export.cpp.

returnValue IntegratorExport::setModel	(	const std::string &	_name_ODE,
		const std::string &	_name_diffs_ODE
	)		`[virtual]`

Assigns the model to be used by the integrator.

Parameters:

[in]	_name_ODE	Name of the function, evaluating the ODE right-hand side.
[in]	_name_diffs_ODE	Name of the function, evaluating the derivatives of the ODE right-hand side.

Returns:: SUCCESSFUL_RETURN

Reimplemented in ImplicitRungeKuttaExport, and NARXExport.

Definition at line 139 of file integrator_export.cpp.

returnValue IntegratorExport::setModelData ( const ModelData & data ) [virtual]

Passes all the necessary model data to the integrator.

Parameters:

[in] data The model data.

Returns:: SUCCESSFUL_RETURN

Definition at line 289 of file integrator_export.cpp.

virtual returnValue IntegratorExport::setNARXmodel	(	const uint	delay,
		const DMatrix &	parms
	)		`[pure virtual]`

Sets a polynomial NARX model to be used by the integrator.

Parameters:

[in]	delay	The delay for the states in the NARX model.
[in]	parms	The parameters defining the polynomial NARX model.

Returns:: SUCCESSFUL_RETURN

Implemented in NARXExport, RungeKuttaExport, and DiscreteTimeExport.

virtual returnValue IntegratorExport::setup ( ) [pure virtual]

Initializes export of a tailored integrator.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ExportAlgorithm.

Implemented in DiagonallyImplicitRKExport, ThreeSweepsERKExport, AdjointERKExport, ForwardOverBackwardERKExport, ImplicitRungeKuttaExport, ForwardIRKExport, DiscreteTimeExport, RungeKuttaExport, ExplicitRungeKuttaExport, and NARXExport.

virtual returnValue IntegratorExport::setupOutput	(	const std::vector< Grid >	outputGrids_,
		const std::vector< Expression >	rhs
	)		`[pure virtual]`

Sets up the output with the grids for the different output functions.

Parameters:

outputGrids_	The vector containing a grid for each output function.
rhs	The expressions corresponding the output functions.

Returns:: SUCCESSFUL_RETURN

Implemented in RungeKuttaExport, ExplicitRungeKuttaExport, ImplicitRungeKuttaExport, and DiscreteTimeExport.

virtual returnValue IntegratorExport::setupOutput	(	const std::vector< Grid >	outputGrids_,
		const std::vector< std::string >	_outputNames,
		const std::vector< std::string >	_diffs_outputNames,
		const std::vector< uint >	_dims_output
	)		`[pure virtual]`

Sets up the output with the grids for the different output functions.

Parameters:

outputGrids_	The vector containing a grid for each output function.
_outputNames	The names of the output functions.
_diffs_outputNames	The names of the functions, evaluating the derivatives of the outputs.
_dims_output	The dimensions of the output functions.

Returns:: SUCCESSFUL_RETURN

Implemented in ExplicitRungeKuttaExport, ImplicitRungeKuttaExport, and DiscreteTimeExport.

virtual returnValue IntegratorExport::setupOutput	(	const std::vector< Grid >	outputGrids_,
		const std::vector< std::string >	_outputNames,
		const std::vector< std::string >	_diffs_outputNames,
		const std::vector< uint >	_dims_output,
		const std::vector< DMatrix >	_outputDependencies
	)		`[pure virtual]`

Sets up the output with the grids for the different output functions.

Parameters:

outputGrids_	The vector containing a grid for each output function.
_outputNames	The names of the output functions.
_diffs_outputNames	The names of the functions, evaluating the derivatives of the outputs.
_dims_output	The dimensions of the output functions.
_outputDependencies	A separate dependency matrix for each output.

Returns:: SUCCESSFUL_RETURN

Implemented in ExplicitRungeKuttaExport, ImplicitRungeKuttaExport, and DiscreteTimeExport.

returnValue IntegratorExport::updateImplicitSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	tmp_index
	)		`[virtual]`

Exports the code needed to update the sensitivities of the states defined by the nonlinear, fully implicit system.

Parameters:

[in] block The block to which the code will be exported.

Returns:: SUCCESSFUL_RETURN

Reimplemented in NARXExport.

Definition at line 422 of file integrator_export.cpp.

returnValue IntegratorExport::updateInputSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	tmp_index
	)		`[virtual]`

Exports the code needed to update the sensitivities of the states, defined by the linear input system.

Parameters:

[in] block The block to which the code will be exported.

Returns:: SUCCESSFUL_RETURN

Reimplemented in NARXExport.

Definition at line 372 of file integrator_export.cpp.

returnValue IntegratorExport::updateOutputSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	tmp_index
	)		`[virtual]`