sim_export.hpp

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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
 *
 */



#ifndef ACADO_TOOLKIT_SIM_EXPORT_HPP
#define ACADO_TOOLKIT_SIM_EXPORT_HPP

#include <acado/code_generation/export_module.hpp>
#include <acado/ocp/model_container.hpp>

BEGIN_NAMESPACE_ACADO

class IntegratorExport;

class SIMexport : public ExportModule, public ModelContainer
{
    //
    // PUBLIC MEMBER FUNCTIONS:
    //
    public:

                SIMexport(      const uint simIntervals = 1,
                                        const double totalTime = 1.0 );

                SIMexport(      const SIMexport& arg
                                        );

                virtual ~SIMexport( );

        SIMexport& operator=(   const SIMexport& arg
                                                                );


        virtual returnValue exportCode( const std::string& dirName,
                                                                                const std::string& _realString = "real_t",
                                                                                const std::string& _intString = "int",
                                                                                int _precision = 16
                                                                                );


                returnValue exportAcadoHeader(  const std::string& _dirName,
                                                                                const std::string& _fileName,
                                                                                const std::string& _realString = "real_t",
                                                                                const std::string& _intString = "int",
                                                                                int _precision = 16
                                                                                ) const;


        virtual returnValue exportAndRun(       const std::string& dirName,
//                                                                                      const std::string& initStates = std::string( "initStates.txt" ),
                                                                                        const std::string& initStates,
//                                                                                      const std::string& controls = std::string( "controls.txt" ),
                                                                                        const std::string& controls,
                                                                                        const std::string& results = std::string( "results.txt" ),
                                                                                        const std::string& ref = std::string( "ref.txt" )
                                                                                );
                        
                        
                virtual returnValue setReference(       const std::string& reference, const std::vector<std::string>& outputReference = *(new std::vector<std::string>())
                                                                                );
                        
                        
                virtual returnValue setTimingSteps( uint _timingSteps
                                                                                );
                                                                                
                        
                virtual returnValue printDetails( bool details );



    protected:

                returnValue copy(       const SIMexport& arg
                                                        );

                returnValue clear( );


                returnValue setup( );


                returnValue checkConsistency( ) const;


                returnValue collectDataDeclarations(    ExportStatementBlock& declarations,
                                                                                                ExportStruct dataStruct = ACADO_ANY
                                                                                                ) const;

                returnValue collectFunctionDeclarations(        ExportStatementBlock& declarations
                                                                                                        ) const;


                returnValue exportTest( const std::string& _dirName,
                                                                const std::string& _fileName,
                                                                const std::string& _resultsFile,
                                                                const std::vector<std::string>& _outputFiles,
                                                                const bool& TIMING = false,
                                                                const uint jumpReference = 1
                                                                                ) const;

                returnValue exportEvaluation(   const std::string& _dirName,
                                                                                const std::string& _fileName
                                                                                ) const;

                returnValue exportMakefile(     const std::string& _dirName,
                                                                        const std::string& _fileName,
                                                                        const std::string& _realString = "real_t",
                                                                        const std::string& _intString = "int",
                                                                        int _precision = 16
                                                                        ) const;

        returnValue executeTest( const std::string& _dirName );

        virtual returnValue setTimingCalls( uint _timingCalls
                                                                                );

    protected:

        uint timingCalls;                                               
        double T;                                                               
                IntegratorExport*  integrator;                  
                bool referenceProvided;                 
                bool PRINT_DETAILS;                             
                static const uint factorRef = 10;               
                uint timingSteps;                                               
                std::string _initStates;                                                
                std::string _controls;                                          
                std::string _results;                                           
                std::string _ref;                                                       
                std::vector<std::string> _refOutputFiles;       
                std::vector<std::string> _outputFiles;          
};


CLOSE_NAMESPACE_ACADO


#endif  // ACADO_TOOLKIT_SIM_EXPORT_HPP

// end of file.