rk_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 
00026 
00027 
00035 #ifndef ACADO_TOOLKIT_RK_EXPORT_HPP
00036 #define ACADO_TOOLKIT_RK_EXPORT_HPP
00037 
00038 #include <acado/code_generation/integrators/integrator_export.hpp>
00039 
00040 
00041 BEGIN_NAMESPACE_ACADO
00042 
00043 
00054 class RungeKuttaExport : public IntegratorExport
00055 {
00056     //
00057     // PUBLIC MEMBER FUNCTIONS:
00058     //
00059 
00060     public:
00061 
00067         RungeKuttaExport(       UserInteraction* _userInteraction = 0,
00068                                                         const std::string& _commonHeaderName = ""
00069                                                         );
00070 
00075         RungeKuttaExport(       const RungeKuttaExport& arg
00076                                                         );
00077 
00080         virtual ~RungeKuttaExport( );
00081 
00086                 RungeKuttaExport& operator=(    const RungeKuttaExport& arg
00087                                                                                 );
00088 
00089 
00094                 virtual returnValue setup( ) = 0;
00095 
00096 
00099                 returnValue initializeButcherTableau( const DMatrix& _AA, const DVector& _bb, const DVector& _cc );
00100 
00101 
00103                 BooleanType checkSymmetry( const DVector& _cc );
00104 
00105 
00113                 virtual returnValue setDifferentialEquation( const Expression& rhs ) = 0;
00114 
00115 
00123                 returnValue setNARXmodel( const uint delay, const DMatrix& parms );
00124 
00125 
00132                 virtual returnValue getDataDeclarations(        ExportStatementBlock& declarations,
00133                                                                                                         ExportStruct dataStruct = ACADO_ANY
00134                                                                                                         ) const = 0;
00135 
00136 
00143                 virtual returnValue getFunctionDeclarations(    ExportStatementBlock& declarations
00144                                                                                                                 ) const = 0;
00145 
00146 
00147 
00154                 virtual returnValue getCode(    ExportStatementBlock& code
00155                                                                                 ) = 0;
00156         
00157         
00160         uint getNumStages();
00161                                                         
00162         
00170                 virtual returnValue setupOutput(  const std::vector<Grid> outputGrids_,
00171                                                                                   const std::vector<Expression> rhs ) = 0;
00172 
00173 
00174 
00175         protected:
00176 
00183                 virtual returnValue copy(       const RungeKuttaExport& arg
00184                                                         );
00185 
00186 
00187     protected:
00188         
00189                 ExportVariable rk_kkk;                          
00191                 DMatrix AA;                                                     
00192                 DVector bb, cc;                                         
00194                 BooleanType is_symmetric;                       
00196                 uint numStages;                                         
00197 };
00198 
00199 
00200 CLOSE_NAMESPACE_ACADO
00201 
00202 
00203 #endif  // ACADO_TOOLKIT_RK_EXPORT_HPP
00204 
00205 // end of file.


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