integrator_runge_kutta12.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/utils/acado_utils.hpp>
00035 #include <acado/matrix_vector/matrix_vector.hpp>
00036 #include <acado/symbolic_expression/symbolic_expression.hpp>
00037 #include <acado/function/function_.hpp>
00038 #include <acado/function/differential_equation.hpp>
00039 #include <acado/integrator/integrator.hpp>
00040 #include <acado/integrator/integrator_runge_kutta.hpp>
00041 #include <acado/integrator/integrator_runge_kutta12.hpp>
00042 
00043 
00044 
00045 BEGIN_NAMESPACE_ACADO
00046 
00047 
00048 //
00049 // PUBLIC MEMBER FUNCTIONS:
00050 //
00051 
00052 IntegratorRK12::IntegratorRK12( )
00053                :IntegratorRK(2,1.0){
00054 
00055     if( A != 0 ) initializeButcherTableau();
00056 }
00057 
00058 IntegratorRK12::IntegratorRK12( const DifferentialEquation &rhs_ )
00059                :IntegratorRK(rhs_,2,1.0){
00060 
00061     if( A != 0 ) initializeButcherTableau();
00062 }
00063 
00064 IntegratorRK12::IntegratorRK12( const IntegratorRK12& arg )
00065                :IntegratorRK(arg){ }
00066 
00067 IntegratorRK12::~IntegratorRK12( ){ }
00068 
00069 
00070 IntegratorRK12& IntegratorRK12::operator=( const IntegratorRK12& arg ){
00071 
00072     if( this != &arg ){
00073         IntegratorRK::operator=(arg);
00074     }
00075     return *this;
00076 }
00077 
00078 
00079 Integrator* IntegratorRK12::clone() const{
00080 
00081     return new IntegratorRK12(*this);
00082 }
00083 
00084 
00085 
00086 returnValue IntegratorRK12::init( const DifferentialEquation &rhs_ )
00087 {
00088         return IntegratorRK::init( rhs_ );
00089 }
00090 
00091 
00092 
00093 returnValue IntegratorRK12::step(       int number
00094                                                                         )
00095 {
00096         return IntegratorRK::step( number );
00097 }
00098 
00099 
00100 void IntegratorRK12::initializeButcherTableau(){
00101 
00102     A[0][0] = 0.0;
00103     A[0][1] = 0.0;
00104 
00105     A[1][0] = 1.0;
00106     A[1][1] = 0.0;
00107 
00108     b4[0] = 1.0;
00109     b4[1] = 0.0;
00110 
00111     b5[0] =  3.0/2.0;
00112     b5[1] = -1.0/2.0;
00113 
00114     c[0] = 0.0;
00115     c[1] = 1.0;
00116 
00117     TOL = 0.1;
00118 }
00119 
00120 
00121 
00122 CLOSE_NAMESPACE_ACADO
00123 
00124 // end of file.


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:37:27