Public Member Functions | Protected Member Functions | Protected Attributes | List of all members

User-interface to automatically generate algorithms for fast model predictive control. More...

#include <export_module.hpp>

Inheritance diagram for ExportModule:
Inheritance graph
[legend]

Public Member Functions

virtual returnValue exportCode (const std::string &dirName, const std::string &_realString="real_t", const std::string &_intString="int", int _precision=16)=0
 
 ExportModule ()
 
virtual ~ExportModule ()
 
- Public Member Functions inherited from UserInteraction
virtual int addPlotWindow (PlotWindow &_window)
 
virtual int operator<< (PlotWindow &_window)
 
virtual int operator<< (LogRecord &_record)
 
UserInteractionoperator= (const UserInteraction &rhs)
 
 UserInteraction ()
 
 UserInteraction (const UserInteraction &rhs)
 
virtual ~UserInteraction ()
 
- Public Member Functions inherited from Options
returnValue addOptionsList ()
 
returnValue ensureConsistency ()
 
returnValue ensureConsistency ()
 
returnValue get (OptionsName name, int &value) const
 
returnValue get (OptionsName name, double &value) const
 
returnValue get (OptionsName name, std::string &value) const
 
returnValue get (uint idx, OptionsName name, int &value) const
 
returnValue get (uint idx, OptionsName name, double &value) const
 
returnValue get (uint idx, OptionsName name, std::string &value) const
 
uint getNumOptionsLists () const
 
Options getOptions (uint idx) const
 
Optionsoperator= (const Options &rhs)
 
Optionsoperator= (const Options &rhs)
 
 Options ()
 
 Options ()
 
 Options (const Options &rhs)
 
 Options (const Options &rhs)
 
 Options ()
 
 Options (const OptionsList &_optionsList)
 
returnValue print () const
 
returnValue print () const
 
returnValue printOptionsList () const
 
returnValue printOptionsList (uint idx) const
 
returnValue set (OptionsName name, int value)
 
returnValue set (OptionsName name, double value)
 
returnValue set (OptionsName name, const std::string &value)
 
returnValue set (uint idx, OptionsName name, int value)
 
returnValue set (uint idx, OptionsName name, double value)
 
returnValue set (uint idx, OptionsName name, const std::string &value)
 
returnValue setOptions (const Options &arg)
 
returnValue setOptions (uint idx, const Options &arg)
 
returnValue setToDefault ()
 
returnValue setToDefault ()
 
returnValue setToFast ()
 
returnValue setToFast ()
 
returnValue setToMPC ()
 
returnValue setToReliable ()
 
returnValue setToReliable ()
 
 ~Options ()
 
 ~Options ()
 
virtual ~Options ()
 
- Public Member Functions inherited from Logging
int addLogRecord (LogRecord &record)
 
returnValue getAll (LogName _name, MatrixVariablesGrid &values) const
 
returnValue getFirst (LogName _name, DMatrix &firstValue) const
 
returnValue getFirst (LogName _name, VariablesGrid &firstValue) const
 
returnValue getLast (LogName _name, DMatrix &lastValue) const
 
returnValue getLast (LogName _name, VariablesGrid &lastValue) const
 
returnValue getLogRecord (LogRecord &_record) const
 
uint getNumLogRecords () const
 
 Logging ()
 
int operator<< (LogRecord &record)
 
returnValue printLoggingInfo () const
 
returnValue printNumDoubles () const
 
returnValue setAll (LogName _name, const MatrixVariablesGrid &values)
 
returnValue setLast (LogName _name, const DMatrix &value, double time=-INFTY)
 
returnValue setLast (LogName _name, VariablesGrid &value, double time=-INFTY)
 
returnValue updateLogRecord (LogRecord &_record) const
 
virtual ~Logging ()
 
- Public Member Functions inherited from Plotting
int addPlotWindow (PlotWindow &_window)
 
uint getNumPlotWindows () const
 
returnValue getPlotWindow (uint idx, PlotWindow &_window) const
 
returnValue getPlotWindow (PlotWindow &_window) const
 
int operator<< (PlotWindow &_window)
 
Plottingoperator= (const Plotting &rhs)
 
virtual returnValue plot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)
 
 Plotting ()
 
 Plotting (const Plotting &rhs)
 
virtual returnValue replot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)
 
virtual ~Plotting ()
 

Protected Member Functions

virtual returnValue collectDataDeclarations (ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const =0
 
virtual returnValue collectFunctionDeclarations (ExportStatementBlock &declarations) const =0
 
virtual 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 =0
 
returnValue setupOptions ()
 
- Protected Member Functions inherited from UserInteraction
virtual returnValue getPlotDataFromMemberLoggings (PlotWindow &_window) const
 
BlockStatus getStatus () const
 
returnValue setStatus (BlockStatus _status)
 
- Protected Member Functions inherited from Options
returnValue addOption (OptionsName name, int value)
 
returnValue addOption (OptionsName name, double value)
 
returnValue addOption (OptionsName name, const std::string &value)
 
returnValue addOption (uint idx, OptionsName name, int value)
 
returnValue addOption (uint idx, OptionsName name, double value)
 
returnValue addOption (uint idx, OptionsName name, const std::string &value)
 
returnValue clearOptionsList ()
 
returnValue copy (const Options &rhs)
 
returnValue copy (const Options &rhs)
 
returnValue declareOptionsUnchanged ()
 
returnValue declareOptionsUnchanged (uint idx)
 
BooleanType haveOptionsChanged () const
 
BooleanType haveOptionsChanged (uint idx) const
 
- Protected Member Functions inherited from Logging
virtual returnValue setupLogging ()
 

Protected Attributes

std::string commonHeaderName
 
- Protected Attributes inherited from UserInteraction
BlockStatus status
 
- Protected Attributes inherited from Options
std::vector< OptionsListlists
 
- Protected Attributes inherited from Logging
std::vector< LogRecordlogCollection
 
int logIdx
 
- Protected Attributes inherited from Plotting
PlotCollection plotCollection
 

Additional Inherited Members

- Public Attributes inherited from Options
real_t boundRelaxation
 
real_t boundTolerance
 
int dropBoundPriority
 
int_t dropBoundPriority
 
int dropEqConPriority
 
int_t dropEqConPriority
 
int dropIneqConPriority
 
int_t dropIneqConPriority
 
int enableCholeskyRefactorisation
 
int_t enableCholeskyRefactorisation
 
int enableDriftCorrection
 
int_t enableDriftCorrection
 
BooleanType enableDropInfeasibles
 
BooleanType enableEqualities
 
BooleanType enableFarBounds
 
BooleanType enableFlippingBounds
 
BooleanType enableFullLITests
 
BooleanType enableInertiaCorrection
 
BooleanType enableNZCTests
 
BooleanType enableRamping
 
BooleanType enableRegularisation
 
real_t epsDen
 
real_t epsFlipping
 
real_t epsIterRef
 
real_t epsLITests
 
real_t epsNum
 
real_t epsNZCTests
 
real_t epsRegularisation
 
real_t finalRamping
 
real_t growFarBounds
 
real_t initialFarBounds
 
real_t initialRamping
 
SubjectToStatus initialStatusBounds
 
real_t maxDualJump
 
real_t maxPrimalJump
 
int numRefinementSteps
 
int_t numRefinementSteps
 
int numRegularisationSteps
 
int_t numRegularisationSteps
 
PrintLevel printLevel
 
real_t rcondSMin
 
real_t terminationTolerance
 

Detailed Description

User-interface to automatically generate algorithms for fast model predictive control.

The class ExportModule is a user-interface to automatically generate tailored algorithms for fast model predictive control. It takes an optimal control problem (OCP) formulation and generates code based on given user options.

\author Hans Joachim Ferreau, Boris Houska

Definition at line 55 of file export_module.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO ExportModule::ExportModule ( )

Default constructor.

Definition at line 44 of file export_module.cpp.

ExportModule::~ExportModule ( )
virtual

Destructor.

Definition at line 52 of file export_module.cpp.

Member Function Documentation

virtual returnValue ExportModule::collectDataDeclarations ( ExportStatementBlock declarations,
ExportStruct  dataStruct = ACADO_ANY 
) const
protectedpure virtual

Collects all data declarations of the auto-generated sub-modules to given list of declarations.

Parameters
[in]declarationsList of declarations.
Returns
SUCCESSFUL_RETURN,
RET_UNABLE_TO_EXPORT_CODE

Implemented in SIMexport, and OCPexport.

virtual returnValue ExportModule::collectFunctionDeclarations ( ExportStatementBlock declarations) const
protectedpure virtual

Collects all function (forward) declarations of the auto-generated sub-modules to given list of declarations.

Parameters
[in]declarationsList of declarations.
Returns
SUCCESSFUL_RETURN,
RET_UNABLE_TO_EXPORT_CODE

Implemented in SIMexport, and OCPexport.

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

Exports main header file for using the exported algorithm.

@param[in] _dirName                 Name of directory to be used to export file.
@param[in] _fileName                Name of file to be exported.
@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

Implemented in OCPexport, and SIMexport.

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

Exports all files of the auto-generated code into the given directory.

@param[in] dirName                  Name of directory to be used to export files.
@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

Implemented in SIMexport, and OCPexport.

returnValue ExportModule::setupOptions ( )
protectedvirtual

Sets-up default options.

Returns
SUCCESSFUL_RETURN

Reimplemented from Options.

Definition at line 59 of file export_module.cpp.

Member Data Documentation

std::string ExportModule::commonHeaderName
protected

Name of common header file.

Definition at line 135 of file export_module.hpp.


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


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Mon Jun 10 2019 12:35:24