radau_IIA5_export.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/code_generation/integrators/radau_IIA5_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 RadauIIA5Export::RadauIIA5Export(       UserInteraction* _userInteraction,
00046                                                                         const std::string& _commonHeaderName
00047                                                                         ) : ImplicitRungeKuttaExport( _userInteraction,_commonHeaderName )
00048 {
00049         numStages = 3;
00050 }
00051 
00052 
00053 RadauIIA5Export::RadauIIA5Export(       const RadauIIA5Export& arg
00054                                                                         ) : ImplicitRungeKuttaExport( arg )
00055 {
00056         numStages = 3;
00057         copy( arg );
00058 }
00059 
00060 
00061 RadauIIA5Export::~RadauIIA5Export( )
00062 {
00063         clear( );
00064 }
00065 
00066 
00067 // PROTECTED:
00068 
00069 //
00070 // Register the integrator
00071 //
00072 
00073 IntegratorExport* createRadauIIA5Export(        UserInteraction* _userInteraction,
00074                                                                                         const std::string &_commonHeaderName)
00075 {
00076         DMatrix AA(3,3);
00077         DVector bb(3);
00078         DVector cc(3);
00079 
00080         AA(0,0) = -(double)(1/(double)360)*(double)sqrt((double)6)*(double)(-(double)4+(double)(double)sqrt((double)6))*(double)(67+(double)(double)37*(double)sqrt((double)6))/(double)(6+(double)(double)sqrt((double)6));
00081         AA(0,1) = (1/(double)720)*(double)(-(double)4+(double)(double)sqrt((double)6))*(double)(-(double)4+(double)(double)sqrt((double)6))*(double)sqrt((double)6)*(double)(26+(double)(double)sqrt((double)6))/(double)(-(double)6+(double)(double)sqrt((double)6));
00082         AA(0,2) = (1/(double)450)*(double)(-(double)4+(double)(double)sqrt((double)6))*(double)(-(double)4+(double)(double)sqrt((double)6))*(double)(2+(double)(double)sqrt((double)6));
00083         AA(1,0) = -(double)(1/(double)720)*(double)(4+(double)(double)sqrt((double)6))*(double)(4+(double)(double)sqrt((double)6))*(double)sqrt((double)6)*(double)(-(double)26+(double)(double)sqrt((double)6))/(double)(6+(double)(double)sqrt((double)6));
00084         AA(1,1) = -(double)(1/(double)360)*(double)sqrt((double)6)*(double)(4+(double)(double)sqrt((double)6))*(double)(-(double)67+(double)(double)37*(double)sqrt((double)6))/(double)(-(double)6+(double)(double)sqrt((double)6));
00085         AA(1,2) = -(double)(1/(double)450)*(double)(4+(double)(double)sqrt((double)6))*(double)(4+(double)(double)sqrt((double)6))*(double)(-(double)2+(double)(double)sqrt((double)6));
00086         AA(2,0) = (5/(double)36)*(double)sqrt((double)6)*(double)(2+(double)(double)3*(double)sqrt((double)6))/(double)(6+(double)(double)sqrt((double)6));
00087         AA(2,1) = -(double)(5/(double)36)*(double)sqrt((double)6)*(double)(-(double)2+(double)(double)3*(double)sqrt((double)6))/(double)(-(double)6+(double)(double)sqrt((double)6));
00088         AA(2,2) = 1/(double)9;
00089 
00090         bb(0) = (5/(double)36)*(double)sqrt((double)6)*(double)(2+(double)(double)3*(double)sqrt((double)6))/(double)(6+(double)(double)sqrt((double)6));
00091         bb(1) = -(double)(5/(double)36)*(double)sqrt((double)6)*(double)(-(double)2+(double)(double)3*(double)sqrt((double)6))/(double)(-(double)6+(double)(double)sqrt((double)6));
00092         bb(2) = 1/(double)9;
00093 
00094         cc(0) = 2/(double)5-(double)(1/(double)10)*(double)sqrt((double)6);
00095         cc(1) = 2/(double)5+(double)(double)(1/(double)10)*(double)sqrt((double)6);
00096         cc(2) = 1;
00097 
00098         ImplicitRungeKuttaExport* integrator = createImplicitRungeKuttaExport(_userInteraction, _commonHeaderName);
00099         integrator->initializeButcherTableau(AA, bb, cc);
00100 
00101         return integrator;
00102 }
00103 
00104 CLOSE_NAMESPACE_ACADO
00105 
00106 // end of file.


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:38:44