Defines a matrix-valued variable to be used for exporting code. More...

#include <export_variable_internal.hpp>

Inheritance diagram for ExportVariableInternal:

Public Member Functions
virtual ExportVariableInternal *	clone () const

	ExportVariableInternal ()

	ExportVariableInternal (const std::string &_name, const DMatrixPtr &_data, ExportType _type=REAL, ExportStruct _dataStruct=ACADO_LOCAL, bool _callItByValue=false, const std::string &_prefix=std::string())

const std::string	get (const ExportIndex &rowIdx, const ExportIndex &colIdx) const

ExportVariable	getCol (const ExportIndex &idx) const

ExportVariable	getCols (const ExportIndex &idx1, const ExportIndex &idx2) const

virtual uint	getDim () const

const DMatrix &	getGivenMatrix () const

virtual uint	getNumCols () const

virtual uint	getNumRows () const

ExportVariable	getRow (const ExportIndex &idx) const

ExportVariable	getRows (const ExportIndex &idx1, const ExportIndex &idx2) const

ExportVariable	getSubMatrix (const ExportIndex &_rowIdx1, const ExportIndex &_rowIdx2, const ExportIndex &_colIdx1, const ExportIndex &_colIdx2) const

ExportVariable	getTranspose () const

bool	isDiagonal () const

bool	isGiven (const ExportIndex &rowIdx, const ExportIndex &colIdx) const

virtual bool	isGiven () const

bool	isOne (const ExportIndex &rowIdx, const ExportIndex &colIdx) const

bool	isSubMatrix () const

bool	isVector () const

bool	isZero (const ExportIndex &rowIdx, const ExportIndex &colIdx) const

ExportVariable	makeColVector () const

ExportVariable	makeRowVector () const

returnValue	print () const

virtual	~ExportVariableInternal ()

Public Member Functions inherited from ExportArgumentInternal
returnValue	callByValue ()

virtual void	deepCopyMembers (std::map< CasADi::SharedObjectNode *, CasADi::SharedObject > &already_copied)

	ExportArgumentInternal ()

	ExportArgumentInternal (const std::string &_name, const DMatrixPtr &_data, ExportType _type, ExportStruct _dataStruct, bool _callByValue, const ExportIndex &_addressIdx, const std::string &_prefix)

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

ExportArgument	getAddress (const ExportIndex &rowIdx, const ExportIndex &colIdx=emptyConstExportIndex) const

const std::string	getAddressString (bool withDataStruct=true) const

bool	isCalledByValue () const

virtual	~ExportArgumentInternal ()

Public Member Functions inherited from ExportDataInternal
	ExportDataInternal (const std::string &_name=std::string(), ExportType _type=REAL, ExportStruct _dataStruct=ACADO_LOCAL, const std::string &_prefix=std::string())

ExportStruct	getDataStruct () const

std::string	getDataStructString () const

virtual std::string	getDoc () const

std::string	getFullName () const

std::string	getName () const

std::string	getPrefix () const

ExportType	getType () const

std::string	getTypeString (const std::string &_realString="real_t", const std::string &_intString="int") const

returnValue	setDataStruct (ExportStruct _dataStruct)

virtual returnValue	setDoc (const std::string &_doc)

returnValue	setName (const std::string &_name)

returnValue	setPrefix (const std::string &_prefix)

returnValue	setType (ExportType _type)

virtual	~ExportDataInternal ()

Public Member Functions inherited from CasADi::SharedObjectNode
void	assertInit () const
	Assert that the object has been initialized. More...

int	getCount () const
	Get the reference count. More...

virtual void	init ()
	Initialize the object. More...

bool	isInit () const
	Check if the object has been initialized. More...

SharedObjectNode &	operator= (const SharedObjectNode &node)
	Assignment operator. More...

virtual void	print (std::ostream &stream) const
	Print a destription of the object. More...

virtual void	repr (std::ostream &stream) const
	Print a representation of the object. More...

	SharedObjectNode ()
	Default constructor. More...

	SharedObjectNode (const SharedObjectNode &node)
	Copy constructor. More...

virtual	~SharedObjectNode ()=0
	Destructor. More...

Protected Member Functions
virtual uint	getColDim () const

virtual ExportIndex	getTotalIdx (const ExportIndex &rowIdx, const ExportIndex &colIdx) const

bool	hasValue (const ExportIndex &_rowIdx, const ExportIndex &_colIdx, double _value) const

returnValue	setSubmatrixOffsets (const ExportIndex &_rowOffset, const ExportIndex &_colOffset, unsigned _rowDim=0, unsigned _colDim=0, unsigned _nRows=0, unsigned _nCols=0)

Protected Member Functions inherited from ExportDataInternal
returnValue	setFullName (void)

Protected Member Functions inherited from CasADi::SharedObjectNode
template<class B >
B	shared_from_this ()
	Get a shared object from the current internal object. More...

template<class B >
const B	shared_from_this () const
	Get a shared object from the current internal object. More...

Protected Attributes
unsigned	colDim

ExportIndex	colOffset

bool	doAccessTransposed

unsigned	nCols

unsigned	nRows

unsigned	rowDim

ExportIndex	rowOffset

Protected Attributes inherited from ExportArgumentInternal
ExportIndex	addressIdx

bool	callItByValue

DMatrixPtr	data

Protected Attributes inherited from ExportDataInternal
ExportStruct	dataStruct

std::string	description

std::string	fullName

std::string	name

std::string	prefix

ExportType	type

Protected Attributes inherited from CasADi::SharedObjectNode
bool	is_init_
	Has the function been initialized? More...

Additional Inherited Members
Static Public Attributes inherited from ExportDataInternal
static std::string	fcnPrefix = "acado"

Detailed Description

Defines a matrix-valued variable to be used for exporting code.

The class ExportVariableInternal defines a matrix-valued variable to be used for exporting code. Instances of this class can be used similar to usual DMatrix objects but offer additional functionality, e.g. they allow to export arithmetic expressions and they can be passed as argument to exported functions. By default, all entries of a ExportVariableInternal are undefined, but each of its component can be set to a fixed value if known beforehand.

Author: Hans Joachim Ferreau, Boris Houska, Milan Vukov

Definition at line 63 of file export_variable_internal.hpp.

Constructor & Destructor Documentation

ExportVariableInternal::ExportVariableInternal ( )

Default constructor.

Definition at line 48 of file export_variable_internal.cpp.

ExportVariableInternal::ExportVariableInternal	(	const std::string &	_name,
		const DMatrixPtr &	_data,
		ExportType	_type = `REAL`,
		ExportStruct	_dataStruct = `ACADO_LOCAL`,
		bool	_callItByValue = `false`,
		const std::string &	_prefix = `std::string()`
	)

Constructor which takes the name and type string of the variable. Moreover, it initializes the variable with the dimensions and the values of the given matrix.

Parameters

[in]	_name	Name of the argument.
[in]	_data	DMatrix used for initialization.
[in]	_type	Data type of the argument.
[in]	_dataStruct	Global data struct to which the argument belongs to (if any).
[in]	_callByValue	Flag indicating whether argument it to be called by value.

Definition at line 61 of file export_variable_internal.cpp.

ExportVariableInternal::~ExportVariableInternal ( )

virtual

Destructor.

Definition at line 82 of file export_variable_internal.cpp.

Member Function Documentation

ExportVariableInternal * ExportVariableInternal::clone ( ) const

virtual

Clone constructor (deep copy).

\return Pointer to cloned object.

Reimplemented from ExportArgumentInternal.

Definition at line 86 of file export_variable_internal.cpp.

const std::string ExportVariableInternal::get	(	const ExportIndex &	rowIdx,
		const ExportIndex &	colIdx
	)		const

Returns string containing the value of a given component. If its value is undefined, the string contains the address of the component.

Parameters

[in]	rowIdx	Variable row index of the component.
[in]	colIdx	Variable column index of the component.

Returns: std::string containing the value of a given component

Definition at line 122 of file export_variable_internal.cpp.

ExportVariable ExportVariableInternal::getCol ( const ExportIndex & idx ) const

Returns a new variable containing only the given column of the variable.

@param[in] idx                      Variable column index.

\return New variable containing only the given column of the variable

Definition at line 216 of file export_variable_internal.cpp.

uint ExportVariableInternal::getColDim ( ) const

protectedvirtual

Returns column dimension of the variable.

\return Column dimension of the variable

Reimplemented from ExportArgumentInternal.

Definition at line 409 of file export_variable_internal.cpp.

ExportVariable ExportVariableInternal::getCols	(	const ExportIndex &	idx1,
		const ExportIndex &	idx2
	)		const

Returns a new variable containing only the given columns of the variable.

@param[in] idx1                     Variable index of first column of new variable.
@param[in] idx2                     Variable index following last column of new variable.

\return New variable containing only the given columns of the variable

Definition at line 269 of file export_variable_internal.cpp.

uint ExportVariableInternal::getDim ( ) const

virtual

Returns total dimension of the variable.

\return Total dimension of the variable

Reimplemented from ExportArgumentInternal.

Definition at line 176 of file export_variable_internal.cpp.

const DMatrix & ExportVariableInternal::getGivenMatrix ( ) const

Returns the internal data matrix.

\return Internal data matrix

Definition at line 389 of file export_variable_internal.cpp.

uint ExportVariableInternal::getNumCols ( ) const

virtual

Returns number of columns of the variable.

\return Number of columns of the variable

Reimplemented from ExportArgumentInternal.

Definition at line 167 of file export_variable_internal.cpp.

uint ExportVariableInternal::getNumRows ( ) const

virtual

Returns number of rows of the variable.

\return Number of rows of the variable

Reimplemented from ExportArgumentInternal.

Definition at line 158 of file export_variable_internal.cpp.

ExportVariable ExportVariableInternal::getRow ( const ExportIndex & idx ) const

Returns a new variable containing only the given row of the variable.

@param[in] idx                      Variable row index.

\return New variable containing only the given row of the variable

Definition at line 194 of file export_variable_internal.cpp.

ExportVariable ExportVariableInternal::getRows	(	const ExportIndex &	idx1,
		const ExportIndex &	idx2
	)		const

Returns a new variable containing only the given rows of the variable.

@param[in] idx1                     Variable index of first row of new variable.
@param[in] idx2                     Variable index following last row of new variable.

\return New variable containing only the given rows of the variable

Definition at line 238 of file export_variable_internal.cpp.

ExportVariable ExportVariableInternal::getSubMatrix	(	const ExportIndex &	_rowIdx1,
		const ExportIndex &	_rowIdx2,
		const ExportIndex &	_colIdx1,
		const ExportIndex &	_colIdx2
	)		const

Returns a new variable containing only the given rows and columns of the variable.

@param[in] rowIdx1          Variable index of first row of new variable.
@param[in] rowIdx2          Variable index following last row of new variable.
@param[in] colIdx1          Variable index of first column of new variable.
@param[in] colIdx2          Variable index following last column of new variable.

\return New variable containing only the given sub-matrix of the variable

Definition at line 300 of file export_variable_internal.cpp.

ExportIndex ExportVariableInternal::getTotalIdx	(	const ExportIndex &	rowIdx,
		const ExportIndex &	colIdx
	)		const

protectedvirtual

Returns total index of given component within memory.

@param[in] rowIdx           Row index of the component.
@param[in] colIdx           Column index of the component.

\return Total index of given component

Reimplemented from ExportArgumentInternal.

Definition at line 418 of file export_variable_internal.cpp.

ExportVariable ExportVariableInternal::getTranspose ( ) const

Returns a copy of the variable with transposed components.

\return Copy of the variable with transposed components

Definition at line 182 of file export_variable_internal.cpp.

bool ExportVariableInternal::hasValue	(	const ExportIndex &	_rowIdx,
		const ExportIndex &	_colIdx,
		double	_value
	)		const

protected

Returns whether given component is set to given value.

@param[in] rowIdx           Variable row index of the component.
@param[in] colIdx           Variable column index of the component.
@param[in] _value           Value used for comparison.

\return true  iff given component is set to given value, \n
        false otherwise

Definition at line 462 of file export_variable_internal.cpp.

bool ExportVariableInternal::isDiagonal ( ) const

Check whether the matrix is diagonal.

Definition at line 487 of file export_variable_internal.cpp.

bool ExportVariableInternal::isGiven	(	const ExportIndex &	rowIdx,
		const ExportIndex &	colIdx
	)		const

Returns whether given component is set to a given value.

@param[in] rowIdx           Variable row index of the component.
@param[in] colIdx           Variable column index of the component.

\return true  iff given component is set to a given value, \n
        false otherwise

Definition at line 106 of file export_variable_internal.cpp.

bool ExportVariableInternal::isGiven ( ) const

virtual

Returns whether all components of the argument are given.

\return true  iff all components of the argument have given values, \n
        false otherwise

Reimplemented from ExportArgumentInternal.

Definition at line 116 of file export_variable_internal.cpp.

bool ExportVariableInternal::isOne	(	const ExportIndex &	rowIdx,
		const ExportIndex &	colIdx
	)		const

Returns whether given component is set to one.

@param[in] rowIdx           Variable row index of the component.
@param[in] colIdx           Variable column index of the component.

\return true  iff given component is set to one, \n
        false otherwise

Definition at line 98 of file export_variable_internal.cpp.

bool ExportVariableInternal::isSubMatrix ( ) const

Check whether the matrix is actually a submatrix.

Definition at line 479 of file export_variable_internal.cpp.

bool ExportVariableInternal::isVector ( ) const

Returns whether variable is a vector.

\return true  iff variable is a vector, \n
        false otherwise

Definition at line 380 of file export_variable_internal.cpp.

bool ExportVariableInternal::isZero	(	const ExportIndex &	rowIdx,
		const ExportIndex &	colIdx
	)		const

Returns whether given component is set to zero.

@param[in] rowIdx           Variable row index of the component.
@param[in] colIdx           Variable column index of the component.

\return true  iff given component is set to zero, \n
        false otherwise

Definition at line 91 of file export_variable_internal.cpp.

ExportVariable ExportVariableInternal::makeColVector ( ) const

Returns a copy of the variable that is transformed to a column vector.

\return Copy of the variable that is transformed to a column vector

Definition at line 367 of file export_variable_internal.cpp.

ExportVariable ExportVariableInternal::makeRowVector ( ) const

Returns a copy of the variable that is transformed to a row vector.

\return Copy of the variable that is transformed to a row vector

Definition at line 354 of file export_variable_internal.cpp.

returnValue ExportVariableInternal::print ( ) const

Prints contents of variable to screen.

\return SUCCESSFUL_RETURN

Definition at line 398 of file export_variable_internal.cpp.

returnValue ExportVariableInternal::setSubmatrixOffsets	(	const ExportIndex &	_rowOffset,
		const ExportIndex &	_colOffset,
		unsigned	_rowDim = `0`,
		unsigned	_colDim = `0`,
		unsigned	_nRows = `0`,
		unsigned	_nCols = `0`
	)

protected

Assigns offsets and dimensions of a sub-matrix. This function is used to access only a sub-matrix of the variable without copying its values to a new variable.

Parameters

[in]	_rowOffset	Variable index of first row of sub-matrix.
[in]	_colOffset	Variable index of first column of sub-matrix.
[in]	_rowDim	Row dimension of variable (as only the submatrix data is stored).
[in]	_colDim	Column dimension of variable (as only the submatrix data is stored).
[in]	_nRows	Number of rows of sub-matrix.
[in]	_nCols	Number of columns of sub-matrix.