rk_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/rk_export.hpp>
00035 
00036 
00037 
00038 BEGIN_NAMESPACE_ACADO
00039 
00040 
00041 //
00042 // PUBLIC MEMBER FUNCTIONS:
00043 //
00044 
00045 RungeKuttaExport::RungeKuttaExport(     UserInteraction* _userInteraction,
00046                                                                         const std::string& _commonHeaderName
00047                                                                         ) : IntegratorExport( _userInteraction,_commonHeaderName )
00048 {
00049 }
00050 
00051 
00052 RungeKuttaExport::RungeKuttaExport(     const RungeKuttaExport& arg
00053                                                                         ) : IntegratorExport( arg )
00054 {
00055         copy( arg );
00056 }
00057 
00058 
00059 RungeKuttaExport::~RungeKuttaExport( )
00060 {
00061         clear( );
00062 }
00063 
00064 
00065 RungeKuttaExport& RungeKuttaExport::operator=( const RungeKuttaExport& arg
00066                                                                                                 )
00067 {
00068         if( this != &arg )
00069         {
00070                 clear( );
00071                 IntegratorExport::operator=( arg );
00072                 copy( arg );
00073         }
00074     return *this;
00075 }
00076 
00077 
00078 returnValue RungeKuttaExport::initializeButcherTableau( const DMatrix& _AA, const DVector& _bb, const DVector& _cc ) {
00079 
00080         if( _cc.isEmpty() || !_AA.isSquare() || _AA.getNumRows() != _bb.getDim() || _bb.getDim() != _cc.getDim() ) return RET_INVALID_OPTION;
00081 
00082         numStages = _cc.getDim();
00083         is_symmetric = checkSymmetry( _cc );
00084 //      std::cout << "Symmetry of the chosen method: " << is_symmetric << "\n";
00085         AA = _AA;
00086         bb = _bb;
00087         cc = _cc;
00088 
00089         return SUCCESSFUL_RETURN;
00090 }
00091 
00092 
00093 BooleanType RungeKuttaExport::checkSymmetry( const DVector& _cc ) {
00094 
00095         if( _cc.getDim() <= 1 ) return BT_FALSE;
00096         BooleanType symmetry = BT_TRUE;
00097         uint i;
00098         for( i = 0; i < _cc.getDim(); i++ ) {
00099                 int tmp = acadoRoundAway(1.0 - _cc(i) - _cc(_cc.getDim()-1-i));
00100                 if( symmetry ) symmetry = (tmp == 0);
00101         }
00102         return symmetry;
00103 }
00104 
00105 
00106 uint RungeKuttaExport::getNumStages() {
00107         
00108         return numStages;
00109 }
00110 
00111 
00112 returnValue RungeKuttaExport::setNARXmodel( const uint delay, const DMatrix& parms ) {
00113 
00114         return RET_INVALID_OPTION;
00115 }
00116 
00117 
00118 
00119 // PROTECTED:
00120 
00121 
00122 returnValue RungeKuttaExport::copy(     const RungeKuttaExport& arg
00123                                                                         )
00124 {
00125         numStages = arg.numStages;
00126         AA = arg.AA;
00127         bb = arg.bb;
00128         cc = arg.cc;
00129 
00130         rhs = arg.rhs;
00131         diffs_rhs = arg.diffs_rhs;
00132         grid = arg.grid;
00133 
00134         // ExportVariables
00135         rk_ttt = arg.rk_ttt;
00136         rk_xxx = arg.rk_xxx;
00137         rk_kkk = arg.rk_kkk;
00138         
00139         // ExportFunctions
00140         integrate = arg.integrate;
00141         
00142         return SUCCESSFUL_RETURN;
00143 }
00144 
00145 
00146 
00147 CLOSE_NAMESPACE_ACADO
00148 
00149 // end of file.


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:38:49