Allows to export a tailored polynomial NARX integrator for fast model predictive control. More...

#include <narx_export.hpp>

Inheritance diagram for NARXExport:

[legend]

Public Member Functions
virtual returnValue	getDataDeclarations (ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const

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

	NARXExport (const NARXExport &arg)

returnValue	propagateImplicitSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index)

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	setDifferentialEquation (const Expression &rhs)

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)

returnValue	setModel (const std::string &_rhs, const std::string &_diffs_rhs)

returnValue	setNARXmodel (const uint _delay, const DMatrix &_parms)

virtual returnValue	setup ()

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

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	~NARXExport ()

Public Member Functions inherited from DiscreteTimeExport
	DiscreteTimeExport (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")

	DiscreteTimeExport (const DiscreteTimeExport &arg)

virtual returnValue	getCode (ExportStatementBlock &code)

virtual returnValue	getFunctionDeclarations (ExportStatementBlock &declarations) const

DiscreteTimeExport &	operator= (const DiscreteTimeExport &arg)

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	~DiscreteTimeExport ()

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	setGrid (const Grid &_grid)

virtual returnValue	setLinearInput (const DMatrix &M1, const DMatrix &A1, const DMatrix &B1)

virtual returnValue	setModelData (const ModelData &data)

virtual returnValue	setNonlinearFeedback (const DMatrix &C, const Expression &feedb)

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
returnValue	formNARXpolynomial (const uint num, const uint order, uint &base, const uint index, IntermediateState &result)

returnValue	prepareFullRhs ()

Protected Member Functions inherited from DiscreteTimeExport
virtual returnValue	copy (const DiscreteTimeExport &arg)

ExportVariable	getAuxVariable () const

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
uint	delay

DMatrix	parms

Protected Attributes inherited from DiscreteTimeExport
ExportVariable	rk_diffsTemp3

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 polynomial NARX integrator for fast model predictive control.

The class NARXExport allows to export a tailored polynomial NARX integrator for fast model predictive control.

Author: Rien Quirynen

Definition at line 54 of file narx_export.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO NARXExport::NARXExport	(	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 44 of file narx_export.cpp.

NARXExport::NARXExport ( const NARXExport & arg )

Copy constructor (deep copy).

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

Definition at line 52 of file narx_export.cpp.

NARXExport::~NARXExport ( )

virtual

Destructor.

Definition at line 62 of file narx_export.cpp.

Member Function Documentation

returnValue NARXExport::formNARXpolynomial	(	const uint	num,
		const uint	order,
		uint &	base,
		const uint	index,
		IntermediateState &	result
	)

protected

..

Definition at line 727 of file narx_export.cpp.

returnValue NARXExport::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 DiscreteTimeExport.

Definition at line 597 of file narx_export.cpp.

returnValue NARXExport::prepareFullRhs ( )

protected

Prepares a function that evaluates the complete right-hand side.

\return SUCCESSFUL_RETURN

Definition at line 326 of file narx_export.cpp.

returnValue NARXExport::propagateImplicitSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	tmp_index
	)

virtual

Exports the code needed to propagate the sensitivities of the states defined by the nonlinear part.

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

\return SUCCESSFUL_RETURN

Reimplemented from IntegratorExport.

Definition at line 458 of file narx_export.cpp.

returnValue NARXExport::propagateInputSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	tmp_index
	)

virtual

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

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

\return SUCCESSFUL_RETURN

Reimplemented from IntegratorExport.

Definition at line 430 of file narx_export.cpp.

returnValue NARXExport::propagateOutputSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	tmp_index
	)

virtual

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

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

\return SUCCESSFUL_RETURN

Reimplemented from IntegratorExport.

Definition at line 513 of file narx_export.cpp.

returnValue NARXExport::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 DiscreteTimeExport.

Definition at line 583 of file narx_export.cpp.

returnValue NARXExport::setLinearOutput	(	const DMatrix &	M3,
		const DMatrix &	A3,
		const Expression &	rhs
	)

virtual

@param[in]          .

\return SUCCESSFUL_RETURN

Reimplemented from IntegratorExport.

Definition at line 649 of file narx_export.cpp.

returnValue NARXExport::setLinearOutput	(	const DMatrix &	M3,
		const DMatrix &	A3,
		const std::string &	_rhs3,
		const std::string &	_diffs_rhs3
	)

virtual

@param[in]          .

\return SUCCESSFUL_RETURN

Reimplemented from IntegratorExport.

Definition at line 720 of file narx_export.cpp.

returnValue NARXExport::setModel	(	const std::string &	_rhs,
		const std::string &	_diffs_rhs
	)

virtual

Assigns the model to be used by the integrator.

@param[in] _rhs                             Name of the function, evaluating the right-hand side.
@param[in] _diffs_rhs               Name of the function, evaluating the derivatives of the right-hand side.

\return SUCCESSFUL_RETURN

Reimplemented from IntegratorExport.

Definition at line 590 of file narx_export.cpp.

returnValue NARXExport::setNARXmodel	(	const uint	_delay,
		const DMatrix &	_parms
	)

virtual

Sets a polynomial NARX model to be used by the integrator.

@param[in] delay            The delay for the states in the NARX model.
@param[in] parms            The parameters defining the polynomial NARX model.

\return SUCCESSFUL_RETURN

Reimplemented from DiscreteTimeExport.

Definition at line 606 of file narx_export.cpp.

returnValue NARXExport::setup ( )

virtual

Initializes export of a tailored integrator.

\return SUCCESSFUL_RETURN

Reimplemented from DiscreteTimeExport.

Definition at line 68 of file narx_export.cpp.

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

virtual

Exports the code needed to update the sensitivities of the states defined by the nonlinear part.

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

\return SUCCESSFUL_RETURN

Reimplemented from IntegratorExport.

Definition at line 385 of file narx_export.cpp.

returnValue NARXExport::updateInputSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	tmp_index
	)

virtual

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

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

\return SUCCESSFUL_RETURN

Reimplemented from IntegratorExport.

Definition at line 363 of file narx_export.cpp.

returnValue NARXExport::updateOutputSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	tmp_index
	)

virtual

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

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

\return SUCCESSFUL_RETURN

Reimplemented from IntegratorExport.

Definition at line 408 of file narx_export.cpp.

Member Data Documentation

uint NARXExport::delay

protected

Definition at line 244 of file narx_export.hpp.

DMatrix NARXExport::parms

protected

Definition at line 245 of file narx_export.hpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation