ocp_export.hpp
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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 
00032 #ifndef ACADO_TOOLKIT_OCP_EXPORT_HPP
00033 #define ACADO_TOOLKIT_OCP_EXPORT_HPP
00034 
00035 #include <acado/code_generation/export_module.hpp>
00036 #include <acado/ocp/ocp.hpp>
00037 
00038 BEGIN_NAMESPACE_ACADO
00039 
00040 class IntegratorExport;
00041 class ExportNLPSolver;
00042 
00057 class OCPexport : public ExportModule
00058 {
00059 public:
00060 
00063         OCPexport();
00064 
00069         OCPexport(const OCP& _ocp);
00070 
00072         virtual ~OCPexport()
00073         {}
00074 
00084         virtual returnValue exportCode( const std::string& dirName,
00085                                                                         const std::string& _realString = "real_t",
00086                                                                         const std::string& _intString = "int",
00087                                                                         int _precision = 16);
00088 
00094         returnValue printDimensionsQP();
00095 
00096 protected:
00097 
00110         returnValue setup();
00111 
00122         returnValue checkConsistency() const;
00123 
00132         returnValue collectDataDeclarations(    ExportStatementBlock& declarations,
00133                                                                                         ExportStruct dataStruct = ACADO_ANY) const;
00134 
00143         returnValue collectFunctionDeclarations(ExportStatementBlock& declarations) const;
00144 
00155         returnValue exportAcadoHeader(  const std::string& _dirName,
00156                                                                         const std::string& _fileName,
00157                                                                         const std::string& _realString = "real_t",
00158                                                                         const std::string& _intString = "int",
00159                                                                         int _precision = 16) const;
00160 
00162         std::tr1::shared_ptr< IntegratorExport > integrator;
00163 
00165         std::tr1::shared_ptr< ExportNLPSolver > solver;
00166 
00168         OCP ocp;
00169 };
00170 
00171 CLOSE_NAMESPACE_ACADO
00172 
00173 #endif  // ACADO_TOOLKIT_OCP_EXPORT_HPP


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:38:15