acado: gauss_legendre8_export.cpp Source File

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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/gauss_legendre8_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 GaussLegendre8Export::GaussLegendre8Export(     UserInteraction* _userInteraction,
00046                                                                         const std::string& _commonHeaderName
00047                                                                         ) : ImplicitRungeKuttaExport( _userInteraction,_commonHeaderName )
00048 {
00049         numStages = 4;
00050 }
00051 
00052 
00053 GaussLegendre8Export::GaussLegendre8Export(     const GaussLegendre8Export& arg
00054                                                                         ) : ImplicitRungeKuttaExport( arg )
00055 {
00056         numStages = 4;
00057         copy( arg );
00058 }
00059 
00060 
00061 GaussLegendre8Export::~GaussLegendre8Export( )
00062 {
00063         clear( );
00064 }
00065 
00066 
00067 // PROTECTED:
00068 
00069 //
00070 // Register the integrator
00071 //
00072 
00073 IntegratorExport* createGaussLegendre8Export(   UserInteraction* _userInteraction,
00074                                                                                                 const std::string &_commonHeaderName)
00075 {
00076         DMatrix AA(4,4);
00077         DVector bb(4);
00078         DVector cc(4);
00079 
00080         AA(0,0) = (1/(double)144)*(double)sqrt((double)(double)30)+(double)1/(double)8;
00081         AA(0,1) = -(double)(1/(double)840)*(double)sqrt((double)(double)525-(double)70*(double)sqrt((double)(double)30))*(double)sqrt((double)(double)30)+(double)(1/(double)144)*(double)sqrt((double)(double)30)-(double)(1/(double)105)*(double)sqrt((double)(double)525-(double)70*(double)sqrt((double)(double)30))+(double)1/(double)8;           
00082         AA(0,2) = (1/(double)2352)*(double)sqrt((double)(double)525+(double)70*(double)sqrt((double)(double)30))*(double)sqrt((double)(double)30)-(double)(1/(double)144)*(double)sqrt((double)(double)30)+(double)(1/(double)1680)*(double)sqrt((double)(double)525-(double)70*(double)sqrt((double)(double)30))*(double)sqrt((double)(double)30)+(double)1/(double)8+(double)(1/(double)1470)*(double)sqrt((double)(double)525+(double)70*(double)sqrt((double)(double)30))-(double)(1/(double)420)*(double)sqrt((double)(double)525-(double)70*(double)sqrt((double)(double)30));    
00083         AA(0,3) = -(double)(1/(double)2352)*(double)sqrt((double)(double)525+(double)70*(double)sqrt((double)(double)30))*(double)sqrt((double)(double)30)-(double)(1/(double)144)*(double)sqrt((double)(double)30)+(double)(1/(double)1680)*(double)sqrt((double)(double)525-(double)70*(double)sqrt((double)(double)30))*(double)sqrt((double)(double)30)+(double)1/(double)8-(double)(1/(double)1470)*(double)sqrt((double)(double)525+(double)70*(double)sqrt((double)(double)30))-(double)(1/(double)420)*(double)sqrt((double)(double)525-(double)70*(double)sqrt((double)(double)30));
00084         AA(1,0) = (1/(double)840)*(double)sqrt((double)(double)525-(double)70*(double)sqrt((double)(double)30))*(double)sqrt((double)(double)30)+(double)(1/(double)144)*(double)sqrt((double)(double)30)+(double)(1/(double)105)*(double)sqrt((double)(double)525-(double)70*(double)sqrt((double)(double)30))+(double)1/(double)8;                    
00085         AA(1,1) = (1/(double)144)*(double)sqrt((double)(double)30)+(double)1/(double)8;         
00086         AA(1,2) = (1/(double)2352)*(double)sqrt((double)(double)525+(double)70*(double)sqrt((double)(double)30))*(double)sqrt((double)(double)30)-(double)(1/(double)144)*(double)sqrt((double)(double)30)-(double)(1/(double)1680)*(double)sqrt((double)(double)525-(double)70*(double)sqrt((double)(double)30))*(double)sqrt((double)(double)30)+(double)1/(double)8+(double)(1/(double)1470)*(double)sqrt((double)(double)525+(double)70*(double)sqrt((double)(double)30))+(double)(1/(double)420)*(double)sqrt((double)(double)525-(double)70*(double)sqrt((double)(double)30));
00087         AA(1,3) = -(double)(1/(double)2352)*(double)sqrt((double)(double)525+(double)70*(double)sqrt((double)(double)30))*(double)sqrt((double)(double)30)-(double)(1/(double)144)*(double)sqrt((double)(double)30)-(double)(1/(double)1680)*(double)sqrt((double)(double)525-(double)70*(double)sqrt((double)(double)30))*(double)sqrt((double)(double)30)+(double)1/(double)8-(double)(1/(double)1470)*(double)sqrt((double)(double)525+(double)70*(double)sqrt((double)(double)30))+(double)(1/(double)420)*(double)sqrt((double)(double)525-(double)70*(double)sqrt((double)(double)30));
00088         AA(2,0) = -(double)(1/(double)2352)*(double)sqrt((double)(double)525-(double)70*(double)sqrt((double)(double)30))*(double)sqrt((double)(double)30)+(double)(1/(double)144)*(double)sqrt((double)(double)30)-(double)(1/(double)1680)*(double)sqrt((double)(double)525+(double)70*(double)sqrt((double)(double)30))*(double)sqrt((double)(double)30)+(double)(1/(double)1470)*(double)sqrt((double)(double)525-(double)70*(double)sqrt((double)(double)30))+(double)1/(double)8-(double)(1/(double)420)*(double)sqrt((double)(double)525+(double)70*(double)sqrt((double)(double)30));   
00089         AA(2,1) = (1/(double)2352)*(double)sqrt((double)(double)525-(double)70*(double)sqrt((double)(double)30))*(double)sqrt((double)(double)30)+(double)(1/(double)144)*(double)sqrt((double)(double)30)-(double)(1/(double)1680)*(double)sqrt((double)(double)525+(double)70*(double)sqrt((double)(double)30))*(double)sqrt((double)(double)30)-(double)(1/(double)1470)*(double)sqrt((double)(double)525-(double)70*(double)sqrt((double)(double)30))+(double)1/(double)8-(double)(1/(double)420)*(double)sqrt((double)(double)525+(double)70*(double)sqrt((double)(double)30));                            
00090         AA(2,2) = -(double)(1/(double)144)*(double)sqrt((double)(double)30)+(double)1/(double)8;        
00091         AA(2,3) = (1/(double)840)*(double)sqrt((double)(double)525+(double)70*(double)sqrt((double)30))*(double)sqrt((double)30)-(double)(1/(double)144)*(double)sqrt((double)30)-(double)(1/(double)105)*(double)sqrt((double)525+(double)70*(double)sqrt((double)30))+(double)1/(double)8;
00092         AA(3,0) = -(double)(1/(double)2352)*(double)sqrt((double)525-(double)70*(double)sqrt((double)30))*(double)sqrt((double)30)+(double)(1/(double)144)*(double)sqrt((double)30)+(double)(1/(double)1680)*(double)sqrt((double)525+(double)70*(double)sqrt((double)30))*(double)sqrt((double)30)+(double)(1/(double)1470)*(double)sqrt((double)525-(double)70*(double)sqrt((double)30))+(double)1/(double)8+(double)(1/(double)420)*(double)sqrt((double)525+(double)70*(double)sqrt((double)30));
00093         AA(3,1) = (1/(double)2352)*(double)sqrt((double)525-(double)70*(double)sqrt((double)30))*(double)sqrt((double)30)+(double)(1/(double)144)*(double)sqrt((double)30)+(double)(1/(double)1680)*(double)sqrt((double)525+(double)70*(double)sqrt((double)30))*(double)sqrt((double)30)-(double)(1/(double)1470)*(double)sqrt((double)525-(double)70*(double)sqrt((double)30))+(double)1/(double)8+(double)(1/(double)420)*(double)sqrt((double)525+(double)70*(double)sqrt((double)30));
00094         AA(3,2) = -(double)(1/(double)840)*(double)sqrt((double)525+(double)70*(double)sqrt((double)30))*(double)sqrt((double)30)-(double)(1/(double)144)*(double)sqrt((double)30)+(double)(1/(double)105)*(double)sqrt((double)525+(double)70*(double)sqrt((double)30))+(double)1/(double)8;
00095         AA(3,3) = -(double)(1/(double)144)*(double)sqrt((double)30)+(double)1/(double)8;                
00096 
00097         bb(0) = (1/(double)72)*(double)sqrt((double)30)+(double)1/(double)4;            
00098         bb(1) = (1/(double)72)*(double)sqrt((double)30)+(double)1/(double)4;                                    
00099         bb(2) = -(double)(1/(double)72)*(double)sqrt((double)30)+(double)1/(double)4;
00100         bb(3) = -(double)(1/(double)72)*(double)sqrt((double)30)+(double)1/(double)4;
00101 
00102         cc(0) = 1/(double)2-(double)(1/(double)70)*(double)sqrt((double)525-(double)70*(double)sqrt((double)30));               
00103         cc(1) = 1/(double)2+(double)(1/(double)70)*(double)sqrt((double)525-(double)70*(double)sqrt((double)30));       
00104         cc(2) = 1/(double)2-(double)(1/(double)70)*(double)sqrt((double)525+(double)70*(double)sqrt((double)30));
00105         cc(3) = 1/(double)2+(double)(1/(double)70)*(double)sqrt((double)525+(double)70*(double)sqrt((double)30));
00106 
00107         ImplicitRungeKuttaExport* integrator = createImplicitRungeKuttaExport(_userInteraction, _commonHeaderName);
00108         integrator->initializeButcherTableau(AA, bb, cc);
00109 
00110         return integrator;
00111 }
00112 
00113 CLOSE_NAMESPACE_ACADO
00114 
00115 // end of file.