erk4_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/erk4_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 ExplicitRungeKutta4Export::ExplicitRungeKutta4Export(   UserInteraction* _userInteraction,
00046                                                                         const std::string& _commonHeaderName
00047                                                                         ) : ExplicitRungeKuttaExport( _userInteraction,_commonHeaderName )
00048 {
00049 }
00050 
00051 
00052 ExplicitRungeKutta4Export::ExplicitRungeKutta4Export(   const ExplicitRungeKutta4Export& arg
00053                                                                         ) : ExplicitRungeKuttaExport( arg )
00054 {
00055         copy( arg );
00056 }
00057 
00058 
00059 ExplicitRungeKutta4Export::~ExplicitRungeKutta4Export( )
00060 {
00061         clear( );
00062 }
00063 
00064 
00065 // PROTECTED:
00066 
00067 //
00068 // Register the integrator
00069 //
00070 
00071 
00072 IntegratorExport* createExplicitRungeKutta4Export(      UserInteraction* _userInteraction,
00073                                                                                                         const std::string &_commonHeaderName)
00074 {
00075         DMatrix AA(4,4);
00076         DVector bb(4);
00077         DVector cc(4);
00078 
00079         AA(0,0) = 0.0;          AA(0,1) = 0.0;          AA(0,2) = 0.0;          AA(0,3) = 0.0;
00080         AA(1,0) = 1.0/2.0;      AA(1,1) = 0.0;          AA(1,2) = 0.0;          AA(1,3) = 0.0;
00081         AA(2,0) = 0.0;          AA(2,1) = 1.0/2.0;      AA(2,2) = 0.0;          AA(2,3) = 0.0;
00082         AA(3,0) = 0.0;          AA(3,1) = 0.0;          AA(3,2) = 1.0;          AA(3,3) = 0.0;
00083 
00084         bb(0) = 1.0/6.0;
00085         bb(1) = 1.0/3.0;
00086         bb(2) = 1.0/3.0;
00087         bb(3) = 1.0/6.0;
00088 
00089         cc(0) = 0.0;
00090         cc(1) = 1.0/2.0;
00091         cc(2) = 1.0/2.0;
00092         cc(3) = 1.0;
00093 
00094         ExplicitRungeKuttaExport* integrator = createExplicitRungeKuttaExport(_userInteraction, _commonHeaderName);
00095         integrator->initializeButcherTableau(AA, bb, cc);
00096 
00097         return integrator;
00098 }
00099 
00100 CLOSE_NAMESPACE_ACADO
00101 
00102 
00103 
00104 // end of file.


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:37:01