dirk5_export.cpp
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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 #include <acado/code_generation/integrators/dirk5_export.hpp>
00035 
00036 #include <acado/code_generation/export_algorithm_factory.hpp>
00037 
00038 BEGIN_NAMESPACE_ACADO
00039 
00040 
00041 //
00042 // PUBLIC MEMBER FUNCTIONS:
00043 //
00044 
00045 DiagonallyIRK5Export::DiagonallyIRK5Export(     UserInteraction* _userInteraction,
00046                                                                         const std::string& _commonHeaderName
00047                                                                         ) : DiagonallyImplicitRKExport( _userInteraction,_commonHeaderName )
00048 {
00049         numStages = 5;
00050 }
00051 
00052 
00053 DiagonallyIRK5Export::DiagonallyIRK5Export(     const DiagonallyIRK5Export& arg
00054                                                                         ) : DiagonallyImplicitRKExport( arg )
00055 {
00056         numStages = 5;
00057         copy( arg );
00058 }
00059 
00060 
00061 DiagonallyIRK5Export::~DiagonallyIRK5Export( )
00062 {
00063         clear( );
00064 }
00065 
00066 
00067 // PROTECTED:
00068 
00069 //
00070 // Register the integrator
00071 //
00072 
00073 IntegratorExport* createDiagonallyIRK5Export(   UserInteraction* _userInteraction,
00074                                                                                                 const std::string &_commonHeaderName)
00075 {
00076         DMatrix AA(5,5);
00077         DVector bb(5);
00078         DVector cc(5);
00079 
00080         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;
00081         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;
00082         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;
00083         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;
00084         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;
00085 
00086         bb(0) = 0.0;
00087         bb(1) = 0.0;
00088         bb(2) = 1.0/9.0;
00089         bb(3) = (16.0-sqrt(6.0))/36.0;
00090         bb(4) = (16.0+sqrt(6.0))/36.0;
00091 
00092         cc(0) = (6.0-sqrt(6.0))/10.0;
00093         cc(1) = (6.0+9.0*sqrt(6.0))/35.0;
00094         cc(2) = 1.0;
00095         cc(3) = (4.0-sqrt(6.0))/10.0;
00096         cc(4) = (4.0+sqrt(6.0))/10.0;
00097 
00098         DiagonallyImplicitRKExport* integrator = createDiagonallyImplicitRKExport(_userInteraction, _commonHeaderName);
00099         integrator->initializeButcherTableau(AA, bb, cc);
00100 
00101         return integrator;
00102 }
00103 
00104 CLOSE_NAMESPACE_ACADO
00105 
00106 // end of file.


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