Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
IntegratorRK Class Referenceabstract
Numerical Algorithms -- used internally or by developers to solve numerical problems

Abstract base class for all kinds of Runge-Kutta schemes for integrating ODEs. More...

#include <integrator_runge_kutta.hpp>

Inheritance diagram for IntegratorRK:
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Public Member Functions

virtual Integrator * clone () const =0
 
virtual returnValue freezeAll ()
 
virtual returnValue freezeMesh ()
 
virtual int getNumberOfRejectedSteps () const
 
virtual int getNumberOfSteps () const
 
virtual double getStepSize () const
 
virtual returnValue init (const DifferentialEquation &rhs_)
 
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 step (int number)
 
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

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
 
virtual void initializeButcherTableau ()=0
 
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 ** 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
 

Detailed Description

Abstract base class for all kinds of Runge-Kutta schemes for integrating ODEs.

The class IntegratorRK serves as an abstract base class for all kinds of Runge-Kutta schemes for integrating ordinary differential equations (ODEs).

Author
Boris Houska, Hans Joachim Ferreau

Definition at line 54 of file integrator_runge_kutta.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO IntegratorRK::IntegratorRK ( )

Default constructor.

Definition at line 51 of file integrator_runge_kutta.cpp.

IntegratorRK::IntegratorRK ( int  dim_,
double  power_ 
)

Default constructor.

Definition at line 58 of file integrator_runge_kutta.cpp.

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

Default constructor.

Definition at line 80 of file integrator_runge_kutta.cpp.

IntegratorRK::IntegratorRK ( const IntegratorRK &  arg)

Copy constructor (deep copy).

Definition at line 103 of file integrator_runge_kutta.cpp.

IntegratorRK::~IntegratorRK ( )
virtual

Destructor.

Definition at line 110 of file integrator_runge_kutta.cpp.

Member Function Documentation

void IntegratorRK::allocateMemory ( )
protected

This routine is protected and sets up all
variables (i.e. allocates memory etc.).
Note that this routine assumes that the
dimensions are already set correctly and is
thus for internal use only.

Definition at line 151 of file integrator_runge_kutta.cpp.

virtual Integrator* IntegratorRK::clone ( ) const
pure virtual

The (virtual) copy constructor

Implements Integrator.

Implemented in IntegratorDiscretizedODE, IntegratorRK23, IntegratorRK45, IntegratorRK78, and IntegratorRK12.

void IntegratorRK::constructAll ( const IntegratorRK &  arg)
protected

Implementation of the copy constructor.

Definition at line 407 of file integrator_runge_kutta.cpp.

void IntegratorRK::deleteAll ( )
protected

Implementation of the delete operator.

Definition at line 291 of file integrator_runge_kutta.cpp.

double IntegratorRK::determineEta45 ( )
protected

computes eta4 and eta5 (only for internal use)

Returns
The error estimate.

Definition at line 1625 of file integrator_runge_kutta.cpp.

double IntegratorRK::determineEta45 ( int  number)
protected

computes eta4 and eta5 (only for internal use)

Returns
The error estimate.

Definition at line 1689 of file integrator_runge_kutta.cpp.

void IntegratorRK::determineEtaGForward ( int  number)
protected

computes etaG in forward direction (only for internal use)

Definition at line 1748 of file integrator_runge_kutta.cpp.

void IntegratorRK::determineEtaGForward2 ( int  number)
protected

computes etaG and etaG2 in forward direction
(only for internal use)

Definition at line 1779 of file integrator_runge_kutta.cpp.

void IntegratorRK::determineEtaHBackward ( int  number)
protected

computes etaH in backward direction (only for internal use)

Definition at line 1817 of file integrator_runge_kutta.cpp.

void IntegratorRK::determineEtaHBackward2 ( int  number)
protected

computes etaH2 in backward direction (only for internal use)

Definition at line 1851 of file integrator_runge_kutta.cpp.

returnValue IntegratorRK::evaluate ( const DVector &  x0,
const DVector &  xa,
const DVector &  p,
const DVector &  u,
const DVector &  w,
const Grid &  t_ 
)
protectedvirtual

Starts integration: cf. integrate(...) for
more details.

Parameters
x0the initial state
xathe initial algebraic state
pthe parameters
uthe controls
wthe disturbance
t_the time interval

Implements Integrator.

Definition at line 645 of file integrator_runge_kutta.cpp.

returnValue IntegratorRK::evaluateSensitivities ( )
protectedvirtual

< Integrates forward and/or backward depending on the specified seeds.

Returns
SUCCESSFUL_RETURN
RET_NO_SEED_ALLOCATED

Implements Integrator.

Definition at line 1075 of file integrator_runge_kutta.cpp.

returnValue IntegratorRK::freezeAll ( )
virtual

Freezes the mesh as well as all intermediate values. This function
is necessary for the case that automatic differentiation in backward
mode should is used. (Note: This function might for large right hand
sides lead to memory problems as all intemediate values will be
stored!)

Returns
SUCCESSFUL_RETURN
RET_ALREADY_FROZEN

Implements Integrator.

Definition at line 621 of file integrator_runge_kutta.cpp.

returnValue IntegratorRK::freezeMesh ( )
virtual

Freezes the mesh: Storage of the step sizes. If the integrator is
freezed the mesh will be stored when calling the function integrate
for the first time. If the function integrate is called more than
once the same mesh will be reused (i.e. the step size control will
be turned off). Note that the mesh should be frozen if any kind of
sensitivity generation is used.

Returns
SUCCESSFUL_RETURN
RET_ALREADY_FROZEN

Implements Integrator.

Definition at line 605 of file integrator_runge_kutta.cpp.

int IntegratorRK::getDim ( ) const
protectedvirtual

Returns the dimension of the Differential Equation

Implements Integrator.

Definition at line 2059 of file integrator_runge_kutta.cpp.

int IntegratorRK::getNumberOfRejectedSteps ( ) const
virtual

Returns the number of rejected Steps.

Returns
The requested number of rejected steps.

Implements Integrator.

Definition at line 1603 of file integrator_runge_kutta.cpp.

int IntegratorRK::getNumberOfSteps ( ) const
virtual

Returns the number of accepted Steps.

Returns
The requested number of accepted steps.

Implements Integrator.

Definition at line 1598 of file integrator_runge_kutta.cpp.

returnValue IntegratorRK::getProtectedBackwardSensitivities ( DVector &  Dx_x0,
DVector &  Dx_p,
DVector &  Dx_u,
DVector &  Dx_w,
int  order 
) const
protectedvirtual

Returns the result for the backward sensitivities at the time tend.

Parameters
Dx_x0backward sensitivities w.r.t. the initial states
Dx_pbackward sensitivities w.r.t. the parameters
Dx_ubackward sensitivities w.r.t. the controls
Dx_wbackward sensitivities w.r.t. the disturbance
orderthe order of the derivative

Returns
SUCCESSFUL_RETURN
RET_INPUT_OUT_OF_RANGE

Implements Integrator.

Definition at line 1509 of file integrator_runge_kutta.cpp.

returnValue IntegratorRK::getProtectedForwardSensitivities ( DMatrix *  Dx,
int  order 
) const
protectedvirtual

Returns the result for the forward sensitivities at the time tend.

Returns
SUCCESSFUL_RETURN
RET_INPUT_OUT_OF_RANGE
Parameters
Dxthe result for the forward sensitivi- ties
orderthe order

Implements Integrator.

Definition at line 1475 of file integrator_runge_kutta.cpp.

returnValue IntegratorRK::getProtectedX ( DVector *  xEnd) const
protectedvirtual

Returns the result for the state at the time tend.

Returns
SUCCESSFUL_RETURN
Parameters
xEndthe result for the states at the time tend.

Implements Integrator.

Definition at line 1461 of file integrator_runge_kutta.cpp.

double IntegratorRK::getStepSize ( ) const
virtual

Returns the current step size

Implements Integrator.

Definition at line 1609 of file integrator_runge_kutta.cpp.

returnValue IntegratorRK::init ( const DifferentialEquation &  rhs_)
virtual

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

Parameters
rhsthe right-hand side of the ODE/DAE.

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

Implements Integrator.

Reimplemented in IntegratorDiscretizedODE, and IntegratorRK12.

Definition at line 116 of file integrator_runge_kutta.cpp.

returnValue IntegratorRK::init ( const DifferentialEquation &  rhs_,
const Transition &  trs_ 
)
inline

The initialization routine which takes the right-hand side of
the differential equation to be integrated. In addition a
transition function can be set which is evaluated at the end
of the integration interval.

Parameters
rhsthe right-hand side of the ODE/DAE.
trsthe transition to be evaluated at the end.

Returns
SUCCESSFUL_RETURN if all dimension checks succeed.
otherwise: integrator dependent error message.
virtual void IntegratorRK::initializeButcherTableau ( )
protectedpure virtual

This routine initializes the coefficients of the Butcher Tableau.

Implemented in IntegratorRK12, IntegratorRK23, IntegratorRK45, and IntegratorRK78.

void IntegratorRK::initializeVariables ( )
protected

This routine is protected and is basically used
to set all pointer-valued member to the NULL pointer.
In addition some dimensions are initialized with 0 as
a default value.

Definition at line 134 of file integrator_runge_kutta.cpp.

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

Definition at line 2042 of file integrator_runge_kutta.cpp.

void IntegratorRK::logCurrentIntegratorStep ( const DVector &  currentX = emptyConstVector)
protected
IntegratorRK & IntegratorRK::operator= ( const IntegratorRK &  arg)
virtual

Assignment operator (deep copy).

Definition at line 395 of file integrator_runge_kutta.cpp.

void IntegratorRK::printIntermediateResults ( )
protected

prints intermediate results for the case that the PrintLevel is
HIGH.

Definition at line 1891 of file integrator_runge_kutta.cpp.

returnValue IntegratorRK::setBackwardSeed2 ( const DVector &  seed)
protectedvirtual

Initializes a second backward seed. (only for internal use)

Parameters
seedthe seed matrix

Definition at line 1029 of file integrator_runge_kutta.cpp.

returnValue IntegratorRK::setDxInitialization ( double *  dx0)
virtual

Sets an initial guess for the differential state derivatives
(consistency condition)

Returns
SUCCESSFUL_RETURN
Parameters
dx0initial guess for the differential state derivatives

Implements Integrator.

Definition at line 1615 of file integrator_runge_kutta.cpp.

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

Initializes a second forward seed. (only for internal use)

Parameters
xSeedthe seed w.r.t the initial states
pSeedthe seed w.r.t the parameters
uSeedthe seed w.r.t the controls
wSeedthe seed w.r.t the disturbances

Definition at line 909 of file integrator_runge_kutta.cpp.

returnValue IntegratorRK::setProtectedBackwardSeed ( const DVector &  seed,
const int &  order 
)
protectedvirtual

Define a backward seed

Returns
SUCCESFUL_RETURN
RET_INPUT_OUT_OF_RANGE
Parameters
seedthe seed matrix
orderthe order of the seed.

Implements Integrator.

Definition at line 981 of file integrator_runge_kutta.cpp.

returnValue IntegratorRK::setProtectedForwardSeed ( const DVector &  xSeed,
const DVector &  pSeed,
const DVector &  uSeed,
const DVector &  wSeed,
const int &  order 
)
protectedvirtual

Define a forward seed.

Returns
SUCCESFUL RETURN
RET_INPUT_OUT_OF_RANGE
Parameters
xSeedthe seed w.r.t the initial states
pSeedthe seed w.r.t the parameters
uSeedthe seed w.r.t the controls
wSeedthe seed w.r.t the disturbances
orderthe order of the seed.

Implements Integrator.

Definition at line 835 of file integrator_runge_kutta.cpp.

returnValue IntegratorRK::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.)
Parameters
numberthe step number

Reimplemented in IntegratorDiscretizedODE, and IntegratorRK12.

Definition at line 1194 of file integrator_runge_kutta.cpp.

returnValue IntegratorRK::stop ( )
virtual

Stops the integration even if the final time has not been
reached yet. This function will also give all memory free.
In particular, the function unfreeze() will be called.
(This function is designed for the usage in real-time
contexts in order to deal with error messages without
deleting and re-initializing the integrator.)

Returns
SUCCESSFUL_RETURN

Definition at line 1455 of file integrator_runge_kutta.cpp.

returnValue IntegratorRK::unfreeze ( )
virtual

Unfreezes the mesh: Gives the memory free that has previously
been allocated by "freeze". If you use the function
integrate after unfreezing the usual step size control will be
switched on.

Returns
SUCCESSFUL_RETURN
RET_MESH_ALREADY_UNFROZED

Implements Integrator.

Definition at line 635 of file integrator_runge_kutta.cpp.

Member Data Documentation

double** IntegratorRK::A
protected

the coefficient A of the Butcher Tableau.

Definition at line 436 of file integrator_runge_kutta.hpp.

double* IntegratorRK::b4
protected

the 4th order coefficients of the Butcher Tableau.

Definition at line 437 of file integrator_runge_kutta.hpp.

double* IntegratorRK::b5
protected

the 5th order coefficients of the Butcher Tableau.

Definition at line 438 of file integrator_runge_kutta.hpp.

DVector IntegratorRK::bseed
protected

The backward seed (only internal use)

Definition at line 460 of file integrator_runge_kutta.hpp.

DVector IntegratorRK::bseed2
protected

The backward seed 2 (only internal use)

Definition at line 463 of file integrator_runge_kutta.hpp.

double* IntegratorRK::c
protected

the time coefficients of the Butcher Tableau.

Definition at line 439 of file integrator_runge_kutta.hpp.

int IntegratorRK::dim
protected

the dimension of the Butcher Tableau.

Definition at line 435 of file integrator_runge_kutta.hpp.

double IntegratorRK::err_power
protected

root order of the step size control

Definition at line 454 of file integrator_runge_kutta.hpp.

double* IntegratorRK::eta4
protected

the result of order 4

Definition at line 444 of file integrator_runge_kutta.hpp.

double* IntegratorRK::eta4_
protected

the result of order 4

Definition at line 446 of file integrator_runge_kutta.hpp.

double* IntegratorRK::eta5
protected

the result of order 5

Definition at line 445 of file integrator_runge_kutta.hpp.

double* IntegratorRK::eta5_
protected

the result of order 5

Definition at line 447 of file integrator_runge_kutta.hpp.

double* IntegratorRK::etaG
protected

Sensitivity matrix (only internal use)

Definition at line 466 of file integrator_runge_kutta.hpp.

double* IntegratorRK::etaG2
protected

Sensitivity matrix (only internal use)

Definition at line 470 of file integrator_runge_kutta.hpp.

double* IntegratorRK::etaG3
protected

Sensitivity matrix (only internal use)

Definition at line 471 of file integrator_runge_kutta.hpp.

double* IntegratorRK::etaH
protected

Sensitivity matrix (only internal use)

Definition at line 474 of file integrator_runge_kutta.hpp.

double* IntegratorRK::etaH2
protected

Sensitivity matrix (only internal use)

Definition at line 478 of file integrator_runge_kutta.hpp.

double* IntegratorRK::etaH3
protected

Sensitivity matrix (only internal use)

Definition at line 479 of file integrator_runge_kutta.hpp.

DVector IntegratorRK::fseed
protected

The forward seed (only internal use)

Definition at line 459 of file integrator_runge_kutta.hpp.

DVector IntegratorRK::fseed2
protected

The forward seed 2 (only internal use)

Definition at line 462 of file integrator_runge_kutta.hpp.

double* IntegratorRK::G
protected

Sensitivity matrix (only internal use)

Definition at line 465 of file integrator_runge_kutta.hpp.

double* IntegratorRK::G2
protected

Sensitivity matrix (only internal use)

Definition at line 468 of file integrator_runge_kutta.hpp.

double* IntegratorRK::G3
protected

Sensitivity matrix (only internal use)

Definition at line 469 of file integrator_runge_kutta.hpp.

double* IntegratorRK::H
protected

Sensitivity matrix (only internal use)

Definition at line 473 of file integrator_runge_kutta.hpp.

double* IntegratorRK::H2
protected

Sensitivity matrix (only internal use)

Definition at line 476 of file integrator_runge_kutta.hpp.

double* IntegratorRK::H3
protected

Sensitivity matrix (only internal use)

Definition at line 477 of file integrator_runge_kutta.hpp.

double** IntegratorRK::k
protected

the intermediate results

Definition at line 448 of file integrator_runge_kutta.hpp.

double** IntegratorRK::k2
protected

the intermediate results

Definition at line 449 of file integrator_runge_kutta.hpp.

double** IntegratorRK::l
protected

the intermediate results

Definition at line 450 of file integrator_runge_kutta.hpp.

double** IntegratorRK::l2
protected

the intermediate results

Definition at line 451 of file integrator_runge_kutta.hpp.

int IntegratorRK::maxAlloc
protected

size of the memory that is allocated to store
the trajectory and the mesh.

Definition at line 484 of file integrator_runge_kutta.hpp.

double IntegratorRK::t
protected

the actual time

Definition at line 452 of file integrator_runge_kutta.hpp.

double* IntegratorRK::x
protected

the actual state (only internal use)

Definition at line 453 of file integrator_runge_kutta.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 12:35:25