Allows to export a tailored diagonally implicit Runge-Kutta integrator for fast model predictive control. More...

#include <dirk_export.hpp>

Inheritance diagram for DiagonallyImplicitRKExport:

Public Member Functions
	DiagonallyImplicitRKExport (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")
	DiagonallyImplicitRKExport (const DiagonallyImplicitRKExport &arg)
virtual returnValue	evaluateMatrix (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &tmp_index, const ExportVariable &Ah, const ExportVariable &C, bool evaluateB, bool DERIVATIVES)
virtual returnValue	evaluateRhsImplicitSystem (ExportStatementBlock *block, const ExportIndex &stage)
virtual returnValue	evaluateStatesImplicitSystem (ExportStatementBlock *block, const ExportVariable &Ah, const ExportVariable &C, const ExportIndex &stage, const ExportIndex &i, const ExportIndex &j)
virtual DMatrix	formMatrix (const DMatrix &mass, const DMatrix &jacobian)
DiagonallyImplicitRKExport &	operator= (const DiagonallyImplicitRKExport &arg)
virtual returnValue	prepareInputSystem (ExportStatementBlock &code)
virtual returnValue	prepareOutputSystem (ExportStatementBlock &code)
virtual returnValue	sensitivitiesImplicitSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index1, const ExportIndex &tmp_index2, const ExportVariable &Ah, const ExportVariable &Bh, const ExportVariable &det, bool STATES, uint number)
virtual returnValue	sensitivitiesOutputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &index4, const ExportIndex &tmp_index1, const ExportIndex &tmp_index2, const ExportVariable &Ah, const ExportVariable &Bh, bool STATES, uint number)
virtual returnValue	setup ()
virtual returnValue	solveImplicitSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index, const ExportVariable &Ah, const ExportVariable &C, const ExportVariable &det, bool DERIVATIVES=false)
virtual returnValue	solveInputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index, const ExportVariable &Ah)
virtual returnValue	solveOutputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index, const ExportVariable &Ah, bool DERIVATIVES=false)
virtual	~DiagonallyImplicitRKExport ()

Detailed Description

Allows to export a tailored diagonally implicit Runge-Kutta integrator for fast model predictive control.

The class DiagonallyImplicitRKExport allows to export a tailored diagonally implicit Runge-Kutta integrator for fast model predictive control.

Author:: Rien Quirynen

Definition at line 54 of file dirk_export.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO DiagonallyImplicitRKExport::DiagonallyImplicitRKExport	(	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 48 of file dirk_export.cpp.

DiagonallyImplicitRKExport::DiagonallyImplicitRKExport ( const DiagonallyImplicitRKExport & arg )

Copy constructor (deep copy).

Parameters:

[in] arg Right-hand side object.

Definition at line 55 of file dirk_export.cpp.

DiagonallyImplicitRKExport::~DiagonallyImplicitRKExport ( ) [virtual]

Destructor.

Definition at line 61 of file dirk_export.cpp.

Member Function Documentation

returnValue DiagonallyImplicitRKExport::evaluateMatrix	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	tmp_index,
		const ExportVariable &	Ah,
		const ExportVariable &	C,
		bool	evaluateB,
		bool	DERIVATIVES
	)		`[virtual]`

Exports the evaluation of the matrix of the linear system.

Parameters:

[in]	block	The block to which the code will be exported.
[in]	index1	The loop index of the outer loop.
[in]	index2	The loop index of the inner loop.
[in]	tmp_index	A temporary index to be used.
[in]	Ah	The matrix A of the IRK method, multiplied by the step size h.
[in]	evaluateB	True if the right-hand side of the linear system should also be evaluated, false otherwise.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

Definition at line 319 of file dirk_export.cpp.

returnValue DiagonallyImplicitRKExport::evaluateRhsImplicitSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	stage
	)		`[virtual]`

Exports the evaluation of the right-hand side of the linear system at a specific stage.

Parameters:

[in]	block	The block to which the code will be exported.
[in]	index	The loop index, defining the stage.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

Definition at line 375 of file dirk_export.cpp.

returnValue DiagonallyImplicitRKExport::evaluateStatesImplicitSystem	(	ExportStatementBlock *	block,
		const ExportVariable &	Ah,
		const ExportVariable &	C,
		const ExportIndex &	stage,
		const ExportIndex &	i,
		const ExportIndex &	j
	)		`[virtual]`

Exports the evaluation of the states at a specific stage.

Parameters:

[in]	block	The block to which the code will be exported.
[in]	Ah	The matrix A of the IRK method, multiplied by the step size h.
[in]	index	The loop index, defining the stage.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

Definition at line 350 of file dirk_export.cpp.

DMatrix DiagonallyImplicitRKExport::formMatrix	(	const DMatrix &	mass,
		const DMatrix &	jacobian
	)		`[virtual]`

Forms a constant linear system matrix for the collocation equations, given a constant jacobian and mass matrix.

Parameters:

[in]	jacobian	given constant Jacobian matrix
[in]	mass	given constant mass matrix

Returns:: SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

Definition at line 163 of file dirk_export.cpp.

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

Assignment operator (deep copy).

Parameters:

[in] arg Right-hand side object.

Definition at line 71 of file dirk_export.cpp.

returnValue DiagonallyImplicitRKExport::prepareInputSystem ( ExportStatementBlock & code ) [virtual]

Precompute as much as possible for the linear input system and export the resulting definitions.

Parameters:

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

Returns:: SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Definition at line 107 of file dirk_export.cpp.

returnValue DiagonallyImplicitRKExport::prepareOutputSystem ( ExportStatementBlock & code ) [virtual]

Precompute as much as possible for the linear output system and export the resulting definitions.

Parameters:

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

Returns:: SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Definition at line 533 of file dirk_export.cpp.

returnValue DiagonallyImplicitRKExport::sensitivitiesImplicitSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	tmp_index1,
		const ExportIndex &	tmp_index2,
		const ExportVariable &	Ah,
		const ExportVariable &	Bh,
		const ExportVariable &	det,
		bool	STATES,
		uint	number
	)		`[virtual]`

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

Parameters:

[in]	block	The block to which the code will be exported.
[in]	Ah	The variable containing the internal coefficients of the RK method, multiplied with the step size.
[in]	Bh	The variable containing the weights of the RK method, multiplied with the step size.
[in]	det	The variable that holds the determinant of the matrix in the linear system.
[in]	STATES	True if the sensitivities with respect to a state are needed, false otherwise.
[in]	number	This number defines the stage of the state with respect to which the sensitivities are computed.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Definition at line 236 of file dirk_export.cpp.

returnValue DiagonallyImplicitRKExport::sensitivitiesOutputSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	index4,
		const ExportIndex &	tmp_index1,
		const ExportIndex &	tmp_index2,
		const ExportVariable &	Ah,
		const ExportVariable &	Bh,
		bool	STATES,
		uint	number
	)		`[virtual]`

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

Parameters:

[in]	block	The block to which the code will be exported.
[in]	Ah	The variable containing the internal coefficients of the RK method, multiplied with the step size.
[in]	Bh	The variable containing the weights of the RK method, multiplied with the step size.
[in]	STATES	True if the sensitivities with respect to a state are needed, false otherwise.
[in]	number	This number defines the stage of the state with respect to which the sensitivities are computed.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Definition at line 421 of file dirk_export.cpp.

returnValue DiagonallyImplicitRKExport::setup ( ) [virtual]

Initializes export of a tailored integrator.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Definition at line 572 of file dirk_export.cpp.

returnValue DiagonallyImplicitRKExport::solveImplicitSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	tmp_index,
		const ExportVariable &	Ah,
		const ExportVariable &	C,
		const ExportVariable &	det,
		bool	DERIVATIVES = `false`
	)		`[virtual]`

Exports the code needed to solve the system of collocation equations for the nonlinear, fully implicit system.

Parameters:

[in]	block	The block to which the code will be exported.
[in]	Ah	The variable containing the internal coefficients of the RK method, multiplied with the step size.
[in]	det	The variable that holds the determinant of the matrix in the linear system.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

Definition at line 190 of file dirk_export.cpp.

returnValue DiagonallyImplicitRKExport::solveInputSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	tmp_index,
		const ExportVariable &	Ah
	)		`[virtual]`

Exports the code needed to solve the system of collocation equations for the linear input system.

Parameters:

[in]	block	The block to which the code will be exported.
[in]	A1	A constant matrix defining the equations of the linear input system.
[in]	B1	A constant matrix defining the equations of the linear input system.
[in]	Ah	The variable containing the internal coefficients of the RK method, multiplied with the step size.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

Definition at line 81 of file dirk_export.cpp.

returnValue DiagonallyImplicitRKExport::solveOutputSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	tmp_index,
		const ExportVariable &	Ah,
		bool	DERIVATIVES = `false`
	)		`[virtual]`

Exports the code needed to solve the system of collocation equations for the linear output system.

Parameters:

[in]	block	The block to which the code will be exported.
[in]	Ah	The variable containing the internal coefficients of the RK method, multiplied with the step size.
[in]	A3	A constant matrix defining the equations of the linear output system.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

Definition at line 394 of file dirk_export.cpp.

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

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation