dirk5_export.cpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */



#include <acado/code_generation/integrators/dirk5_export.hpp>

#include <acado/code_generation/export_algorithm_factory.hpp>

BEGIN_NAMESPACE_ACADO


//
// PUBLIC MEMBER FUNCTIONS:
//

DiagonallyIRK5Export::DiagonallyIRK5Export(     UserInteraction* _userInteraction,
                                                                        const std::string& _commonHeaderName
                                                                        ) : DiagonallyImplicitRKExport( _userInteraction,_commonHeaderName )
{
        numStages = 5;
}


DiagonallyIRK5Export::DiagonallyIRK5Export(     const DiagonallyIRK5Export& arg
                                                                        ) : DiagonallyImplicitRKExport( arg )
{
        numStages = 5;
        copy( arg );
}


DiagonallyIRK5Export::~DiagonallyIRK5Export( )
{
        clear( );
}


// PROTECTED:

//
// Register the integrator
//

IntegratorExport* createDiagonallyIRK5Export(   UserInteraction* _userInteraction,
                                                                                                const std::string &_commonHeaderName)
{
        DMatrix AA(5,5);
        DVector bb(5);
        DVector cc(5);

        AA(0,0) = (6.0-sqrt(6.0))/10.0;                                 AA(0,1) = 0.0;                                                                  AA(0,2) = 0.0;                                                          AA(0,3) = 0.0;                                                          AA(0,4) = 0.0;
        AA(1,0) = (5.0*sqrt(6.0)-6.0)/14.0;                             AA(1,1) = (6.0-sqrt(6.0))/10.0;                                 AA(1,2) = 0.0;                                                          AA(1,3) = 0.0;                                                          AA(1,4) = 0.0;
        AA(2,0) = (607.0*sqrt(6.0)+888.0)/2850.0;               AA(2,1) = (126.0-161.0*sqrt(6.0))/1425.0;               AA(2,2) = (6.0-sqrt(6.0))/10.0;                         AA(2,3) = 0.0;                                                          AA(2,4) = 0.0;
        AA(3,0) = (3153.0-3082.0*sqrt(6.0))/14250.0;    AA(3,1) = (3213.0+1148.0*sqrt(6.0))/28500.0;    AA(3,2) = (88.0*sqrt(6.0)-267.0)/500.0;         AA(3,3) = (6.0-sqrt(6.0))/10.0;                         AA(3,4) = 0.0;
        AA(4,0) = (14638.0*sqrt(6.0)-32583.0)/71250.0;  AA(4,1) = (364.0*sqrt(6.0)-17199.0)/142500.0;   AA(4,2) = (1329.0-544.0*sqrt(6.0))/2500.0;      AA(4,3) = (131.0*sqrt(6.0)-96.0)/625.0;         AA(4,4) = (6.0-sqrt(6.0))/10.0;

        bb(0) = 0.0;
        bb(1) = 0.0;
        bb(2) = 1.0/9.0;
        bb(3) = (16.0-sqrt(6.0))/36.0;
        bb(4) = (16.0+sqrt(6.0))/36.0;

        cc(0) = (6.0-sqrt(6.0))/10.0;
        cc(1) = (6.0+9.0*sqrt(6.0))/35.0;
        cc(2) = 1.0;
        cc(3) = (4.0-sqrt(6.0))/10.0;
        cc(4) = (4.0+sqrt(6.0))/10.0;

        DiagonallyImplicitRKExport* integrator = createDiagonallyImplicitRKExport(_userInteraction, _commonHeaderName);
        integrator->initializeButcherTableau(AA, bb, cc);

        return integrator;
}

CLOSE_NAMESPACE_ACADO

// end of file.