ForwardLiftedIRKExport Class Reference

Allows to export a tailored lifted implicit Runge-Kutta integrator with forward sensitivity generation for extra fast model predictive control. More...

#include <irk_lifted_forward_export.hpp>

Inheritance diagram for ForwardLiftedIRKExport:

Public Member Functions
	ForwardLiftedIRKExport (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")
	ForwardLiftedIRKExport (const ForwardLiftedIRKExport &arg)
virtual returnValue	getCode (ExportStatementBlock &code)
virtual returnValue	getDataDeclarations (ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const
virtual returnValue	getFunctionDeclarations (ExportStatementBlock &declarations) const
ForwardLiftedIRKExport &	operator= (const ForwardLiftedIRKExport &arg)
virtual returnValue	setDifferentialEquation (const Expression &rhs)
virtual returnValue	setup ()
virtual	~ForwardLiftedIRKExport ()
Public Member Functions inherited from ForwardIRKExport
	ForwardIRKExport (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")
	ForwardIRKExport (const ForwardIRKExport &arg)
ForwardIRKExport &	operator= (const ForwardIRKExport &arg)
virtual	~ForwardIRKExport ()
Public Member Functions inherited from ImplicitRungeKuttaExport
	ImplicitRungeKuttaExport (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")
	ImplicitRungeKuttaExport (const ImplicitRungeKuttaExport &arg)
ImplicitRungeKuttaExport &	operator= (const ImplicitRungeKuttaExport &arg)
returnValue	setEigenvalues (const DMatrix &_eig)
returnValue	setModel (const std::string &_rhs, const std::string &_diffs_rhs)
returnValue	setSimplifiedTransformations (const DMatrix &_transf1, const DMatrix &_transf2)
returnValue	setSimplifiedTransformations (const DMatrix &_transf1, const DMatrix &_transf2, const DMatrix &_transf1_T, const DMatrix &_transf2_T)
returnValue	setSingleTransformations (const double _tau, const DVector &_low_tria, const DMatrix &_transf1, const DMatrix &_transf2)
returnValue	setSingleTransformations (const double _tau, const DVector &_low_tria, const DMatrix &_transf1, const DMatrix &_transf2, const DMatrix &_transf1_T, const DMatrix &_transf2_T)
virtual returnValue	setupOutput (const std::vector< Grid > outputGrids_, const std::vector< Expression > rhs)
virtual returnValue	setupOutput (const std::vector< Grid > outputGrids_, const std::vector< std::string > _outputNames, const std::vector< std::string > _diffs_outputNames, const std::vector< uint > _dims_output)
virtual returnValue	setupOutput (const std::vector< Grid > outputGrids_, const std::vector< std::string > _outputNames, const std::vector< std::string > _diffs_outputNames, const std::vector< uint > _dims_output, const std::vector< DMatrix > _outputDependencies)
virtual	~ImplicitRungeKuttaExport ()
Public Member Functions inherited from RungeKuttaExport
BooleanType	checkSymmetry (const DVector &_cc)
uint	getNumStages ()
returnValue	initializeButcherTableau (const DMatrix &_AA, const DVector &_bb, const DVector &_cc)
RungeKuttaExport &	operator= (const RungeKuttaExport &arg)
	RungeKuttaExport (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")
	RungeKuttaExport (const RungeKuttaExport &arg)
returnValue	setNARXmodel (const uint delay, const DMatrix &parms)
virtual	~RungeKuttaExport ()
Public Member Functions inherited from IntegratorExport
virtual bool	equidistantControlGrid () const
uint	getDimOUTPUT (uint index) const
virtual returnValue	getGrid (Grid &grid_) const
const std::string	getNameDiffsOUTPUT (uint index) const
const std::string	getNameDiffsRHS () const
virtual const std::string	getNameFullRHS () const
const std::string	getNameOUTPUT (uint index) const
const std::string	getNameOutputDiffs () const
const std::string	getNameOutputRHS () const
const std::string	getNameRHS () const
virtual returnValue	getNumSteps (DVector &_numSteps) const
virtual returnValue	getOutputExpressions (std::vector< Expression > &outputExpressions_) const
virtual returnValue	getOutputGrids (std::vector< Grid > &outputGrids_) const
	IntegratorExport (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")
	IntegratorExport (const IntegratorExport &arg)
IntegratorExport &	operator= (const IntegratorExport &arg)
virtual returnValue	propagateImplicitSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &_index3, const ExportIndex &tmp_index)
virtual returnValue	propagateInputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index)
virtual returnValue	propagateOutputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index)
virtual returnValue	setGrid (const Grid &_grid)
virtual returnValue	setLinearInput (const DMatrix &M1, const DMatrix &A1, const DMatrix &B1)
virtual returnValue	setLinearOutput (const DMatrix &M3, const DMatrix &A3, const Expression &rhs)
virtual returnValue	setLinearOutput (const DMatrix &M3, const DMatrix &A3, const std::string &_rhs3, const std::string &_diffs_rhs3)
virtual returnValue	setModelData (const ModelData &data)
virtual returnValue	setNonlinearFeedback (const DMatrix &C, const Expression &feedb)
virtual returnValue	updateInputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &tmp_index)
virtual returnValue	updateOutputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &tmp_index)
virtual	~IntegratorExport ()
Public Member Functions inherited from ExportAlgorithm
	ExportAlgorithm (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName=std::string())
uint	getN () const
uint	getNDX () const
uint	getNOD () const
uint	getNP () const
uint	getNU () const
uint	getNX () const
uint	getNXA () const
uint	getNY () const
uint	getNYN () const
returnValue	setDimensions (uint _NX=0, uint _NU=0, uint _NP=0, uint _NI=0, uint _NOD=0)
returnValue	setDimensions (uint _NX, uint _NDX, uint _NXA, uint _NU, uint _NP, uint _NI, uint _NOD)
void	setNY (uint NY_)
void	setNYN (uint NYN_)
virtual	~ExportAlgorithm ()
Public Member Functions inherited from AlgorithmicBase
int	addLogRecord (LogRecord &_record)
returnValue	addOption (OptionsName name, int value)
returnValue	addOption (OptionsName name, double value)
returnValue	addOption (uint idx, OptionsName name, int value)
returnValue	addOption (uint idx, OptionsName name, double value)
returnValue	addOptionsList ()
	AlgorithmicBase ()
	AlgorithmicBase (UserInteraction *_userInteraction)
	AlgorithmicBase (const AlgorithmicBase &rhs)
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	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
Options	getOptions (uint idx) const
BooleanType	haveOptionsChanged () const
BooleanType	haveOptionsChanged (uint idx) const
AlgorithmicBase &	operator= (const AlgorithmicBase &rhs)
returnValue	plot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)
returnValue	printLogRecord (std::ostream &_stream, int idx, LogPrintMode _mode=PRINT_ITEM_BY_ITEM) const
returnValue	replot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)
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	setAll (LogName _name, const MatrixVariablesGrid &values)
returnValue	setLast (LogName _name, int lastValue, double time=-INFTY)
returnValue	setLast (LogName _name, double lastValue, double time=-INFTY)
returnValue	setLast (LogName _name, const DVector &lastValue, double time=-INFTY)
returnValue	setLast (LogName _name, const DMatrix &lastValue, double time=-INFTY)
returnValue	setLast (LogName _name, const VariablesGrid &lastValue, double time=-INFTY)
returnValue	setOptions (const Options &arg)
returnValue	setOptions (uint idx, const Options &arg)
virtual	~AlgorithmicBase ()

Protected Member Functions
virtual returnValue	allSensitivitiesImplicitSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index1, const ExportIndex &tmp_index2, const ExportIndex &tmp_index3, const ExportIndex &k_index, const ExportVariable &Bh, bool update)
virtual returnValue	evaluateAllStatesImplicitSystem (ExportStatementBlock *block, const ExportIndex &k_index, const ExportVariable &Ah, const ExportVariable &C, const ExportIndex &stage, const ExportIndex &i, const ExportIndex &tmp_index)
virtual returnValue	evaluateInexactMatrix (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &tmp_index, const ExportIndex &k_index, const ExportVariable &_rk_A, const ExportVariable &Ah, const ExportVariable &C, bool evaluateB, bool DERIVATIVES)
virtual returnValue	evaluateRhsImplicitSystem (ExportStatementBlock *block, const ExportIndex &k_index, const ExportIndex &stage)
virtual returnValue	evaluateRhsInexactSensitivities (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index1, const ExportIndex &tmp_index2, const ExportIndex &tmp_index3, const ExportIndex &k_index, const ExportVariable &Ah)
virtual returnValue	evaluateRhsSensitivities (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index1, const ExportIndex &tmp_index2)
virtual returnValue	evaluateStatesImplicitSystem (ExportStatementBlock *block, const ExportIndex &k_index, const ExportVariable &Ah, const ExportVariable &C, const ExportIndex &stage, const ExportIndex &i, const ExportIndex &tmp_index)
ExportVariable	getAuxVariable () const
virtual returnValue	prepareInputSystem (ExportStatementBlock &code)
virtual returnValue	prepareOutputSystem (ExportStatementBlock &code)
virtual returnValue	propagateOutputs (ExportStatementBlock *block, const ExportIndex &index, const ExportIndex &index0, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index1, const ExportIndex &tmp_index2, const ExportIndex &tmp_index3, const ExportIndex &tmp_index4, const ExportVariable &tmp_meas)
virtual returnValue	sensitivitiesInputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportVariable &Bh, bool STATES)
returnValue	sensitivitiesOutputs (ExportStatementBlock *block, const ExportIndex &index0, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &tmp_index1, const ExportIndex &tmp_index2, const ExportIndex &tmp_index3, const ExportVariable &tmp_meas, const ExportVariable &time_tmp, bool STATES, uint base)
virtual returnValue	sensitivitiesOutputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &index4, const ExportIndex &tmp_index1, const ExportIndex &tmp_index2, const ExportVariable &Ah, const ExportVariable &Bh, bool STATES, uint number)
virtual returnValue	solveImplicitSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index, const ExportIndex &k_index, const ExportVariable &Ah, const ExportVariable &C, const ExportVariable &det, bool DERIVATIVES=false)
virtual returnValue	updateImplicitSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &tmp_index)
Protected Member Functions inherited from ForwardIRKExport
returnValue	getCRSIndex (uint output, ExportIndex row, ExportIndex col)
virtual returnValue	sensitivitiesImplicitSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index1, const ExportIndex &tmp_index2, const ExportVariable &Ah, const ExportVariable &Bh, const ExportVariable &det, bool STATES, uint number)
Protected Member Functions inherited from ImplicitRungeKuttaExport
DVector	computeCombinations (const DVector &cVec, uint index, uint numEls)
virtual returnValue	copy (const ImplicitRungeKuttaExport &arg)
DVector	divideMeasurements (uint index)
DVector	evaluateDerivedPolynomial (double time)
returnValue	evaluateDerivedPolynomial (ExportStatementBlock &block, const ExportVariable &variable, const ExportVariable &grid)
DMatrix	evaluateDerivedPolynomial (uint index)
virtual returnValue	evaluateMatrix (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &tmp_index, const ExportIndex &k_index, const ExportVariable &_rk_A, const ExportVariable &Ah, const ExportVariable &C, bool evaluateB, bool DERIVATIVES)
DVector	evaluatePolynomial (double time)
returnValue	evaluatePolynomial (ExportStatementBlock &block, const ExportVariable &variable, const ExportVariable &grid, const std::string &h)
DMatrix	evaluatePolynomial (uint index)
returnValue	evaluateStatesOutputSystem (ExportStatementBlock *block, const ExportVariable &Ah, const ExportIndex &stage)
virtual DMatrix	formMatrix (const DMatrix &mass, const DMatrix &jacobian)
returnValue	generateOutput (ExportStatementBlock *block, const ExportIndex &index0, const ExportIndex &index1, const ExportIndex &tmp_index1, const ExportIndex &tmp_index2, const ExportVariable &tmp_meas, const ExportVariable &time_tmp, const uint directions)
uint	getNumIts () const
uint	getNumItsInit () const
returnValue	initializeCoefficients ()
returnValue	initializeDDMatrix ()
returnValue	prepareOutputEvaluation (ExportStatementBlock &code)
virtual returnValue	solveInputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index, const ExportVariable &Ah)
virtual returnValue	solveOutputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index, const ExportVariable &Ah, bool DERIVATIVES=false)
Protected Member Functions inherited from RungeKuttaExport
virtual returnValue	copy (const RungeKuttaExport &arg)
Protected Member Functions inherited from IntegratorExport
virtual returnValue	clear ()
virtual returnValue	copy (const IntegratorExport &arg)
DMatrix	expandOutputMatrix (const DMatrix &A3)
uint	getIntegrationInterval (double time)

Protected Attributes
ExportAcadoFunction	adjoint_sweep
ExportAcadoFunction	forward_sweep
ExportVariable	rk_adj_diffs_tmp
ExportVariable	rk_adj_traj
ExportVariable	rk_b_trans
ExportVariable	rk_delta
ExportVariable	rk_diffK_local
ExportVariable	rk_diffSweep
ExportVariable	rk_I
ExportVariable	rk_Khat_traj
ExportVariable	rk_seed
ExportVariable	rk_seed2
ExportVariable	rk_stageValues
ExportVariable	rk_Uprev
ExportVariable	rk_Xhat_traj
ExportVariable	rk_Xprev
ExportVariable	rk_xxx_lin
ExportVariable	rk_xxx_traj
Protected Attributes inherited from ImplicitRungeKuttaExport
DMatrix	coeffs
bool	CONTINUOUS_OUTPUT
DMatrix	DD
ExportVariable	debug_mat
DMatrix	eig
std::vector< ExportVariable >	gridVariables
ExportAcadoFunction	lin_output
DVector	low_tria
uint	NDX2
DVector	numDX_output
uint	numIts
uint	numItsInit
std::vector< ExportIndex >	numMeas
std::vector< ExportVariable >	numMeasVariables
DVector	numVARS_output
DVector	numXA_output
uint	NVARS2
uint	NVARS3
std::vector< ExportVariable >	polynDerVariables
ExportVariable	polynEvalVar
std::vector< ExportVariable >	polynVariables
bool	REUSE
ExportVariable	rk_A
ExportVariable	rk_auxSolver
ExportVariable	rk_b
ExportVariable	rk_diffK
ExportVariable	rk_diffsOutputTemp
ExportVariable	rk_diffsTemp3
ExportVariable	rk_dk1
ExportVariable	rk_dk3
ExportVariable	rk_mat1
ExportVariable	rk_mat3
ExportVariable	rk_out
ExportVariable	rk_outH
std::vector< ExportVariable >	rk_outputs
ExportVariable	rk_rhsOutputTemp
ExportVariable	rk_rhsTemp
DMatrix	simplified_transf1
DMatrix	simplified_transf1_T
DMatrix	simplified_transf2
DMatrix	simplified_transf2_T
DMatrix	single_transf1
DMatrix	single_transf1_T
DMatrix	single_transf2
DMatrix	single_transf2_T
ExportLinearSolver *	solver
ExportVariable	stepsH
double	tau
std::vector< uint >	totalMeas
Protected Attributes inherited from RungeKuttaExport
DMatrix	AA
DVector	bb
DVector	cc
BooleanType	is_symmetric
uint	numStages
ExportVariable	rk_kkk
Protected Attributes inherited from IntegratorExport
DMatrix	A11
DMatrix	A33
DMatrix	B11
bool	crsFormat
std::vector< ExportAcadoFunction >	diffs_outputs
ExportAcadoFunction	diffs_rhs
ExportAcadoFunction	diffs_rhs3
uint	diffsDim
DifferentialStateDerivative	dx
ExportVariable	error_code
bool	exportRhs
ExportFunction	fullRhs
Grid	grid
uint	inputDim
ExportFunction	integrate
ExportAcadoFunction	lin_input
DMatrix	M11
DMatrix	M33
uint	NDX3
std::vector< uint >	num_outputs
DVector	numSteps
uint	NX1
uint	NX2
uint	NX3
uint	NXA3
OnlineData	od
std::vector< DMatrix >	outputDependencies
std::vector< Expression >	outputExpressions
std::vector< Grid >	outputGrids
std::vector< ExportAcadoFunction >	outputs
ExportVariable	reset_int
ExportAcadoFunction	rhs
ExportAcadoFunction	rhs3
ExportVariable	rhs_in
ExportVariable	rhs_out
ExportVariable	rk_diffsNew1
ExportVariable	rk_diffsNew2
ExportVariable	rk_diffsNew3
ExportVariable	rk_diffsPrev1
ExportVariable	rk_diffsPrev2
ExportVariable	rk_diffsPrev3
ExportVariable	rk_diffsTemp2
ExportVariable	rk_eta
ExportVariable	rk_index
ExportVariable	rk_ttt
ExportVariable	rk_xxx
bool	timeDependant
Control	u
DifferentialState	x
AlgebraicState	z
Protected Attributes inherited from ExportAlgorithm
std::string	commonHeaderName
uint	N
uint	NDX
uint	NOD
uint	NP
uint	NU
uint	NX
uint	NXA
uint	NY
uint	NYN
Protected Attributes inherited from AlgorithmicBase
int	outputLoggingIdx
BooleanType	useModuleStandalone
UserInteraction *	userInteraction

Detailed Description

Allows to export a tailored lifted implicit Runge-Kutta integrator with forward sensitivity generation for extra fast model predictive control.

The class ForwardLiftedIRKExport allows to export a tailored lifted implicit Runge-Kutta integrator with forward sensitivity generation for extra fast model predictive control.

Author

Rien Quirynen

Definition at line 53 of file irk_lifted_forward_export.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO ForwardLiftedIRKExport::ForwardLiftedIRKExport	(	UserInteraction *	_userInteraction = 0,
		const std::string &	_commonHeaderName = ""
	)

Default constructor.

@param[in] _userInteraction         Pointer to corresponding user interface.
@param[in] _commonHeaderName        Name of common header file to be included.

Definition at line 45 of file irk_lifted_forward_export.cpp.

ForwardLiftedIRKExport::ForwardLiftedIRKExport

(

const ForwardLiftedIRKExport &

arg

)

Copy constructor (deep copy).

@param[in] arg              Right-hand side object.

Definition at line 51 of file irk_lifted_forward_export.cpp.

ForwardLiftedIRKExport::~ForwardLiftedIRKExport ( )

virtual

Destructor.

Definition at line 56 of file irk_lifted_forward_export.cpp.

Member Function Documentation

returnValue ForwardLiftedIRKExport::allSensitivitiesImplicitSystem ( ExportStatementBlock *  block, const ExportIndex &  index1, const ExportIndex &  index2, const ExportIndex &  index3, const ExportIndex &  tmp_index1, const ExportIndex &  tmp_index2, const ExportIndex &  tmp_index3, const ExportIndex &  k_index, const ExportVariable &  Bh, bool  update  )

protectedvirtual

Reimplemented in ForwardBackwardLiftedIRKExport.

Definition at line 1127 of file irk_lifted_forward_export.cpp.

returnValue ForwardLiftedIRKExport::evaluateAllStatesImplicitSystem ( ExportStatementBlock *  block, const ExportIndex &  k_index, const ExportVariable &  Ah, const ExportVariable &  C, const ExportIndex &  stage, const ExportIndex &  i, const ExportIndex &  tmp_index  )

protectedvirtual

Exports the evaluation of the states at all stages.

@param[in] block                    The block to which the code will be exported.
@param[in] Ah                               The matrix A of the IRK method, multiplied by the step size h.
@param[in] index                    The loop index, defining the stage.

\return SUCCESSFUL_RETURN

Reimplemented in ForwardBackwardLiftedIRKExport.

Definition at line 977 of file irk_lifted_forward_export.cpp.

returnValue ForwardLiftedIRKExport::evaluateInexactMatrix ( ExportStatementBlock *  block, const ExportIndex &  index1, const ExportIndex &  index2, const ExportIndex &  tmp_index, const ExportIndex &  k_index, const ExportVariable &  _rk_A, const ExportVariable &  Ah, const ExportVariable &  C, bool  evaluateB, bool  DERIVATIVES  )

protectedvirtual

Exports the evaluation of the inexact matrix for the linear system.

@param[in] block                    The block to which the code will be exported.
@param[in] index1                   The loop index of the outer loop.
@param[in] index2                   The loop index of the inner loop.
@param[in] tmp_index                A temporary index to be used.
@param[in] Ah                               The matrix A of the IRK method, multiplied by the step size h.
@param[in] evaluateB                True if the right-hand side of the linear system should also be evaluated, false otherwise.

\return SUCCESSFUL_RETURN

Definition at line 904 of file irk_lifted_forward_export.cpp.

returnValue ForwardLiftedIRKExport::evaluateRhsImplicitSystem ( ExportStatementBlock *  block, const ExportIndex &  k_index, const ExportIndex &  stage  )

protectedvirtual

Exports the evaluation of the right-hand side of the linear system at a specific stage.

@param[in] block                    The block to which the code will be exported.
@param[in] index                    The loop index, defining the stage.

\return SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

Definition at line 1017 of file irk_lifted_forward_export.cpp.

returnValue ForwardLiftedIRKExport::evaluateRhsInexactSensitivities ( ExportStatementBlock *  block, const ExportIndex &  index1, const ExportIndex &  index2, const ExportIndex &  index3, const ExportIndex &  tmp_index1, const ExportIndex &  tmp_index2, const ExportIndex &  tmp_index3, const ExportIndex &  k_index, const ExportVariable &  Ah  )

protectedvirtual

Exports the code needed to compute the sensitivities of the states defined by the nonlinear, fully implicit system.

@param[in] block                    The block to which the code will be exported.
@param[in] Ah                               The variable containing the internal coefficients of the RK method, multiplied with the step size.
@param[in] Bh                               The variable containing the weights of the RK method, multiplied with the step size.
@param[in] det                              The variable that holds the determinant of the matrix in the linear system.
@param[in] STATES                   True if the sensitivities with respect to a state are needed, false otherwise.
@param[in] number                   This number defines the stage of the state with respect to which the sensitivities are computed.

\return SUCCESSFUL_RETURN

Reimplemented in ForwardBackwardLiftedIRKExport.

Definition at line 1041 of file irk_lifted_forward_export.cpp.

returnValue ForwardLiftedIRKExport::evaluateRhsSensitivities ( ExportStatementBlock *  block, const ExportIndex &  index1, const ExportIndex &  index2, const ExportIndex &  index3, const ExportIndex &  tmp_index1, const ExportIndex &  tmp_index2  )

protectedvirtual

Reimplemented in AdjointLiftedIRKExport.

Definition at line 1272 of file irk_lifted_forward_export.cpp.

returnValue ForwardLiftedIRKExport::evaluateStatesImplicitSystem ( ExportStatementBlock *  block, const ExportIndex &  k_index, const ExportVariable &  Ah, const ExportVariable &  C, const ExportIndex &  stage, const ExportIndex &  i, const ExportIndex &  tmp_index  )

protectedvirtual

Exports the evaluation of the states at a specific stage.

@param[in] block                    The block to which the code will be exported.
@param[in] Ah                               The matrix A of the IRK method, multiplied by the step size h.
@param[in] index                    The loop index, defining the stage.

\return SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

Definition at line 998 of file irk_lifted_forward_export.cpp.

ExportVariable ForwardLiftedIRKExport::getAuxVariable ( ) const

protectedvirtual

Returns the largest global export variable.

\return SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Reimplemented in SymmetricLiftedIRKExport.

Definition at line 77 of file irk_lifted_forward_export.cpp.

returnValue ForwardLiftedIRKExport::getCode ( ExportStatementBlock &  code )

virtual

Exports source code of the auto-generated integrator into the given directory.

@param[in] code                             Code block containing the auto-generated integrator.

\return SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Reimplemented in AdjointLiftedIRKExport, ForwardBackwardLiftedIRKExport, and SymmetricLiftedIRKExport.

Definition at line 252 of file irk_lifted_forward_export.cpp.

returnValue ForwardLiftedIRKExport::getDataDeclarations ( ExportStatementBlock &  declarations, ExportStruct  dataStruct = ACADO_ANY  ) const

virtual

Adds all data declarations of the auto-generated integrator to given list of declarations.

@param[in] declarations             List of declarations.

\return SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Reimplemented in AdjointLiftedIRKExport, ForwardBackwardLiftedIRKExport, and SymmetricLiftedIRKExport.

Definition at line 118 of file irk_lifted_forward_export.cpp.

returnValue ForwardLiftedIRKExport::getFunctionDeclarations ( ExportStatementBlock &  declarations ) const

virtual

Adds all function (forward) declarations of the auto-generated integrator to given list of declarations.

@param[in] declarations             List of declarations.

\return SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Reimplemented in AdjointLiftedIRKExport, ForwardBackwardLiftedIRKExport, and SymmetricLiftedIRKExport.

Definition at line 151 of file irk_lifted_forward_export.cpp.

ForwardLiftedIRKExport & ForwardLiftedIRKExport::operator=

(

const ForwardLiftedIRKExport &

arg

)

Assignment operator (deep copy).

@param[in] arg              Right-hand side object.

Definition at line 66 of file irk_lifted_forward_export.cpp.

returnValue ForwardLiftedIRKExport::prepareInputSystem ( ExportStatementBlock &  code )

protectedvirtual

Precompute as much as possible for the linear input system and export the resulting definitions.

@param[in] code                     The block to which the code will be exported.

\return SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Definition at line 956 of file irk_lifted_forward_export.cpp.

returnValue ForwardLiftedIRKExport::prepareOutputSystem ( ExportStatementBlock &  code )

protectedvirtual

Precompute as much as possible for the linear output system and export the resulting definitions.

@param[in] code                     The block to which the code will be exported.

\return SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Definition at line 963 of file irk_lifted_forward_export.cpp.

returnValue ForwardLiftedIRKExport::propagateOutputs ( ExportStatementBlock *  block, const ExportIndex &  index, const ExportIndex &  index0, const ExportIndex &  index1, const ExportIndex &  index2, const ExportIndex &  index3, const ExportIndex &  tmp_index1, const ExportIndex &  tmp_index2, const ExportIndex &  tmp_index3, const ExportIndex &  tmp_index4, const ExportVariable &  tmp_meas  )

protectedvirtual

Exports the propagation of the sensitivities for the continuous output.

@param[in] block                    The block to which the code will be exported.
@param[in] tmp_meas                 The number of measurements in the current integration step (in case of an online grid).

\return SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Definition at line 947 of file irk_lifted_forward_export.cpp.

returnValue ForwardLiftedIRKExport::sensitivitiesInputSystem ( ExportStatementBlock *  block, const ExportIndex &  index1, const ExportIndex &  index2, const ExportVariable &  Bh, bool  STATES  )

protectedvirtual

Exports the code needed to compute the sensitivities of the states, defined by the linear input system.

@param[in] block                    The block to which the code will be exported.
@param[in] Bh                               The variable containing the weights of the RK method, multiplied with the step size.
@param[in] STATES                   True if the sensitivities with respect to a state are needed, false otherwise.

\return SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Definition at line 970 of file irk_lifted_forward_export.cpp.

returnValue ForwardLiftedIRKExport::sensitivitiesOutputs ( ExportStatementBlock *  block, const ExportIndex &  index0, const ExportIndex &  index1, const ExportIndex &  index2, const ExportIndex &  tmp_index1, const ExportIndex &  tmp_index2, const ExportIndex &  tmp_index3, const ExportVariable &  tmp_meas, const ExportVariable &  time_tmp, bool  STATES, uint  base  )

protectedvirtual

Exports the computation of the sensitivities for the continuous output.

@param[in] block                    The block to which the code will be exported.
@param[in] tmp_meas                 The number of measurements in the current integration step (in case of an online grid).
@param[in] rk_tPrev                 The time point, defining the beginning of the current integration step (in case of an online grid).
@param[in] time_tmp                 A variable used for time transformations (in case of an online grid).
@param[in] STATES                   True if the sensitivities with respect to a state are needed, false otherwise.
@param[in] base                             The number of states in stages with respect to which the sensitivities have already been computed.

\return SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Definition at line 1346 of file irk_lifted_forward_export.cpp.

returnValue ForwardLiftedIRKExport::sensitivitiesOutputSystem ( ExportStatementBlock *  block, const ExportIndex &  index1, const ExportIndex &  index2, const ExportIndex &  index3, const ExportIndex &  index4, const ExportIndex &  tmp_index1, const ExportIndex &  tmp_index2, const ExportVariable &  Ah, const ExportVariable &  Bh, bool  STATES, uint  number  )

protectedvirtual

Exports the code needed to compute the sensitivities of the states, defined by the linear output system.

@param[in] block                    The block to which the code will be exported.
@param[in] Ah                               The variable containing the internal coefficients of the RK method, multiplied with the step size.
@param[in] Bh                               The variable containing the weights of the RK method, multiplied with the step size.
@param[in] STATES                   True if the sensitivities with respect to a state are needed, false otherwise.
@param[in] number                   This number defines the stage of the state with respect to which the sensitivities are computed.

\return SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Definition at line 1339 of file irk_lifted_forward_export.cpp.

returnValue ForwardLiftedIRKExport::setDifferentialEquation ( const Expression &  rhs )

virtual

Assigns Differential Equation to be used by the integrator.

@param[in] rhs              Right-hand side expression.

\return SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

Reimplemented in AdjointLiftedIRKExport, ForwardBackwardLiftedIRKExport, and SymmetricLiftedIRKExport.

Definition at line 162 of file irk_lifted_forward_export.cpp.

returnValue ForwardLiftedIRKExport::setup ( )

virtual

Initializes export of a tailored integrator.

\return SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Reimplemented in AdjointLiftedIRKExport, ForwardBackwardLiftedIRKExport, and SymmetricLiftedIRKExport.

Definition at line 1355 of file irk_lifted_forward_export.cpp.

returnValue ForwardLiftedIRKExport::solveImplicitSystem ( ExportStatementBlock *  block, const ExportIndex &  index1, const ExportIndex &  index2, const ExportIndex &  index3, const ExportIndex &  tmp_index, const ExportIndex &  k_index, const ExportVariable &  Ah, const ExportVariable &  C, const ExportVariable &  det, bool  DERIVATIVES = false  )

protectedvirtual

Exports the code needed to solve the system of collocation equations for the nonlinear, fully implicit system.

@param[in] block                    The block to which the code will be exported.
@param[in] Ah                               The variable containing the internal coefficients of the RK method, multiplied with the step size.
@param[in] det                              The variable that holds the determinant of the matrix in the linear system.

\return SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

Definition at line 815 of file irk_lifted_forward_export.cpp.

returnValue ForwardLiftedIRKExport::updateImplicitSystem ( ExportStatementBlock *  block, const ExportIndex &  index1, const ExportIndex &  index2, const ExportIndex &  tmp_index  )

protectedvirtual

Exports the code needed to update the sensitivities of the states defined by the nonlinear, fully implicit system.

@param[in] block                    The block to which the code will be exported.

\return SUCCESSFUL_RETURN

Reimplemented from IntegratorExport.

Reimplemented in ForwardBackwardLiftedIRKExport, AdjointLiftedIRKExport, and SymmetricLiftedIRKExport.

Definition at line 1295 of file irk_lifted_forward_export.cpp.

Member Data Documentation

ExportAcadoFunction ForwardLiftedIRKExport::adjoint_sweep

protected

Module to export the evaluation of an adjoint sweep of the derivatives of the ordinary differential equations.

Definition at line 394 of file irk_lifted_forward_export.hpp.

ExportAcadoFunction ForwardLiftedIRKExport::forward_sweep

protected

Module to export the evaluation of a forward sweep of the derivatives of the ordinary differential equations.

Definition at line 393 of file irk_lifted_forward_export.hpp.

ExportVariable ForwardLiftedIRKExport::rk_adj_diffs_tmp

protected

Definition at line 397 of file irk_lifted_forward_export.hpp.

ExportVariable ForwardLiftedIRKExport::rk_adj_traj

protected

Variable containing the adjoint trajectory of the lambda_hat values.

Definition at line 396 of file irk_lifted_forward_export.hpp.

ExportVariable ForwardLiftedIRKExport::rk_b_trans

protected

Definition at line 395 of file irk_lifted_forward_export.hpp.

ExportVariable ForwardLiftedIRKExport::rk_delta

protected

Variable containing the update on the optimization variables.

Definition at line 410 of file irk_lifted_forward_export.hpp.

ExportVariable ForwardLiftedIRKExport::rk_diffK_local

protected

Definition at line 416 of file irk_lifted_forward_export.hpp.

ExportVariable ForwardLiftedIRKExport::rk_diffSweep

protected

Definition at line 401 of file irk_lifted_forward_export.hpp.

ExportVariable ForwardLiftedIRKExport::rk_I

protected

Definition at line 402 of file irk_lifted_forward_export.hpp.

ExportVariable ForwardLiftedIRKExport::rk_Khat_traj

protected

Definition at line 413 of file irk_lifted_forward_export.hpp.

ExportVariable ForwardLiftedIRKExport::rk_seed

protected

Variable containing the forward seed.

Definition at line 404 of file irk_lifted_forward_export.hpp.

ExportVariable ForwardLiftedIRKExport::rk_seed2

protected

Definition at line 398 of file irk_lifted_forward_export.hpp.

ExportVariable ForwardLiftedIRKExport::rk_stageValues

protected

Variable containing the evaluated stage values.

Definition at line 405 of file irk_lifted_forward_export.hpp.

ExportVariable ForwardLiftedIRKExport::rk_Uprev

protected

Variable containing the previous control trajectory.

Definition at line 408 of file irk_lifted_forward_export.hpp.

ExportVariable ForwardLiftedIRKExport::rk_Xhat_traj

protected

Definition at line 414 of file irk_lifted_forward_export.hpp.

ExportVariable ForwardLiftedIRKExport::rk_Xprev

protected

Variable containing the full previous state trajectory.

Definition at line 407 of file irk_lifted_forward_export.hpp.

ExportVariable ForwardLiftedIRKExport::rk_xxx_lin

protected

Definition at line 412 of file irk_lifted_forward_export.hpp.

ExportVariable ForwardLiftedIRKExport::rk_xxx_traj

protected

Variable containing the forward trajectory of the state values.

Definition at line 399 of file irk_lifted_forward_export.hpp.

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

• irk_lifted_forward_export.hpp
• irk_lifted_forward_export.cpp