integrator_runge_kutta23.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_kutta23.hpp>
00042 
00043 
00044 
00045 BEGIN_NAMESPACE_ACADO
00046 
00047 
00048 //
00049 // PUBLIC MEMBER FUNCTIONS:
00050 //
00051 
00052 IntegratorRK23::IntegratorRK23( )
00053                :IntegratorRK(3,0.5){
00054 
00055     if( A != 0 ) initializeButcherTableau();
00056 }
00057 
00058 IntegratorRK23::IntegratorRK23( const DifferentialEquation &rhs_ )
00059                :IntegratorRK(rhs_,3,0.5){
00060 
00061     if( A != 0 ) initializeButcherTableau();
00062 }
00063 
00064 IntegratorRK23::IntegratorRK23( const IntegratorRK23& arg )
00065                :IntegratorRK(arg){ }
00066 
00067 IntegratorRK23::~IntegratorRK23( ){ }
00068 
00069 IntegratorRK23& IntegratorRK23::operator=( const IntegratorRK23& arg ){
00070 
00071     if( this != &arg ){
00072         IntegratorRK::operator=(arg);
00073     }
00074     return *this;
00075 }
00076 
00077 Integrator* IntegratorRK23::clone() const{
00078 
00079     return new IntegratorRK23(*this);
00080 }
00081 
00082 void IntegratorRK23::initializeButcherTableau(){
00083 
00084     A[0][0] = 0.0;
00085     A[0][1] = 0.0;
00086     A[0][2] = 0.0;
00087 
00088     A[1][0] = 1.0/2.0;
00089     A[1][1] = 0.0;
00090     A[1][2] = 0.0;
00091 
00092     A[2][0] = -1.0;
00093     A[2][1] =  2.0;
00094     A[2][2] =  0.0;
00095 
00096     b4[0] = 0.0;
00097     b4[1] = 1.0;
00098     b4[2] = 0.0;
00099 
00100     b5[0] = 1.0/6.0;
00101     b5[1] = 4.0/6.0;
00102     b5[2] = 1.0/6.0;
00103 
00104     c[0] = 0.0;
00105     c[1] = 1.0/2.0;
00106     c[2] = 1.0;
00107 
00108     TOL = 0.01;
00109 }
00110 
00111 
00112 CLOSE_NAMESPACE_ACADO
00113 
00114 // end of file.


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