Allows to export code of an ACADO function. More...

#include <export_acado_function.hpp>

Inheritance diagram for ExportAcadoFunction:

Public Member Functions
virtual ExportStatement *	clone () const

	ExportAcadoFunction ()

	ExportAcadoFunction (const Function &_f, const std::string &_name="acadoFcn")

	ExportAcadoFunction (const std::string &_name)

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

virtual returnValue	exportDataDeclaration (std::ostream &stream, const std::string &_realString="real_t", const std::string &_intString="int", int _precision=16) const

virtual returnValue	exportForwardDeclaration (std::ostream &stream, const std::string &_realString="real_t", const std::string &_intString="int", int _precision=16) const

unsigned	getFunctionDim (void)

ExportVariable	getGlobalExportVariable () const

returnValue	init (const Function &_f, const std::string &_name="acadoFcn", const uint _numX=0, const uint _numXA=0, const uint _numU=0, const uint _numP=0, const uint _numDX=0, const uint _numOD=0)

virtual bool	isDefined () const

bool	isExternal () const

returnValue	setGlobalExportVariable (const ExportVariable &var)

virtual	~ExportAcadoFunction ()

Public Member Functions inherited from ExportFunction
virtual ExportFunction &	acquire (ExportIndex &obj)

returnValue	addArgument (const ExportArgument &_argument1, const ExportArgument &_argument2=emptyConstExportArgument, const ExportArgument &_argument3=emptyConstExportArgument, const ExportArgument &_argument4=emptyConstExportArgument, const ExportArgument &_argument5=emptyConstExportArgument, const ExportArgument &_argument6=emptyConstExportArgument, const ExportArgument &_argument7=emptyConstExportArgument, const ExportArgument &_argument8=emptyConstExportArgument, const ExportArgument &_argument9=emptyConstExportArgument)

ExportFunction &	addIndex (const ExportIndex &_index)

ExportFunction &	addVariable (const ExportVariable &_var)

virtual ExportFunction &	doc (const std::string &_doc)

	ExportFunction (const std::string &_name="defaultFunctionName", const ExportArgument &_argument1=emptyConstExportArgument, const ExportArgument &_argument2=emptyConstExportArgument, const ExportArgument &_argument3=emptyConstExportArgument, const ExportArgument &_argument4=emptyConstExportArgument, const ExportArgument &_argument5=emptyConstExportArgument, const ExportArgument &_argument6=emptyConstExportArgument, const ExportArgument &_argument7=emptyConstExportArgument, const ExportArgument &_argument8=emptyConstExportArgument, const ExportArgument &_argument9=emptyConstExportArgument)

std::string	getName () const

unsigned	getNumArguments () const

returnValue	init (const std::string &_name="defaultFunctionName", const ExportArgument &_argument1=emptyConstExportArgument, const ExportArgument &_argument2=emptyConstExportArgument, const ExportArgument &_argument3=emptyConstExportArgument, const ExportArgument &_argument4=emptyConstExportArgument, const ExportArgument &_argument5=emptyConstExportArgument, const ExportArgument &_argument6=emptyConstExportArgument, const ExportArgument &_argument7=emptyConstExportArgument, const ExportArgument &_argument8=emptyConstExportArgument, const ExportArgument &_argument9=emptyConstExportArgument)

virtual bool	isPrivate () const

virtual ExportFunction &	release (const ExportIndex &obj)

ExportFunction &	setName (const std::string &_name)

virtual ExportFunction &	setPrivate (bool _set=true)

ExportFunction &	setReturnValue (const ExportVariable &_functionReturnValue, bool _returnAsPointer=false)

ExportFunction &	setup (const std::string &_name="defaultFunctionName", const ExportArgument &_argument1=emptyConstExportArgument, const ExportArgument &_argument2=emptyConstExportArgument, const ExportArgument &_argument3=emptyConstExportArgument, const ExportArgument &_argument4=emptyConstExportArgument, const ExportArgument &_argument5=emptyConstExportArgument, const ExportArgument &_argument6=emptyConstExportArgument, const ExportArgument &_argument7=emptyConstExportArgument, const ExportArgument &_argument8=emptyConstExportArgument, const ExportArgument &_argument9=emptyConstExportArgument)

virtual	~ExportFunction ()

Public Member Functions inherited from ExportStatementBlock
returnValue	addComment (const std::string &_comment)

returnValue	addComment (uint _nBlanks, const std::string &_comment)

returnValue	addDeclaration (const ExportVariable &_data, ExportStruct _dataStruct=ACADO_ANY)

returnValue	addDeclaration (const ExportIndex &_data, ExportStruct _dataStruct=ACADO_ANY)

returnValue	addDeclaration (const ExportFunction &_f)

returnValue	addDeclaration (const ExportAcadoFunction &_f)

returnValue	addFunction (const ExportFunction &_function)

returnValue	addFunctionCall (const std::string &_fName, const ExportArgument &_argument1=emptyConstExportArgument, const ExportArgument &_argument2=emptyConstExportArgument, const ExportArgument &_argument3=emptyConstExportArgument, const ExportArgument &_argument4=emptyConstExportArgument, const ExportArgument &_argument5=emptyConstExportArgument, const ExportArgument &_argument6=emptyConstExportArgument, const ExportArgument &_argument7=emptyConstExportArgument, const ExportArgument &_argument8=emptyConstExportArgument, const ExportArgument &_argument9=emptyConstExportArgument)

returnValue	addFunctionCall (const ExportFunction &_f, const ExportArgument &_argument1=emptyConstExportArgument, const ExportArgument &_argument2=emptyConstExportArgument, const ExportArgument &_argument3=emptyConstExportArgument, const ExportArgument &_argument4=emptyConstExportArgument, const ExportArgument &_argument5=emptyConstExportArgument, const ExportArgument &_argument6=emptyConstExportArgument, const ExportArgument &_argument7=emptyConstExportArgument, const ExportArgument &_argument8=emptyConstExportArgument, const ExportArgument &_argument9=emptyConstExportArgument)

returnValue	addLinebreak (uint num=1)

returnValue	addStatement (const ExportStatement &_statement)

returnValue	addStatement (const std::string &_statementString)

returnValue	clear ()

	ExportStatementBlock ()

	ExportStatementBlock (const ExportStatementBlock &arg)

uint	getNumStatements () const

ExportStatementBlock &	operator= (const ExportStatementBlock &rhs)

virtual	~ExportStatementBlock ()

Public Member Functions inherited from ExportStatement
virtual ExportStatement &	allocate (MemoryAllocatorPtr)

	ExportStatement ()

	ExportStatement (const ExportStatement &arg)

ExportStatement &	operator= (const ExportStatement &arg)

virtual	~ExportStatement ()

Protected Attributes
bool	external

std::shared_ptr< Function >	f

ExportVariable	globalVar

unsigned	numDX

unsigned	numOD

unsigned	numP

unsigned	numU

unsigned	numX

unsigned	numXA

Protected Attributes inherited from ExportFunction
std::string	description

bool	flagPrivate

ExportArgumentList	functionArguments

std::vector< ExportVariable >	localVariables

MemoryAllocatorPtr	memAllocator

std::string	name

bool	returnAsPointer

ExportVariable	retVal

Protected Attributes inherited from ExportStatementBlock
StatementPtrArray	statements

Additional Inherited Members
Public Types inherited from ExportStatement
typedef std::shared_ptr< MemoryAllocator >	MemoryAllocatorPtr

typedef std::shared_ptr< ExportStatement >	StatementPtr

typedef std::vector< StatementPtr >	StatementPtrArray

Static Public Attributes inherited from ExportStatement
static std::string	fcnPrefix = "acado"

static std::string	varPrefix = "ACADO"

Protected Member Functions inherited from ExportFunction
returnValue	clear ()

Detailed Description

Allows to export code of an ACADO function.

The class ExportAcadoFunction allows to export code of an ACADO function.

Author: Hans Joachim Ferreau, Boris Houska, Milan Vukov

Definition at line 50 of file export_acado_function.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO ExportAcadoFunction::ExportAcadoFunction ( )

Default constructor.

Definition at line 45 of file export_acado_function.cpp.

ExportAcadoFunction::ExportAcadoFunction	(	const Function &	_f,
		const std::string &	_name = `"acadoFcn"`
	)

Constructor which takes the differential equation to be exported as well as the name of the exported ODE.

Parameters

[in]	_f	Differential equation to be exported.
[in]	_name	Name of exported ODE function.

Definition at line 60 of file export_acado_function.cpp.

ExportAcadoFunction::ExportAcadoFunction ( const std::string & _name )

Constructor which takes name of a function only.

This way, we can define an "external symbolic function" with the following prototype:

*  void (const real_t* in, real_t* out);
*

Parameters

[in] _name Name of exported ODE function.

Definition at line 67 of file export_acado_function.cpp.

ExportAcadoFunction::~ExportAcadoFunction ( )

virtual

Destructor.

Definition at line 74 of file export_acado_function.cpp.

Member Function Documentation

ExportStatement * ExportAcadoFunction::clone ( ) const

virtual

Clone constructor (deep copy).

\return Pointer to cloned object.

Reimplemented from ExportFunction.

Definition at line 78 of file export_acado_function.cpp.

returnValue ExportAcadoFunction::exportCode	(	std::ostream &	stream,
		const std::string &	_realString = `"real_t"`,
		const std::string &	_intString = `"int"`,
		int	_precision = `16`
	)		const

virtual

Exports source code of the ODE function into given file. Its appearance can can be adjusted by various options.

@param[in] string                   Name of file to be used to export function.
@param[in] _realString              std::string to be used to declare real variables.
@param[in] _intString               std::string to be used to declare integer variables.
@param[in] _precision               Number of digits to be used for exporting real values.

\return SUCCESSFUL_RETURN

Reimplemented from ExportFunction.

Definition at line 148 of file export_acado_function.cpp.

returnValue ExportAcadoFunction::exportDataDeclaration	(	std::ostream &	stream,
		const std::string &	_realString = `"real_t"`,
		const std::string &	_intString = `"int"`,
		int	_precision = `16`
	)		const

virtual

Exports data declaration of the ODE function into given file. Its appearance can can be adjusted by various options.

@param[in] stream                   Name of file to be used to export function.
@param[in] _realString              std::string to be used to declare real variables.
@param[in] _intString               std::string to be used to declare integer variables.
@param[in] _precision               Number of digits to be used for exporting real values.

\return SUCCESSFUL_RETURN

Reimplemented from ExportFunction.

Definition at line 111 of file export_acado_function.cpp.

returnValue ExportAcadoFunction::exportForwardDeclaration	(	std::ostream &	stream,
		const std::string &	_realString = `"real_t"`,
		const std::string &	_intString = `"int"`,
		int	_precision = `16`
	)		const

virtual

Exports forward declaration of the ODE function into given file. Its appearance can can be adjusted by various options.

@param[in] file                             Name of file to be used to export statement.
@param[in] _realString              std::string to be used to declare real variables.
@param[in] _intString               std::string to be used to declare integer variables.
@param[in] _precision               Number of digits to be used for exporting real values.

\return SUCCESSFUL_RETURN

Reimplemented from ExportFunction.

Definition at line 126 of file export_acado_function.cpp.

unsigned ExportAcadoFunction::getFunctionDim ( void )

Get output dimension of the ACADO function.

Definition at line 173 of file export_acado_function.cpp.

ExportVariable ExportAcadoFunction::getGlobalExportVariable ( ) const

Set global export variable - a variable that holds intermediate values.

Definition at line 180 of file export_acado_function.cpp.

returnValue ExportAcadoFunction::init	(	const Function &	_f,
		const std::string &	_name = `"acadoFcn"`,
		const uint	_numX = `0`,
		const uint	_numXA = `0`,
		const uint	_numU = `0`,
		const uint	_numP = `0`,
		const uint	_numDX = `0`,
		const uint	_numOD = `0`
	)

Initializes ODE function export by taking the differential equation to be exported as well as the name of the exported ODE.

Parameters

[in]	_f	Differential equation to be exported.
[in]	_name	Name of exported ODE function.
[in]	_numX	The number of states that are needed to evaluate the system of differential equations (needed when the number of equations is not equal to the number of given states).
[in]	_numXA	The number of algebraic states in the input for the evaluation of the system of equations.
[in]	_numU	The number of control inputs given for the evaluation of the system of equations.
[in]	_numP	The number of parameters given for the evaluation of the system of equations.
[in]	_numDX	The number of differential state derivatives given for the evaluation of the system of equations.

Definition at line 83 of file export_acado_function.cpp.

bool ExportAcadoFunction::isDefined ( ) const

virtual

Returns whether function has been defined.

\return true  iff function has been defined, \n
        false otherwise

Reimplemented from ExportFunction.

Definition at line 164 of file export_acado_function.cpp.

bool ExportAcadoFunction::isExternal ( ) const

A helper function to check whether a function is external.

Definition at line 203 of file export_acado_function.cpp.

returnValue ExportAcadoFunction::setGlobalExportVariable ( const ExportVariable & var )

Get global export variable - a variable that holds intermediate values.

Definition at line 185 of file export_acado_function.cpp.

Member Data Documentation

bool ExportAcadoFunction::external

protected

Flag indicating whether the symbolic function is external or not.

Definition at line 200 of file export_acado_function.hpp.

std::shared_ptr< Function > ExportAcadoFunction::f

protected

ACADO function to be exported.

Definition at line 196 of file export_acado_function.hpp.

ExportVariable ExportAcadoFunction::globalVar

protected

A variable that holds intermediate values.

Definition at line 198 of file export_acado_function.hpp.

unsigned ExportAcadoFunction::numDX

protected

The number of differential state derivatives given for the evaluation of the system of equations.

Definition at line 192 of file export_acado_function.hpp.

unsigned ExportAcadoFunction::numOD

protected

The number of "online data" objects.

Definition at line 194 of file export_acado_function.hpp.

unsigned ExportAcadoFunction::numP

protected

The number of parameters given for the evaluation of the system of equations.

Definition at line 189 of file export_acado_function.hpp.

unsigned ExportAcadoFunction::numU

protected

The number of control inputs given for the evaluation of the system of equations (similar to numX).

Definition at line 187 of file export_acado_function.hpp.

unsigned ExportAcadoFunction::numX

protected

The number of states that are needed to evaluate the system of differential equations. If this number isn't specified, then it will be set to the number of equations (minus the number of algebraic states).

Definition at line 181 of file export_acado_function.hpp.

unsigned ExportAcadoFunction::numXA

protected

The number of algebraic states in the input for the evaluation of the system of equations (similar to numX).

Definition at line 184 of file export_acado_function.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation