Implements a scheme for evaluating discretized ODEs. More...

#include <integrator_discretized_ode.hpp>

Inheritance diagram for IntegratorDiscretizedODE:

Public Member Functions
virtual Integrator *	clone () const
virtual returnValue	init (const DifferentialEquation &rhs_)
	IntegratorDiscretizedODE ()
	IntegratorDiscretizedODE (const DifferentialEquation &rhs_)
	IntegratorDiscretizedODE (const IntegratorDiscretizedODE &arg)
virtual IntegratorDiscretizedODE &	operator= (const IntegratorDiscretizedODE &arg)
virtual returnValue	step (int number)
virtual	~IntegratorDiscretizedODE ()
Protected Member Functions
returnValue	performADbackwardStep (const int &number_)
returnValue	performADbackwardStep2 (const int &number_)
returnValue	performADforwardStep (const int &number_)
returnValue	performADforwardStep2 (const int &number_)
returnValue	performDiscreteStep (const int &number_)
Protected Attributes
double	stepLength
Friends
class	ShootingMethod

Detailed Description

Implements a scheme for evaluating discretized ODEs.

The class IntegratorDiscretizedODE implements a scheme for evaluating discretized ordinary differential equations (ODEs).

Author:: Boris Houska, Hans Joachim Ferreau

Definition at line 57 of file integrator_discretized_ode.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO IntegratorDiscretizedODE::IntegratorDiscretizedODE ( )

Default constructor.

Definition at line 53 of file integrator_discretized_ode.cpp.

IntegratorDiscretizedODE::IntegratorDiscretizedODE ( const DifferentialEquation & rhs_ )

Default constructor.

Definition at line 58 of file integrator_discretized_ode.cpp.

IntegratorDiscretizedODE::IntegratorDiscretizedODE ( const IntegratorDiscretizedODE & arg )

Copy constructor (deep copy).

Definition at line 74 of file integrator_discretized_ode.cpp.

IntegratorDiscretizedODE::~IntegratorDiscretizedODE ( ) [virtual]

Destructor.

Definition at line 81 of file integrator_discretized_ode.cpp.

Member Function Documentation

Integrator * IntegratorDiscretizedODE::clone ( ) const [virtual]

The (virtual) copy constructor

Reimplemented from IntegratorRK12.

Definition at line 96 of file integrator_discretized_ode.cpp.

returnValue IntegratorDiscretizedODE::init ( const DifferentialEquation & rhs_ ) [virtual]

The initialization routine which takes the right-hand side of
the differential equation to be integrated.

Parameters:

rhs	the right-hand side of the ODE/DAE.

Returns:: SUCCESSFUL_RETURN if all dimension checks succeed.
otherwise: integrator dependent error message.

Reimplemented from IntegratorRK12.

Definition at line 103 of file integrator_discretized_ode.cpp.

IntegratorDiscretizedODE & IntegratorDiscretizedODE::operator= ( const IntegratorDiscretizedODE & arg ) [virtual]

Assignment operator (deep copy).

Definition at line 86 of file integrator_discretized_ode.cpp.

returnValue IntegratorDiscretizedODE::performADbackwardStep ( const int & number_ ) [protected]

Definition at line 296 of file integrator_discretized_ode.cpp.

returnValue IntegratorDiscretizedODE::performADbackwardStep2 ( const int & number_ ) [protected]

Definition at line 343 of file integrator_discretized_ode.cpp.

returnValue IntegratorDiscretizedODE::performADforwardStep ( const int & number_ ) [protected]

Definition at line 275 of file integrator_discretized_ode.cpp.

returnValue IntegratorDiscretizedODE::performADforwardStep2 ( const int & number_ ) [protected]

Definition at line 321 of file integrator_discretized_ode.cpp.

returnValue IntegratorDiscretizedODE::performDiscreteStep ( const int & number_ ) [protected]

Definition at line 255 of file integrator_discretized_ode.cpp.

returnValue IntegratorDiscretizedODE::step ( int number ) [virtual]

Executes the next single step. This function can be used to
call the integrator step wise. Note that this function is e.g.
useful in real-time simulations where after each step a time
out limit has to be checked. This function will usually return

Returns:: RET_FINAL_STEP_NOT_PERFORMED_YET
for the case that the final step has not been
performed yet, i.e. the integration routine is not yet
at the time tend.
Otherwise it will either return; SUCCESSFUL_RETURN
or any other error message that might occur during
an integration step.

In most real situations you can define the maximum number of
step sizes to be 1 before calling the function integrate
Then the function integrate should return after one step with
the message
RET_MAXIMUM_NUMBER_OF_STEPS_EXCEEDED. After that you can call
step() until the final time is reached.
(You can use the PrintLevel NONE to avoid that the message
RET_MAXIMUM_NUMBER_OF_STEPS_EXCEEDED is printed.)

Parameters:

number the step number

Reimplemented from IntegratorRK12.

Definition at line 111 of file integrator_discretized_ode.cpp.