Implements a scheme for evaluating discretized ODEs. More...

#include <integrator_discretized_ode.hpp>

Inheritance diagram for IntegratorDiscretizedODE:

[legend]

Public Member Functions
virtual Integrator *	clone () const

virtual returnValue	init (const DifferentialEquation &rhs_)

	IntegratorDiscretizedODE ()

	IntegratorDiscretizedODE (const DifferentialEquation &rhs_)

	IntegratorDiscretizedODE (const IntegratorDiscretizedODE &arg)

virtual IntegratorDiscretizedODE &	operator= (const IntegratorDiscretizedODE &arg)

virtual returnValue	step (int number)

virtual	~IntegratorDiscretizedODE ()

Public Member Functions inherited from IntegratorRK12
	IntegratorRK12 ()

	IntegratorRK12 (const DifferentialEquation &rhs_)

	IntegratorRK12 (const IntegratorRK12 &arg)

virtual IntegratorRK12 &	operator= (const IntegratorRK12 &arg)

virtual	~IntegratorRK12 ()

Public Member Functions inherited from IntegratorRK
virtual returnValue	freezeAll ()

virtual returnValue	freezeMesh ()

virtual int	getNumberOfRejectedSteps () const

virtual int	getNumberOfSteps () const

virtual double	getStepSize () const

returnValue	init (const DifferentialEquation &rhs_, const Transition &trs_)

	IntegratorRK ()

	IntegratorRK (int dim_, double power_)

	IntegratorRK (const DifferentialEquation &rhs_, int dim_, double power_)

	IntegratorRK (const IntegratorRK &arg)

virtual IntegratorRK &	operator= (const IntegratorRK &arg)

virtual returnValue	setDxInitialization (double *dx0)

virtual returnValue	stop ()

virtual returnValue	unfreeze ()

virtual	~IntegratorRK ()

Public Member Functions inherited from Integrator
virtual BooleanType	canHandleImplicitSwitches () const

virtual returnValue	deleteAllSeeds ()

returnValue	getBackwardSensitivities (DVector &Dx_x0, DVector &Dx_p, DVector &Dx_u, DVector &Dx_w, int order) const

virtual double	getDifferentialEquationSampleTime () const

returnValue	getForwardSensitivities (DVector &Dx, int order) const

returnValue	getForwardSensitivities (VariablesGrid &Dx, int order) const

returnValue	getI (VariablesGrid &I) const

returnValue	getX (DVector &xEnd) const

returnValue	getX (VariablesGrid &X) const

returnValue	getXA (DVector &xaEnd) const

returnValue	getXA (VariablesGrid &XA) const

returnValue	init (const DifferentialEquation &rhs, const Transition &trs)

returnValue	integrate (double t0, double tend, double x0, double xa=0, double p=0, double u=0, double *w=0)

returnValue	integrate (const Grid &t, double x0, double xa=0, double p=0, double u=0, double *w=0)

returnValue	integrate (double t0, double tend, const DVector &x0, const DVector &xa=emptyVector, const DVector &p=emptyVector, const DVector &u=emptyVector, const DVector &w=emptyVector)

returnValue	integrate (const Grid &t, const DVector &x0, const DVector &xa=emptyVector, const DVector &p=emptyVector, const DVector &u=emptyVector, const DVector &w=emptyVector)

returnValue	integrateSensitivities ()

	Integrator ()

	Integrator (const Integrator &arg)

virtual BooleanType	isDifferentialEquationAffine () const

virtual BooleanType	isDifferentialEquationDefined () const

virtual returnValue	printRunTimeProfile () const

returnValue	setBackwardSeed (const int &order, const DVector &seed)

returnValue	setForwardSeed (const int &order, const DVector &xSeed, const DVector &pSeed=emptyVector, const DVector &uSeed=emptyVector, const DVector &wSeed=emptyVector)

returnValue	setTransition (const Transition &trs)

virtual	~Integrator ()

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
returnValue	performADbackwardStep (const int &number_)

returnValue	performADbackwardStep2 (const int &number_)

returnValue	performADforwardStep (const int &number_)

returnValue	performADforwardStep2 (const int &number_)

returnValue	performDiscreteStep (const int &number_)

Protected Member Functions inherited from IntegratorRK12
virtual void	initializeButcherTableau ()

Protected Member Functions inherited from IntegratorRK
void	allocateMemory ()

void	constructAll (const IntegratorRK &arg)

void	deleteAll ()

double	determineEta45 ()

double	determineEta45 (int number)

void	determineEtaGForward (int number)

void	determineEtaGForward2 (int number)

void	determineEtaHBackward (int number)

void	determineEtaHBackward2 (int number)

virtual returnValue	evaluate (const DVector &x0, const DVector &xa, const DVector &p, const DVector &u, const DVector &w, const Grid &t_)

virtual returnValue	evaluateSensitivities ()

virtual int	getDim () const

virtual returnValue	getProtectedBackwardSensitivities (DVector &Dx_x0, DVector &Dx_p, DVector &Dx_u, DVector &Dx_w, int order) const

virtual returnValue	getProtectedForwardSensitivities (DMatrix *Dx, int order) const

virtual returnValue	getProtectedX (DVector *xEnd) const

void	initializeVariables ()

void	interpolate (int jj, double e1, double d1, double *e2, VariablesGrid &poly)

void	logCurrentIntegratorStep (const DVector &currentX=emptyConstVector)

void	printIntermediateResults ()

virtual returnValue	setBackwardSeed2 (const DVector &seed)

returnValue	setForwardSeed2 (const DVector &xSeed, const DVector &pSeed, const DVector &uSeed, const DVector &wSeed)

virtual returnValue	setProtectedBackwardSeed (const DVector &seed, const int &order)

virtual returnValue	setProtectedForwardSeed (const DVector &xSeed, const DVector &pSeed, const DVector &uSeed, const DVector &wSeed, const int &order)

Protected Member Functions inherited from Integrator
virtual returnValue	diffTransitionBackward (DVector &DX, DVector &DP, DVector &DU, DVector &DW, int &order)

virtual returnValue	diffTransitionForward (DVector &DX, const DVector &DP, const DVector &DU, const DVector &DW, const int &order)

virtual returnValue	evaluateTransition (const double time, DVector &xd, const DVector &xa, const DVector &p, const DVector &u, const DVector &w)

virtual int	getDimX () const

void	initializeOptions ()

virtual returnValue	setupLogging ()

virtual returnValue	setupOptions ()

Protected Attributes
double	stepLength

Protected Attributes inherited from IntegratorRK
double **	A

double *	b4

double *	b5

DVector	bseed

DVector	bseed2

double *	c

int	dim

double	err_power

double *	eta4

double *	eta4_

double *	eta5

double *	eta5_

double *	etaG

double *	etaG2

double *	etaG3

double *	etaH

double *	etaH2

double *	etaH3

DVector	fseed

DVector	fseed2

double *	G

double *	G2

double *	G3

double *	H

double *	H2

double *	H3

double **	k

double **	k2

double **	l

double **	l2

int	maxAlloc

double	t

double *	x

Protected Attributes inherited from Integrator
int *	alg_index

int *	control_index

int	count

int	count2

int	count3

int *	ddiff_index

VariablesGrid	ddxStore

int *	diff_index

DVector	diff_scale

int *	disturbance_index

DVector	dP

DVector	dPb

DVector	dU

DVector	dUb

DVector	dW

DVector	dWb

DVector	dX

DVector	dXb

VariablesGrid	dxStore

RealClock	functionEvaluation

double *	h

double	hini

double	hmax

double	hmin

int *	int_control_index

int *	int_parameter_index

VariablesGrid	iStore

int	las

short int	m

short int	ma

int	maxNumberOfSteps

short int	md

short int	mdx

short int	mn

short int	mp

short int	mpi

short int	mu

short int	mui

short int	mw

int	nBDirs

int	nBDirs2

int	nFcnEvaluations

int	nFDirs

int	nFDirs2

int *	parameter_index

int	PrintLevel

DifferentialEquation *	rhs

StateOfAggregation	soa

int	time_index

Grid	timeInterval

double	TOL

RealClock	totalTime

Transition *	transition

double	tune

DVector	xE

VariablesGrid	xStore

Protected Attributes inherited from AlgorithmicBase
int	outputLoggingIdx

BooleanType	useModuleStandalone

UserInteraction *	userInteraction

Friends
class	ShootingMethod

Detailed Description

Implements a scheme for evaluating discretized ODEs.

The class IntegratorDiscretizedODE implements a scheme for evaluating discretized ordinary differential equations (ODEs).

Author: Boris Houska, Hans Joachim Ferreau

Definition at line 57 of file integrator_discretized_ode.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO IntegratorDiscretizedODE::IntegratorDiscretizedODE ( )

Default constructor.

Definition at line 53 of file integrator_discretized_ode.cpp.

IntegratorDiscretizedODE::IntegratorDiscretizedODE ( const DifferentialEquation & rhs_ )

Default constructor.

Definition at line 58 of file integrator_discretized_ode.cpp.

IntegratorDiscretizedODE::IntegratorDiscretizedODE ( const IntegratorDiscretizedODE & arg )

Copy constructor (deep copy).

Definition at line 74 of file integrator_discretized_ode.cpp.

IntegratorDiscretizedODE::~IntegratorDiscretizedODE ( )

virtual

Destructor.

Definition at line 81 of file integrator_discretized_ode.cpp.

Member Function Documentation

Integrator * IntegratorDiscretizedODE::clone ( ) const

virtual

The (virtual) copy constructor

Reimplemented from IntegratorRK12.

Definition at line 96 of file integrator_discretized_ode.cpp.

returnValue IntegratorDiscretizedODE::init ( const DifferentialEquation & rhs_ )

virtual

The initialization routine which takes the right-hand side of
the differential equation to be integrated.

Parameters

rhs	the right-hand side of the ODE/DAE.

Returns: SUCCESSFUL_RETURN if all dimension checks succeed.
otherwise: integrator dependent error message.

Reimplemented from IntegratorRK12.

Definition at line 103 of file integrator_discretized_ode.cpp.

IntegratorDiscretizedODE & IntegratorDiscretizedODE::operator= ( const IntegratorDiscretizedODE & arg )

virtual

Assignment operator (deep copy).

Definition at line 86 of file integrator_discretized_ode.cpp.

returnValue IntegratorDiscretizedODE::performADbackwardStep ( const int & number_ )

protected

Definition at line 296 of file integrator_discretized_ode.cpp.

returnValue IntegratorDiscretizedODE::performADbackwardStep2 ( const int & number_ )

protected

Definition at line 343 of file integrator_discretized_ode.cpp.

returnValue IntegratorDiscretizedODE::performADforwardStep ( const int & number_ )

protected

Definition at line 275 of file integrator_discretized_ode.cpp.

returnValue IntegratorDiscretizedODE::performADforwardStep2 ( const int & number_ )

protected

Definition at line 321 of file integrator_discretized_ode.cpp.

returnValue IntegratorDiscretizedODE::performDiscreteStep ( const int & number_ )

protected

Definition at line 255 of file integrator_discretized_ode.cpp.

returnValue IntegratorDiscretizedODE::step ( int number )

virtual

Executes the next single step. This function can be used to
call the integrator step wise. Note that this function is e.g.
useful in real-time simulations where after each step a time
out limit has to be checked. This function will usually return

Returns: RET_FINAL_STEP_NOT_PERFORMED_YET
for the case that the final step has not been
performed yet, i.e. the integration routine is not yet
at the time tend.
Otherwise it will either return; SUCCESSFUL_RETURN
or any other error message that might occur during
an integration step.
In most real situations you can define the maximum number of
step sizes to be 1 before calling the function integrate
Then the function integrate should return after one step with
the message
RET_MAXIMUM_NUMBER_OF_STEPS_EXCEEDED. After that you can call
step() until the final time is reached.
(You can use the PrintLevel NONE to avoid that the message
RET_MAXIMUM_NUMBER_OF_STEPS_EXCEEDED is printed.)