linear_solver_export.cpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */



#include <acado/code_generation/linear_solvers/linear_solver_export.hpp>

using namespace std;

BEGIN_NAMESPACE_ACADO


//
// PUBLIC MEMBER FUNCTIONS:
//

ExportLinearSolver::ExportLinearSolver( UserInteraction* _userInteraction,
                                                                                const std::string& _commonHeaderName
                                                                                ) : ExportAlgorithm(_userInteraction, _commonHeaderName)
{
        REUSE = true;
        UNROLLING = false;
        dim = nRows = nCols = nBacksolves = 0;

        determinant = ExportVariable("det", 1, 1, REAL, ACADO_LOCAL, true);
}


ExportLinearSolver::~ExportLinearSolver( )
{}


returnValue ExportLinearSolver::init(   const uint newDim,
                                                                                const bool& reuse,
                                                                                const bool& unrolling
                                                                                )
{
        return init(newDim, newDim, newDim, reuse, unrolling, std::string( "dim" ) + toString( newDim ) + "_");
}


returnValue ExportLinearSolver::init(   const uint newDim,
                                                                                const bool& reuse,
                                                                                const bool& unrolling,
                                                                                const std::string& newId
                                                                                )
{
        return init(newDim, newDim, newDim, reuse, unrolling, newId);
}

returnValue ExportLinearSolver::init(   unsigned _nRows,
                                                                                unsigned _nCols,
                                                                                unsigned _nBacksolves,
                                                                                bool _reuse,
                                                                                bool _unroll,
                                                                                const std::string& _id
                                                                                )
{
        ASSERT_RETURN(_nRows >= _nCols);
        ASSERT_RETURN(_nBacksolves <= _nCols);

        nRows = _nRows;
        nCols = _nCols;
        nBacksolves = _nBacksolves;
        REUSE = _reuse;
        UNROLLING = _unroll;
        identifier = _id;

        // This is more for compatibility reasons and should be deprecated.
        dim = _nRows;

        return setup();
}

uint ExportLinearSolver::getDim() const {
        
        return dim;
}


bool ExportLinearSolver::getReuse() const {
        
        return REUSE;
}


returnValue ExportLinearSolver::setReuse( const bool& reuse ) {
        
        REUSE = reuse;
        
        return SUCCESSFUL_RETURN;
} 


bool ExportLinearSolver::getUnrolling() const {
        
        return UNROLLING;
}


returnValue ExportLinearSolver::setUnrolling( const bool& unrolling ) {
        
        UNROLLING = unrolling;
        
        return SUCCESSFUL_RETURN;
} 


const std::string ExportLinearSolver::getNameSolveFunction() {
        
        return string( "solve_" ) + identifier + "system";
}


const std::string ExportLinearSolver::getNameSolveReuseFunction() {
        
        return string( "solve_" ) + identifier + "system_reuse";
}

ExportVariable ExportLinearSolver::getGlobalExportVariable( const uint factor ) const
{
        ASSERT(1 == 0);
        return ExportVariable();
}


//
// PROTECTED MEMBER FUNCTIONS:
//



CLOSE_NAMESPACE_ACADO

// end of file.