differential_equation.hpp
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00001 /*
00002  *    This file is part of ACADO Toolkit.
00003  *
00004  *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
00005  *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
00006  *    Milan Vukov, Rien Quirynen, KU Leuven.
00007  *    Developed within the Optimization in Engineering Center (OPTEC)
00008  *    under supervision of Moritz Diehl. All rights reserved.
00009  *
00010  *    ACADO Toolkit is free software; you can redistribute it and/or
00011  *    modify it under the terms of the GNU Lesser General Public
00012  *    License as published by the Free Software Foundation; either
00013  *    version 3 of the License, or (at your option) any later version.
00014  *
00015  *    ACADO Toolkit is distributed in the hope that it will be useful,
00016  *    but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00018  *    Lesser General Public License for more details.
00019  *
00020  *    You should have received a copy of the GNU Lesser General Public
00021  *    License along with ACADO Toolkit; if not, write to the Free Software
00022  *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
00023  *
00024  */
00025 
00026 
00027 
00034 #ifndef ACADO_TOOLKIT_DIFFERENTIAL_EQUATION_HPP
00035 #define ACADO_TOOLKIT_DIFFERENTIAL_EQUATION_HPP
00036 
00037 
00038 #include <acado/function/function_fwd.hpp>
00039 #include <acado/symbolic_expression/lyapunov.hpp>
00040 
00041 
00042 BEGIN_NAMESPACE_ACADO
00043 
00044 
00055 class DifferentialEquation : public Function{
00056 
00057         //
00058         // PUBLIC MEMBER FUNCTIONS:
00059         //
00060         public:
00061 
00062 
00064                 DifferentialEquation( );
00065 
00067                 DifferentialEquation( const double &tStart, const double &tEnd );
00068 
00070                 DifferentialEquation( const double &tStart, const Parameter &tEnd );
00071 
00073                 DifferentialEquation( const Parameter &tStart, const double &tEnd  );
00074 
00076                 DifferentialEquation( const Parameter &tStart, const Parameter &tEnd  );
00077 
00078 
00080                 DifferentialEquation( const DifferentialEquation& arg );
00081 
00083                 virtual ~DifferentialEquation( );
00084 
00086                 DifferentialEquation& operator=( const DifferentialEquation& arg );
00087 
00088 
00090                 virtual DifferentialEquation* clone() const;
00091 
00092 
00094                 DifferentialEquation& operator<<( const Expression& arg );
00095 
00097                 DifferentialEquation& operator<<( const int& arg );
00098 
00100                 DifferentialEquation& operator==( const Expression& arg );
00101 
00103                 DifferentialEquation& operator==( const double &arg );
00104 
00106                 DifferentialEquation& operator==( const DVector& arg );
00107 
00109                 DifferentialEquation& operator==( const DMatrix& arg );
00110 
00111 
00113                 BooleanType isDAE( ) const;
00114 
00116                 BooleanType isODE( ) const;
00117 
00119                 inline BooleanType isImplicit( ) const;
00120 
00121 
00128                 virtual BooleanType makeImplicit();
00129 
00130 
00131 
00134                 inline int getNumDynamicEquations() const;
00135 
00136 
00139                 inline int getNumAlgebraicEquations() const;
00140 
00141 
00143                 virtual BooleanType isDiscretized( ) const;
00144 
00145 
00151                 inline double getStartTime() const;
00152 
00153 
00159                 inline double getEndTime() const;
00160 
00161 
00168                 inline int getStartTimeIdx() const;
00169 
00170 
00177                 inline int getEndTimeIdx() const;
00178 
00179 
00180 
00183                 virtual double getStepLength() const;
00184 
00185 
00186                 inline int getStateEnumerationIndex( int index_ );
00187 
00188 
00189                 inline DVector getDifferentialStateComponents() const;
00190 
00191 
00192 
00194                 DifferentialEquation& addDifferential( const Expression& arg );
00195 
00197                 DifferentialEquation& addDifferential( const double &arg );
00198 
00200                 DifferentialEquation& addAlgebraic( const Expression& arg );
00201 
00203                 DifferentialEquation& addAlgebraic( const double &arg );
00204 
00206                 DifferentialEquation& addDifferential( const DVector& arg );
00207 
00209                 DifferentialEquation& addAlgebraic( const DVector& arg );
00210 
00212                 DifferentialEquation& addDifferential( const DMatrix& arg );
00213 
00215                 DifferentialEquation& addAlgebraic( const DMatrix& arg );
00216 
00217                 DifferentialEquation& operator==(const Lyapunov& arg );
00218 
00219                 Lyapunov getLyapunovObject( ) const;
00220 
00221                 BooleanType hasLyapunovEquation( ) const;
00222 
00223 
00234                 Expression getODEexpansion( const int &order ) const;
00235                 
00236                 
00237                 inline int* getComponents() const;
00238                 
00239                 
00240                 
00241         // PROTECTED MEMBER FUNCTIONS:
00242         // ---------------------------
00243         protected:
00244 
00245 
00247                 void setup();
00248 
00249 
00251         void copy( const DifferentialEquation &arg );
00252 
00253 
00254 
00255 
00256 
00257         // PROTECTED MEMBERS:
00258         // ------------------
00259 
00260         protected:
00261 
00262                 DifferentialEquationType           det;
00263                 BooleanType                is_implicit;
00264                 BooleanType             is_discretized;
00265 
00266                 int  counter  ;
00267                 int *component;
00268 
00269                 Parameter  *T1, *T2;
00270                 double      t1,  t2;
00271 
00272                 double stepLength;  // for discretized dynamic equations only
00273   Lyapunov lyap;
00274 };
00275 
00276 
00277 CLOSE_NAMESPACE_ACADO
00278 
00279 
00280 
00281 #include <acado/function/differential_equation.ipp>
00282 
00283 
00284 #endif  // ACADO_TOOLKIT_DIFFERENTIAL_EQUATION_HPP
00285 
00286 // end of file.


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:36:59