ModelData Class Reference

Data class for defining models and everything that is related, to be passed to the integrator. More...

#include <model_data.hpp>

List of all members.

Public Member Functions
uint	addOutput (const OutputFcn &outputEquation_, const Grid &measurements)
uint	addOutput (const std::string &output, const std::string &diffs_output, const uint dim, const Grid &measurements)
uint	addOutput (const std::string &output, const std::string &diffs_output, const uint dim, const Grid &measurements, const std::string &colInd, const std::string &rowPtr)
returnValue	clearIntegrationGrid ()
BooleanType	exportRhs () const
uint	getDimOutput (uint index) const
DVector	getDimOutputs () const
returnValue	getDimOutputs (std::vector< uint > &dims) const
const std::string	getFileNameModel () const
returnValue	getIntegrationGrid (Grid &integrationGrid_) const
returnValue	getLinearInput (DMatrix &M1_, DMatrix &A1_, DMatrix &B1_) const
returnValue	getLinearOutput (DMatrix &M3_, DMatrix &A3_, OutputFcn &rhs_) const
returnValue	getLinearOutput (DMatrix &M3_, DMatrix &A3_) const
returnValue	getModel (DifferentialEquation &_f) const
uint	getN () const
const std::string	getNameDiffsOutput () const
returnValue	getNameDiffsOutputs (std::vector< std::string > &names) const
const std::string	getNameDiffsRhs () const
const std::string	getNameOutput () const
returnValue	getNameOutputs (std::vector< std::string > &names) const
const std::string	getNameRhs () const
returnValue	getNARXmodel (uint &_delay, DMatrix &_parms) const
uint	getNDX () const
uint	getNDX3 () const
uint	getNOD () const
uint	getNP () const
uint	getNU () const
DVector	getNumMeas () const
uint	getNumOutputs () const
returnValue	getNumSteps (DVector &_numSteps) const
uint	getNX () const
uint	getNX1 () const
uint	getNX2 () const
uint	getNX3 () const
uint	getNXA () const
uint	getNXA3 () const
std::vector< DMatrix >	getOutputDependencies () const
returnValue	getOutputExpressions (std::vector< Expression > &outputExpressions_) const
returnValue	getOutputGrids (std::vector< Grid > &outputGrids_) const
BooleanType	hasCompressedStorage () const
BooleanType	hasDifferentialEquation () const
BooleanType	hasEquidistantControlGrid () const
BooleanType	hasOutputFunctions () const
BooleanType	hasOutputs () const
	ModelData ()
BooleanType	modelDimensionsSet () const
returnValue	setDimensions (uint _NX1, uint _NX2, uint _NX3, uint _NDX, uint _NDX3, uint _NXA, uint _NXA3, uint _NU, uint _NOD, uint _NP)
returnValue	setIntegrationGrid (const Grid &_ocpGrid, const uint _numSteps)
returnValue	setLinearInput (const DMatrix &M1_, const DMatrix &A1_, const DMatrix &B1_)
returnValue	setLinearOutput (const DMatrix &M3_, const DMatrix &A3_, const OutputFcn &rhs_)
returnValue	setLinearOutput (const DMatrix &M3_, const DMatrix &A3_, const std::string &_rhs3, const std::string &_diffs3)
returnValue	setModel (const DifferentialEquation &_f)
returnValue	setModel (const std::string &fileName, const std::string &_rhs_ODE, const std::string &_diffs_rhs_ODE)
returnValue	setN (const uint N_)
returnValue	setNARXmodel (const uint _delay, const DMatrix &_parms)
returnValue	setNumSteps (const DVector &_numSteps)
Protected Attributes
DMatrix	A1
DMatrix	A3
DMatrix	B1
std::vector< DVector >	colInd_outputs
uint	delay
DifferentialEquation	differentialEquation
std::string	diffs3_name
std::string	diffs_name
std::vector< std::string >	diffs_outputNames
std::vector< uint >	dim_outputs
BooleanType	export_rhs
std::string	externModel
Grid	integrationGrid
DMatrix	M1
DMatrix	M3
BooleanType	model_dimensions_set
uint	N
uint	NDX
uint	NDX3
uint	NOD
uint	NP
uint	NU
std::vector< uint >	num_meas
DVector	numSteps
uint	NX1
uint	NX2
uint	NX3
uint	NXA
uint	NXA3
std::vector< Expression >	outputExpressions
std::vector< Grid >	outputGrids
std::vector< std::string >	outputNames
DMatrix	parms
OutputFcn	rhs3
std::string	rhs3_name
std::string	rhs_name
std::vector< DVector >	rowPtr_outputs

---

Detailed Description

Data class for defining models and everything that is related, to be passed to the integrator.

TODO: Rien

Author:

Rien Quirynen

Definition at line 52 of file model_data.hpp.

---

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO ModelData::ModelData

(

)

Default constructor.

Definition at line 44 of file model_data.cpp.

---

Member Function Documentation

uint ModelData::addOutput	(	const OutputFcn &	outputEquation_,
		const Grid &	measurements
	)

Adds an output function.

Parameters:

outputEquation_	an output function to be added
measurements	The measurement grid per interval

Returns:

SUCCESSFUL_RETURN

Definition at line 80 of file model_data.cpp.

uint ModelData::addOutput	(	const std::string &	output,
		const std::string &	diffs_output,
		const uint	dim,
		const Grid &	measurements
	)

Adds an output function.

Parameters:

output	The output function to be added.
diffs_output	The derivatives of the output function to be added.
dim	The dimension of the output function.
measurements	The measurement grid per interval

Returns:

SUCCESSFUL_RETURN

Definition at line 106 of file model_data.cpp.

uint ModelData::addOutput	(	const std::string &	output,
		const std::string &	diffs_output,
		const uint	dim,
		const Grid &	measurements,
		const std::string &	colInd,
		const std::string &	rowPtr
	)

Adds an output function.

Parameters:

output	The output function to be added.
diffs_output	The derivatives of the output function to be added.
dim	The dimension of the output function.
measurements	The measurement grid per interval
colInd	DVector stores the column indices of the elements for Compressed Row Storage (CRS).
rowPtr	DVector stores the locations that start a row for Compressed Row Storage (CRS).

Returns:

SUCCESSFUL_RETURN

Definition at line 126 of file model_data.cpp.

returnValue ModelData::clearIntegrationGrid

(

)

Clears any previously set integration grid.

Returns:

SUCCESSFUL_RETURN

Definition at line 411 of file model_data.cpp.

BooleanType ModelData::exportRhs

(

)

const

Definition at line 445 of file model_data.cpp.

uint ModelData::getDimOutput

(

uint

index

)

const

Returns the dimension of a specific output function.

Parameters:

index

The index of the output function.

Returns:

The dimension of a specific output function.

DVector ModelData::getDimOutputs

(

)

const

Returns the dimensions of the different output functions.

Returns:

dimensions of the different output functions.

Definition at line 550 of file model_data.cpp.

returnValue ModelData::getDimOutputs

(

std::vector< uint > &

dims

)

const

Returns the dimensions of the different output functions.

Returns:

dimensions of the different output functions.

Definition at line 566 of file model_data.cpp.

const std::string ModelData::getFileNameModel

(

)

const

Definition at line 583 of file model_data.cpp.

returnValue ModelData::getIntegrationGrid

(

Grid &

integrationGrid_

)

const

Returns the grid to be used by the integrator.

Returns:

The grid to be used by the integrator.

Definition at line 369 of file model_data.cpp.

returnValue ModelData::getLinearInput	(	DMatrix &	M1_,
		DMatrix &	A1_,
		DMatrix &	B1_
	)		const

Parameters:

[in]

.

Returns:

SUCCESSFUL_RETURN

Definition at line 219 of file model_data.cpp.

returnValue ModelData::getLinearOutput	(	DMatrix &	M3_,
		DMatrix &	A3_,
		OutputFcn &	rhs_
	)		const

Parameters:

[in]

.

Returns:

SUCCESSFUL_RETURN

Definition at line 228 of file model_data.cpp.

returnValue ModelData::getLinearOutput	(	DMatrix &	M3_,
		DMatrix &	A3_
	)		const

Parameters:

[in]

.

Returns:

SUCCESSFUL_RETURN

Definition at line 237 of file model_data.cpp.

returnValue ModelData::getModel

(

DifferentialEquation &

_f

)

const

Returns the differential equations in the model.

Returns:

SUCCESSFUL_RETURN

Definition at line 203 of file model_data.cpp.

uint ModelData::getN

(

)

const

Returns number of shooting intervals.

Returns:

Number of shooting intervals

Definition at line 537 of file model_data.cpp.

const std::string ModelData::getNameDiffsOutput

(

)

const

Definition at line 603 of file model_data.cpp.

returnValue ModelData::getNameDiffsOutputs

(

std::vector< std::string > &

names

)

const

Definition at line 614 of file model_data.cpp.

const std::string ModelData::getNameDiffsRhs

(

)

const

Definition at line 593 of file model_data.cpp.

const std::string ModelData::getNameOutput

(

)

const

Definition at line 598 of file model_data.cpp.

returnValue ModelData::getNameOutputs

(

std::vector< std::string > &

names

)

const

Definition at line 608 of file model_data.cpp.

const std::string ModelData::getNameRhs

(

)

const

Definition at line 588 of file model_data.cpp.

returnValue ModelData::getNARXmodel	(	uint &	_delay,
		DMatrix &	_parms
	)		const

Returns the polynomial NARX model.

Returns:

SUCCESSFUL_RETURN

Definition at line 210 of file model_data.cpp.

uint ModelData::getNDX

(

)

const

Returns number of differential state derivatives.

Returns:

Number of differential state derivatives

Definition at line 487 of file model_data.cpp.

uint ModelData::getNDX3

(

)

const

Definition at line 496 of file model_data.cpp.

uint ModelData::getNOD

(

)

const

Returns number of parameters.

Returns:

Number of parameters

Definition at line 531 of file model_data.cpp.

uint ModelData::getNP

(

)

const

Returns number of parameters.

Returns:

Number of parameters

Definition at line 526 of file model_data.cpp.

uint ModelData::getNU

(

)

const

Returns number of control inputs.

Returns:

Number of control inputs

Definition at line 520 of file model_data.cpp.

DVector ModelData::getNumMeas

(

)

const

Returns the number of measurements for the different output functions.

Returns:

number of measurements for the different output functions.

Definition at line 573 of file model_data.cpp.

uint ModelData::getNumOutputs

(

)

const

Returns the number of different output functions.

Returns:

the number of different output functions.

Definition at line 560 of file model_data.cpp.

returnValue ModelData::getNumSteps

(

DVector &

_numSteps

)

const

Returns the number of integration steps along the horizon.

Returns:

SUCCESSFUL_RETURN

Definition at line 152 of file model_data.cpp.

uint ModelData::getNX

(

)

const

Returns number of differential states.

Returns:

Number of differential states

Definition at line 458 of file model_data.cpp.

uint ModelData::getNX1

(

)

const

Definition at line 469 of file model_data.cpp.

uint ModelData::getNX2

(

)

const

Definition at line 475 of file model_data.cpp.

uint ModelData::getNX3

(

)

const

Definition at line 481 of file model_data.cpp.

uint ModelData::getNXA

(

)

const

Returns number of algebraic states.

Returns:

Number of algebraic states

Definition at line 505 of file model_data.cpp.

uint ModelData::getNXA3

(

)

const

Definition at line 511 of file model_data.cpp.

std::vector< DMatrix > ModelData::getOutputDependencies

(

)

const

Returns the dependency matrix for each output function, which is defined externally.

Returns:

The dependency matrix for each output function, defined externally.

Definition at line 173 of file model_data.cpp.

returnValue ModelData::getOutputExpressions

(

std::vector< Expression > &

outputExpressions_

)

const

Returns the output functions.

Returns:

SUCCESSFUL_RETURN

Definition at line 166 of file model_data.cpp.

returnValue ModelData::getOutputGrids

(

std::vector< Grid > &

outputGrids_

)

const

Returns the output grids.

Returns:

SUCCESSFUL_RETURN

Definition at line 196 of file model_data.cpp.

BooleanType ModelData::hasCompressedStorage

(

)

const

Definition at line 451 of file model_data.cpp.

BooleanType ModelData::hasDifferentialEquation

(

)

const

Definition at line 432 of file model_data.cpp.

BooleanType ModelData::hasEquidistantControlGrid

(

)

const

Definition at line 419 of file model_data.cpp.

BooleanType ModelData::hasOutputFunctions

(

)

const

Definition at line 425 of file model_data.cpp.

BooleanType ModelData::hasOutputs

(

)

const

Returns true if there are extra outputs, specified for the integrator.

Returns:

True if there are extra outputs, specified for the integrator.

Definition at line 145 of file model_data.cpp.

BooleanType ModelData::modelDimensionsSet

(

)

const

Definition at line 439 of file model_data.cpp.

returnValue ModelData::setDimensions	(	uint	_NX1,
		uint	_NX2,
		uint	_NX3,
		uint	_NDX,
		uint	_NDX3,
		uint	_NXA,
		uint	_NXA3,
		uint	_NU,
		uint	_NOD,
		uint	_NP
	)

Assigns the model dimensions to be used by the integrator.

Parameters:

[in]	_NX1	Number of differential states in linear input subsystem.
[in]	_NX2	Number of differential states in nonlinear subsystem.
[in]	_NX3	Number of differential states in linear output subsystem.
[in]	_NDX	Number of differential states derivatives.
[in]	_NDX3	Number of differential states derivatives in the linear output subsystem.
[in]	_NXA	Number of algebraic states.
[in]	_NXA3	Number of algebraic states in the linear output subsystem.
[in]	_NU	Number of control inputs
[in]	_NOD	Number of "online data" values
[in]	_NP	Number of parameters

Returns:

SUCCESSFUL_RETURN

Definition at line 63 of file model_data.cpp.

returnValue ModelData::setIntegrationGrid	(	const Grid &	_ocpGrid,
		const uint	_numSteps
	)

Sets integration grid.

Parameters:

[in]	_ocpGrid	Evaluation grid for optimal control.
[in]	numSteps	The number of integration steps along the horizon.

Returns:

SUCCESSFUL_RETURN

Definition at line 376 of file model_data.cpp.

returnValue ModelData::setLinearInput	(	const DMatrix &	M1_,
		const DMatrix &	A1_,
		const DMatrix &	B1_
	)

Parameters:

[in]

.

Returns:

SUCCESSFUL_RETURN

Definition at line 301 of file model_data.cpp.

returnValue ModelData::setLinearOutput	(	const DMatrix &	M3_,
		const DMatrix &	A3_,
		const OutputFcn &	rhs_
	)

Parameters:

[in]

.

Returns:

SUCCESSFUL_RETURN

Definition at line 314 of file model_data.cpp.

returnValue ModelData::setLinearOutput	(	const DMatrix &	M3_,
		const DMatrix &	A3_,
		const std::string &	_rhs3,
		const std::string &	_diffs3
	)

Parameters:

[in]

.

Returns:

SUCCESSFUL_RETURN

Definition at line 332 of file model_data.cpp.

returnValue ModelData::setModel

(

const DifferentialEquation &

_f

)

Assigns Differential Equation to be used by the integrator.

Parameters:

[in]

f

Differential equation.

Returns:

SUCCESSFUL_RETURN

Definition at line 245 of file model_data.cpp.

returnValue ModelData::setModel	(	const std::string &	fileName,
		const std::string &	_rhs_ODE,
		const std::string &	_diffs_rhs_ODE
	)

Assigns the model to be used by the integrator.

Parameters:

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

Returns:

SUCCESSFUL_RETURN

Definition at line 350 of file model_data.cpp.

returnValue ModelData::setN

(

const uint

N_

)

Sets the number of shooting intervals.

Parameters:

[in]

N_

The number of shooting intervals.

Returns:

SUCCESSFUL_RETURN

Definition at line 543 of file model_data.cpp.

returnValue ModelData::setNARXmodel	(	const uint	_delay,
		const DMatrix &	_parms
	)

Assigns 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

Definition at line 272 of file model_data.cpp.

returnValue ModelData::setNumSteps

(

const DVector &

_numSteps

)

Sets the number of integration steps along the horizon.

Returns:

SUCCESSFUL_RETURN

Definition at line 159 of file model_data.cpp.

---

Member Data Documentation

DMatrix ModelData::A1 [protected]

Definition at line 454 of file model_data.hpp.

DMatrix ModelData::A3 [protected]

Definition at line 458 of file model_data.hpp.

DMatrix ModelData::B1 [protected]

Definition at line 455 of file model_data.hpp.

std::vector<DVector> ModelData::colInd_outputs [protected]

A separate DVector of column indices for each output if in CRS format.

Definition at line 445 of file model_data.hpp.

uint ModelData::delay [protected]

Definition at line 462 of file model_data.hpp.

DifferentialEquation ModelData::differentialEquation [protected]

The differential equations in the model.

Definition at line 434 of file model_data.hpp.

std::string ModelData::diffs3_name [protected]

The name of the function evaluating the derivatives for the linear output system, if provided.

Definition at line 433 of file model_data.hpp.

std::string ModelData::diffs_name [protected]

The name of the function evaluating the derivatives of the ODE right-hand side, if provided.

Definition at line 431 of file model_data.hpp.

std::vector<std::string> ModelData::diffs_outputNames [protected]

A separate function name for evaluating the derivatives of each output.

Definition at line 444 of file model_data.hpp.

std::vector<uint> ModelData::dim_outputs [protected]

Dimensions of the different output functions.

Definition at line 441 of file model_data.hpp.

BooleanType ModelData::export_rhs [protected]

True if the right-hand side and their derivatives should be exported too.

Definition at line 427 of file model_data.hpp.

std::string ModelData::externModel [protected]

The name of the file containing the needed functions, if provided.

Definition at line 429 of file model_data.hpp.

Grid ModelData::integrationGrid [protected]

Integration grid.

Definition at line 436 of file model_data.hpp.

DMatrix ModelData::M1 [protected]

Definition at line 453 of file model_data.hpp.

DMatrix ModelData::M3 [protected]

Definition at line 457 of file model_data.hpp.

BooleanType ModelData::model_dimensions_set [protected]

True if the model dimensions have been set.

Definition at line 428 of file model_data.hpp.

uint ModelData::N [protected]

Number of shooting intervals.

Definition at line 425 of file model_data.hpp.

uint ModelData::NDX [protected]

Number of differential states derivatives.

Definition at line 418 of file model_data.hpp.

uint ModelData::NDX3 [protected]

Number of differential states derivatives in output system.

Definition at line 419 of file model_data.hpp.

uint ModelData::NOD [protected]

Number of online data values.

Definition at line 424 of file model_data.hpp.

uint ModelData::NP [protected]

Number of parameters.

Definition at line 423 of file model_data.hpp.

uint ModelData::NU [protected]

Number of control inputs.

Definition at line 422 of file model_data.hpp.

std::vector<uint> ModelData::num_meas [protected]

Number of measurements for the different output functions.

Definition at line 442 of file model_data.hpp.

DVector ModelData::numSteps [protected]

The number of integration steps per shooting interval.

Definition at line 437 of file model_data.hpp.

uint ModelData::NX1 [protected]

Number of differential states (defined by input system).

Definition at line 415 of file model_data.hpp.

uint ModelData::NX2 [protected]

Number of differential states (defined by implicit system).

Definition at line 416 of file model_data.hpp.

uint ModelData::NX3 [protected]

Number of differential states (defined by output system).

Definition at line 417 of file model_data.hpp.

uint ModelData::NXA [protected]

Number of algebraic states.

Definition at line 420 of file model_data.hpp.

uint ModelData::NXA3 [protected]

Number of algebraic states in output system.

Definition at line 421 of file model_data.hpp.

std::vector<Expression> ModelData::outputExpressions [protected]

A vector with the output functions.

Definition at line 439 of file model_data.hpp.

std::vector<Grid> ModelData::outputGrids [protected]

A separate grid for each output function.

Definition at line 440 of file model_data.hpp.

std::vector<std::string> ModelData::outputNames [protected]

A separate function name for each output.

Definition at line 443 of file model_data.hpp.

DMatrix ModelData::parms [protected]

Definition at line 463 of file model_data.hpp.

OutputFcn ModelData::rhs3 [protected]

Definition at line 459 of file model_data.hpp.

std::string ModelData::rhs3_name [protected]

The name of the nonlinear function in the linear output system, if provided.

Definition at line 432 of file model_data.hpp.

std::string ModelData::rhs_name [protected]

The name of the function evaluating the ODE right-hand side, if provided.

Definition at line 430 of file model_data.hpp.

std::vector<DVector> ModelData::rowPtr_outputs [protected]

A separate DVector of row pointers for each output if in CRS format.

Definition at line 446 of file model_data.hpp.

---

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

• model_data.hpp
• model_data.cpp