unary_operator.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 
00035 #include <acado/utils/acado_utils.hpp>
00036 #include <acado/symbolic_operator/symbolic_operator.hpp>
00037 
00038 
00039 BEGIN_NAMESPACE_ACADO
00040 
00041 
00042 UnaryOperator::UnaryOperator() : SmoothOperator( )
00043 {
00044     fcn   = 0;
00045     dfcn  = 0;
00046     ddfcn = 0;
00047     nCount = 0;
00048 
00049     derivative = 0;
00050     derivative2 = 0;
00051 }
00052 
00053 UnaryOperator::UnaryOperator( Operator *_argument ) : SmoothOperator( )
00054 {
00055     fcn   = 0;
00056     dfcn  = 0;
00057     ddfcn = 0;
00058 
00059     argument          = _argument                        ;
00060     dargument         = NULL                             ;
00061     argument_result   = (double*)calloc(1,sizeof(double));
00062     dargument_result  = (double*)calloc(1,sizeof(double));
00063     bufferSize        = 1                                ;
00064     curvature         = CT_UNKNOWN                       ;
00065     monotonicity      = MT_UNKNOWN                       ;
00066 
00067     nCount = 0;
00068 
00069     derivative = 0;
00070     derivative2 = 0;
00071 }
00072 
00073 
00074 UnaryOperator::UnaryOperator( const UnaryOperator &arg ){
00075 
00076     int run1;
00077 
00078     fcn   = 0;
00079     dfcn  = 0;
00080     ddfcn = 0;
00081 
00082     bufferSize = arg.bufferSize;
00083 
00084         argument   = arg.argument->clone();
00085     derivative = 0;
00086     derivative2 = 0;
00087         if( arg.derivative != 0 )       derivative = arg.derivative->clone();
00088         if( arg.derivative2 != 0 )      derivative2 = arg.derivative2->clone();
00089         
00090 //      argument   = arg.argument;
00091 //     argument->nCount++;
00092 
00093     if( arg.dargument == 0 ) dargument = 0;
00094     else                     dargument = arg.dargument->clone();
00095 
00096     argument_result  = (double*)calloc(bufferSize,sizeof(double));
00097     dargument_result = (double*)calloc(bufferSize,sizeof(double));
00098 
00099     for( run1 = 0; run1 < bufferSize; run1++ ){
00100 
00101         argument_result[run1] = arg.argument_result[run1];
00102         dargument_result[run1] = arg.dargument_result[run1];
00103     }
00104 
00105     curvature    = arg.curvature   ;
00106     monotonicity = arg.monotonicity;
00107     cName        = arg.cName       ;
00108 
00109     nCount = 0;
00110 }
00111 
00112 
00113 UnaryOperator::~UnaryOperator(){
00114  
00115  
00116 //  delete argument;
00117     if( argument != 0 ){
00118 
00119         if( argument->nCount == 0 ){
00120             delete argument;
00121             argument = 0;
00122         }
00123         else{
00124             argument->nCount--;
00125         }
00126     }
00127     if( derivative != 0 ){
00128 
00129         if( derivative2 == derivative ) derivative2 = 0;
00130         delete derivative;
00131         derivative = 0;
00132     }
00133     if( derivative2 != 0 ){
00134 
00135         delete derivative2;
00136         derivative2 = 0;
00137     }
00138     if( dargument != 0 ) delete dargument;
00139 
00140     free(  argument_result );
00141     free( dargument_result );
00142 }
00143 
00144 
00145 UnaryOperator& UnaryOperator::operator=( const UnaryOperator &arg ){
00146 
00147     if( this != &arg ){
00148 
00149          
00150          
00151 //       delete argument;
00152          
00153         if( argument != 0 ){
00154 
00155             if( argument->nCount == 0 ){
00156                 delete argument;
00157                 argument = 0;
00158             }
00159             else{
00160                 argument->nCount--;
00161             }
00162         }
00163         if( derivative != 0 ){
00164 
00165                 if( derivative2 == derivative ) derivative2 = 0;
00166                 delete derivative;
00167                 derivative = 0;
00168         }
00169         if( derivative2 != 0 ){
00170 
00171             delete derivative2;
00172             derivative2 = 0;
00173         }
00174         if( dargument != 0 ) delete dargument;
00175 
00176         free(  argument_result );
00177         free( dargument_result );
00178 
00179                 argument = arg.argument->clone();
00180                 if( arg.derivative != 0 )       derivative = arg.derivative->clone();
00181                 if( arg.derivative2 != 0 )      derivative2 = arg.derivative2->clone();
00182                 
00183 //         argument = arg.argument;
00184 //              argument->nCount++;
00185 
00186         dargument         = NULL                               ;
00187         bufferSize        = arg.bufferSize                     ;
00188         argument_result   = (double*)calloc(bufferSize,sizeof(double))  ;
00189         dargument_result  = (double*)calloc(bufferSize,sizeof(double))  ;
00190 
00191         curvature    = arg.curvature   ;
00192         monotonicity = arg.monotonicity;
00193         cName        = arg.cName       ;
00194 
00195         nCount = 0;
00196     }
00197     return *this;
00198 }
00199 
00200 
00201 returnValue UnaryOperator::evaluate( int number, double *x, double *result ){
00202 
00203     if( number >= bufferSize ){
00204         bufferSize += number;
00205         argument_result  = (double*)realloc( argument_result,bufferSize*sizeof(double));
00206         dargument_result = (double*)realloc(dargument_result,bufferSize*sizeof(double));
00207     }
00208     argument->evaluate( number, x , &argument_result[number] );
00209     result[0] = (*fcn)( argument_result[number] );
00210     return SUCCESSFUL_RETURN;
00211 
00212 }
00213 
00214 
00215 Operator* UnaryOperator::AD_forward( int                dim      ,
00216                                        VariableType      *varType  ,
00217                                        int               *component,
00218                                        Operator       **seed     ,
00219                                        int                &nNewIS  ,
00220                                        TreeProjection ***newIS   ){
00221 
00222     return ADforwardProtected( dim, varType, component, seed, nNewIS, newIS );
00223 }
00224 
00225 
00226 returnValue UnaryOperator::AD_backward( int           dim      , 
00227                                         VariableType *varType  , 
00228                                         int          *component, 
00229                                         Operator     *seed     , 
00230                                         Operator    **df       , 
00231                                         int           &nNewIS  , 
00232                                         TreeProjection ***newIS   ){
00233   
00234     return ADbackwardProtected( dim, varType, component, seed, df, nNewIS, newIS );
00235 }
00236 
00237     
00238     
00239 returnValue UnaryOperator::AD_symmetric( int            dim       , 
00240                                         VariableType  *varType   , 
00241                                         int           *component , 
00242                                         Operator      *l         , 
00243                                         Operator     **S         , 
00244                                         int            dimS      , 
00245                                         Operator     **dfS       , 
00246                                         Operator     **ldf       , 
00247                                         Operator     **H         , 
00248                                       int            &nNewLIS  , 
00249                                       TreeProjection ***newLIS , 
00250                                       int            &nNewSIS  , 
00251                                       TreeProjection ***newSIS , 
00252                                       int            &nNewHIS  , 
00253                                       TreeProjection ***newHIS    ){
00254   
00255 return ADsymmetricProtected( dim, varType, component, l, S, dimS, dfS, ldf, H, nNewLIS, newLIS, nNewSIS, newSIS, nNewHIS, newHIS );
00256 }
00257 
00258 
00259 
00260 
00261 NeutralElement UnaryOperator::isOneOrZero() const{ return NE_NEITHER_ONE_NOR_ZERO; }
00262 
00263 
00264 BooleanType UnaryOperator::isDependingOn( VariableType var ) const{
00265 
00266     return argument->isDependingOn(var);
00267 }
00268 
00269 
00270 BooleanType UnaryOperator::isDependingOn( int dim,
00271                                   VariableType *varType,
00272                                   int *component,
00273                                   BooleanType   *implicit_dep ){
00274 
00275     return argument->isDependingOn( dim, varType, component, implicit_dep );
00276 
00277 }
00278 
00279 
00280 BooleanType UnaryOperator::isLinearIn( int dim,
00281                                VariableType *varType,
00282                                int *component,
00283                                BooleanType   *implicit_dep ){
00284 
00285     if( argument->isDependingOn( dim, varType, component, implicit_dep ) == BT_TRUE ){
00286         return BT_FALSE;
00287     }
00288 
00289     return BT_TRUE;
00290 }
00291 
00292 
00293 BooleanType UnaryOperator::isPolynomialIn( int dim,
00294                                    VariableType *varType,
00295                                    int *component,
00296                                    BooleanType   *implicit_dep ){
00297 
00298     if( argument->isDependingOn( dim, varType, component, implicit_dep ) == BT_TRUE ){
00299         return BT_FALSE;
00300     }
00301 
00302     return BT_TRUE;
00303 }
00304 
00305 
00306 BooleanType UnaryOperator::isRationalIn( int dim,
00307                                  VariableType *varType,
00308                                  int *component,
00309                                  BooleanType   *implicit_dep ){
00310 
00311     if( argument->isDependingOn( dim, varType, component, implicit_dep ) == BT_TRUE ){
00312         return BT_FALSE;
00313     }
00314 
00315     return BT_TRUE;
00316 }
00317 
00318 
00319 MonotonicityType UnaryOperator::getMonotonicity( ){
00320 
00321     if( monotonicity                != MT_UNKNOWN  )  return monotonicity;
00322     if( argument->getMonotonicity() == MT_CONSTANT )  return MT_CONSTANT ;
00323 
00324     return MT_NONMONOTONIC;
00325 }
00326 
00327 
00328 CurvatureType UnaryOperator::getCurvature( ){
00329 
00330     if( curvature                != CT_UNKNOWN  )  return curvature  ;
00331     if( argument->getCurvature() == CT_CONSTANT )  return CT_CONSTANT;
00332 
00333     return CT_NEITHER_CONVEX_NOR_CONCAVE;
00334 }
00335 
00336 
00337 returnValue UnaryOperator::setMonotonicity( MonotonicityType monotonicity_ ){
00338 
00339     monotonicity = monotonicity_;
00340     return SUCCESSFUL_RETURN;
00341 }
00342 
00343 
00344 returnValue UnaryOperator::setCurvature( CurvatureType curvature_ ){
00345 
00346     curvature = curvature_;
00347     return SUCCESSFUL_RETURN;
00348 }
00349 
00350 
00351 returnValue UnaryOperator::AD_forward( int number, double *x, double *seed,
00352                               double *f, double *df ){
00353 
00354     if( number >= bufferSize ){
00355         bufferSize += number;
00356         argument_result  = (double*)realloc( argument_result,bufferSize*sizeof(double));
00357         dargument_result = (double*)realloc(dargument_result,bufferSize*sizeof(double));
00358     }
00359     argument->AD_forward( number, x, seed, &argument_result[number],
00360                           &dargument_result[number] );
00361 
00362     f[0]  =  (*fcn)( argument_result[number] );
00363     df[0] =  (*dfcn)(argument_result[number])*dargument_result[number];
00364 
00365      return SUCCESSFUL_RETURN;
00366 }
00367 
00368 
00369 
00370 returnValue UnaryOperator::AD_forward( int number, double *seed, double *df ){
00371 
00372 
00373     argument->AD_forward( number, seed, &dargument_result[number] );
00374 
00375     df[0] =  (*dfcn)(argument_result[number])*dargument_result[number];
00376 
00377      return SUCCESSFUL_RETURN;
00378 }
00379 
00380 
00381 returnValue UnaryOperator::AD_backward( int number, double seed, double *df ){
00382   return argument->AD_backward( number, (*dfcn)(argument_result[number])*seed, df );
00383 }
00384 
00385 
00386 returnValue UnaryOperator::AD_forward2( int number, double *seed, double *dseed,
00387                               double *df, double *ddf ){
00388 
00389     double      ddargument_result;
00390     double      dargument_result2;
00391 
00392     argument->AD_forward2( number, seed, dseed,
00393                            &dargument_result2, &ddargument_result);
00394 
00395     const double nn = (*dfcn)(argument_result[number]);
00396 
00397      df[0] = nn*dargument_result2;
00398     ddf[0] = nn*ddargument_result
00399       +(*ddfcn)( argument_result[number] )
00400               *dargument_result2*dargument_result[number];
00401 
00402     return SUCCESSFUL_RETURN;
00403 }
00404 
00405 
00406 returnValue UnaryOperator::AD_backward2( int number, double seed1, double seed2,
00407                                double *df, double *ddf ){
00408 
00409   const double nn = (*dfcn)(argument_result[number]);
00410 
00411     argument->AD_backward2( number   ,
00412                             seed1*nn ,
00413                             seed2*nn +
00414                             seed1*(*ddfcn)(argument_result[number])*dargument_result[number],
00415                             df, ddf );
00416 
00417     return SUCCESSFUL_RETURN;
00418 }
00419 
00420 
00421 std::ostream& UnaryOperator::print( std::ostream &stream ) const{
00422 
00423     return stream << "(" << cName << "(" << *argument << "))";
00424 }
00425 
00426 
00427 BooleanType UnaryOperator::isVariable( VariableType &varType, int &component ) const
00428 {
00429     return BT_FALSE;
00430 }
00431 
00432 returnValue UnaryOperator::clearBuffer(){
00433 
00434     if( bufferSize > 1 ){
00435         bufferSize = 1;
00436         argument_result  = (double*)realloc( argument_result,bufferSize*sizeof(double));
00437         dargument_result = (double*)realloc(dargument_result,bufferSize*sizeof(double));
00438     }
00439 
00440     return SUCCESSFUL_RETURN;
00441 }
00442 
00443 
00444 
00445 returnValue UnaryOperator::enumerateVariables( SymbolicIndexList *indexList ){
00446 
00447     return argument->enumerateVariables( indexList );
00448 }
00449 
00450 
00451 // //
00452 // // PROTECTED MEMBER FUNCTIONS:
00453 // // ---------------------------
00454 
00455 
00456 OperatorName UnaryOperator::getName(){
00457 
00458   return operatorName;
00459 }
00460 
00461 
00462 returnValue UnaryOperator::loadIndices( SymbolicIndexList *indexList ){
00463 
00464     return argument->loadIndices( indexList );
00465 }
00466 
00467 
00468 BooleanType UnaryOperator::isSymbolic() const{
00469 
00470     if( argument->isSymbolic() == BT_FALSE ) return BT_FALSE;
00471     return BT_TRUE;
00472 }
00473 
00474 
00475 returnValue UnaryOperator::setVariableExportName(       const VariableType &_type,
00476                                                                                                         const std::vector< std::string >& _name
00477                                                                                                         )
00478 {
00479         argument->setVariableExportName(_type, _name);
00480 
00481         return Operator::setVariableExportName(_type, _name);
00482 }
00483 
00484 
00485 Operator* UnaryOperator::differentiate( int index ){
00486 
00487         dargument = argument->differentiate( index );
00488         return myProd( dargument, derivative );
00489 }
00490 
00491 
00492 Operator* UnaryOperator::ADforwardProtected( int dim,
00493                                      VariableType *varType,
00494                                      int *component,
00495                                      Operator **seed,
00496                                      int &nNewIS,
00497                                      TreeProjection ***newIS ){
00498 
00499     if( dargument != 0 )
00500         delete dargument;
00501 
00502     dargument = argument->AD_forward(dim,varType,component,seed,nNewIS,newIS);
00503 
00504     return myProd( dargument, derivative );
00505 }
00506 
00507 
00508 
00509 returnValue UnaryOperator::ADbackwardProtected( int           dim      , 
00510                                         VariableType *varType  , 
00511                                         int          *component, 
00512                                         Operator     *seed     , 
00513                                         Operator    **df       , 
00514                                         int           &nNewIS  , 
00515                                         TreeProjection ***newIS   ){
00516 
00517     argument->AD_backward( dim,
00518                                   varType,
00519                                   component,
00520                                   myProd( seed, derivative ),
00521                                   df, nNewIS, newIS
00522             );
00523 
00524     delete seed;
00525     return SUCCESSFUL_RETURN;
00526 }
00527 
00528 
00529 returnValue UnaryOperator::ADsymmetricProtected( int            dim       , 
00530                                         VariableType  *varType   , 
00531                                         int           *component , 
00532                                         Operator      *l         , 
00533                                         Operator     **S         , 
00534                                         int            dimS      , 
00535                                         Operator     **dfS       , 
00536                                         Operator     **ldf       , 
00537                                         Operator     **H         , 
00538                                       int            &nNewLIS  , 
00539                                       TreeProjection ***newLIS , 
00540                                       int            &nNewSIS  , 
00541                                       TreeProjection ***newSIS , 
00542                                       int            &nNewHIS  , 
00543                                       TreeProjection ***newHIS    ){
00544 
00545         TreeProjection dx, ddx;
00546         dx = *derivative;
00547         ddx = *derivative2;
00548 
00549     return ADsymCommon( argument, dx, ddx, dim, varType, component, l, S, dimS, dfS,
00550                          ldf, H, nNewLIS, newLIS, nNewSIS, newSIS, nNewHIS, newHIS );
00551 }
00552 
00553 
00554 
00555 
00556 CLOSE_NAMESPACE_ACADO
00557 
00558 // end of file.


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:40:13