Allows to export a tailored discrete-time 'integrator' for fast model predictive control. More...

#include <discrete_export.hpp>

Inheritance diagram for DiscreteTimeExport:

Public Member Functions
	DiscreteTimeExport (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")
	DiscreteTimeExport (const DiscreteTimeExport &arg)
virtual returnValue	getCode (ExportStatementBlock &code)
virtual returnValue	getDataDeclarations (ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const
virtual returnValue	getFunctionDeclarations (ExportStatementBlock &declarations) const
DiscreteTimeExport &	operator= (const DiscreteTimeExport &arg)
virtual returnValue	setDifferentialEquation (const Expression &rhs)
virtual returnValue	setNARXmodel (const uint delay, const DMatrix &parms)
virtual returnValue	setup ()
virtual returnValue	setupOutput (const std::vector< Grid > outputGrids_, const std::vector< Expression > rhs)
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)
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)
virtual	~DiscreteTimeExport ()
Protected Member Functions
virtual returnValue	copy (const DiscreteTimeExport &arg)
ExportVariable	getAuxVariable () const
Protected Attributes
ExportVariable	rk_diffsTemp3

Detailed Description

Allows to export a tailored discrete-time 'integrator' for fast model predictive control.

The class DiscreteTimeExport allows to export a tailored discrete-time 'integrator' for fast model predictive control.

Author:: Rien Quirynen

Definition at line 56 of file discrete_export.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO DiscreteTimeExport::DiscreteTimeExport	(	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 44 of file discrete_export.cpp.

DiscreteTimeExport::DiscreteTimeExport ( const DiscreteTimeExport & arg )

Copy constructor (deep copy).

Parameters:

[in] arg Right-hand side object.

Definition at line 51 of file discrete_export.cpp.

DiscreteTimeExport::~DiscreteTimeExport ( ) [virtual]

Destructor.

Definition at line 58 of file discrete_export.cpp.

Member Function Documentation

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

Copies all class members from given object.

Parameters:

[in] arg Right-hand side object.

Returns:: SUCCESSFUL_RETURN

Definition at line 496 of file discrete_export.cpp.

ExportVariable DiscreteTimeExport::getAuxVariable ( ) const [protected, virtual]

Returns the largest global export variable.

Returns:: SUCCESSFUL_RETURN

Implements IntegratorExport.

Definition at line 469 of file discrete_export.cpp.

returnValue DiscreteTimeExport::getCode ( ExportStatementBlock & code ) [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 IntegratorExport.

Definition at line 337 of file discrete_export.cpp.

returnValue DiscreteTimeExport::getDataDeclarations	(	ExportStatementBlock &	declarations,
		ExportStruct	dataStruct = `ACADO_ANY`
	)		const `[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 IntegratorExport.

Reimplemented in NARXExport.

Definition at line 102 of file discrete_export.cpp.

returnValue DiscreteTimeExport::getFunctionDeclarations ( ExportStatementBlock & declarations ) const [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 IntegratorExport.

Definition at line 124 of file discrete_export.cpp.

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

Assignment operator (deep copy).

Parameters:

[in] arg Right-hand side object.

Definition at line 442 of file discrete_export.cpp.

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

Assigns Differential Equation to be used by the integrator.

Parameters:

[in] rhs Right-hand side expression.

Returns:: SUCCESSFUL_RETURN

Implements IntegratorExport.

Reimplemented in NARXExport.

Definition at line 64 of file discrete_export.cpp.

returnValue DiscreteTimeExport::setNARXmodel	(	const uint	delay,
		const DMatrix &	parms
	)		`[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

Implements IntegratorExport.

Reimplemented in NARXExport.

Definition at line 411 of file discrete_export.cpp.

returnValue DiscreteTimeExport::setup ( ) [virtual]

Initializes export of a tailored integrator.

Returns:: SUCCESSFUL_RETURN

Implements IntegratorExport.

Reimplemented in NARXExport.

Definition at line 136 of file discrete_export.cpp.

returnValue DiscreteTimeExport::setupOutput	(	const std::vector< Grid >	outputGrids_,
		const std::vector< Expression >	rhs
	)		`[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

Implements IntegratorExport.

Definition at line 417 of file discrete_export.cpp.

returnValue DiscreteTimeExport::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
	)		`[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

Implements IntegratorExport.

Definition at line 423 of file discrete_export.cpp.

returnValue DiscreteTimeExport::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
	)		`[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

Implements IntegratorExport.

Definition at line 432 of file discrete_export.cpp.

Member Data Documentation

ExportVariable DiscreteTimeExport::rk_diffsTemp3 [protected]

Definition at line 216 of file discrete_export.hpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation