export_module.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/export_module.hpp>
00035 #include <acado/code_generation/integrators/integrator_export.hpp>
00036 
00037 BEGIN_NAMESPACE_ACADO
00038 
00039 
00040 //
00041 // PUBLIC MEMBER FUNCTIONS:
00042 //
00043 
00044 ExportModule::ExportModule( ) : UserInteraction( )
00045 { 
00046         setupOptions( );
00047 
00048         commonHeaderName = "acado.h";
00049 }
00050 
00051 
00052 ExportModule::~ExportModule( )
00053 {}
00054 
00055 //
00056 // PROTECTED MEMBER FUNCTIONS:
00057 //
00058 
00059 returnValue ExportModule::setupOptions( )
00060 {
00061         addOption( HESSIAN_APPROXIMATION,       GAUSS_NEWTON    );
00062         addOption( CG_CONDENSED_HESSIAN_CHOLESKY, EXTERNAL              );
00063         addOption( DISCRETIZATION_TYPE,         SINGLE_SHOOTING );
00064         addOption( INTEGRATOR_TYPE,             INT_RK4         );
00065         addOption( DYNAMIC_SENSITIVITY,         FORWARD         );
00066         addOption( LINEAR_ALGEBRA_SOLVER,       GAUSS_LU        );
00067         addOption( UNROLL_LINEAR_SOLVER,        false           );
00068         addOption( NUM_INTEGRATOR_STEPS,        30              );
00069         addOption( MEASUREMENT_GRID,                    OFFLINE_GRID    );
00070         addOption( INTEGRATOR_DEBUG_MODE,               0                               );
00071         addOption( IMPLICIT_INTEGRATOR_MODE,    IFTR                    );
00072         addOption( IMPLICIT_INTEGRATOR_NUM_ITS, 5                               );
00073         addOption( IMPLICIT_INTEGRATOR_NUM_ITS_INIT, 0                  );
00074         addOption( SPARSE_QP_SOLUTION,          FULL_CONDENSING );
00075         addOption( FIX_INITIAL_STATE,           true            );
00076         addOption( QP_SOLVER,                   QP_QPOASES      );
00077         addOption( MAX_NUM_QP_ITERATIONS,       -1              );
00078         addOption( HOTSTART_QP,                 false           );
00079         addOption( LEVENBERG_MARQUARDT,         0.0             );
00080         addOption( GENERATE_TEST_FILE,          true            );
00081         addOption( GENERATE_MAKE_FILE,          true            );
00082         addOption( GENERATE_SIMULINK_INTERFACE, false           );
00083         addOption( GENERATE_MATLAB_INTERFACE,   false           );
00084         addOption( MEX_ITERATION_STEPS,                 1                       );
00085         addOption( MEX_VERBOSE,                                 0                       );
00086         addOption( USE_SINGLE_PRECISION,        false           );
00087         addOption( PRINTLEVEL,                  MEDIUM          );
00088 
00089         addOption( CG_USE_C99,                       NO         );
00090         addOption( CG_USE_VARIABLE_WEIGHTING_MATRIX, NO         );
00091         addOption( CG_COMPUTE_COVARIANCE_MATRIX,     NO         );
00092         addOption( CG_USE_OPENMP,                                        NO         );
00093         addOption( CG_HARDCODE_CONSTRAINT_VALUES,    YES        );
00094         addOption( CG_USE_ARRIVAL_COST,              NO         );
00095 
00096         addOption( CG_CONDENSED_HESSIAN_CHOLESKY,    EXTERNAL   );
00097         addOption( CG_FORCE_DIAGONAL_HESSIAN,        NO         );
00098 
00099         addOption( CG_MODULE_NAME, "acado"                                              );
00100         addOption( CG_EXPORT_FOLDER_NAME, "acado_export"                );
00101 
00102         return SUCCESSFUL_RETURN;
00103 }
00104 
00105 CLOSE_NAMESPACE_ACADO


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