Allows to export a tailored Runge-Kutta integrator for fast model predictive control. More...

#include <rk_export.hpp>

Inheritance diagram for RungeKuttaExport:

[legend]

Public Member Functions
BooleanType	checkSymmetry (const DVector &_cc)

virtual returnValue	getCode (ExportStatementBlock &code)=0

virtual returnValue	getDataDeclarations (ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const =0

virtual returnValue	getFunctionDeclarations (ExportStatementBlock &declarations) const =0

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)

virtual returnValue	setDifferentialEquation (const Expression &rhs)=0

returnValue	setNARXmodel (const uint delay, const DMatrix &parms)

virtual returnValue	setup ()=0

virtual returnValue	setupOutput (const std::vector< Grid > outputGrids_, const std::vector< Expression > rhs)=0

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	setModel (const std::string &_name_ODE, const std::string &_name_diffs_ODE)

virtual returnValue	setModelData (const ModelData &data)

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

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)=0

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)=0

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

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	copy (const RungeKuttaExport &arg)

Protected Member Functions inherited from IntegratorExport
virtual returnValue	clear ()

virtual returnValue	copy (const IntegratorExport &arg)

DMatrix	expandOutputMatrix (const DMatrix &A3)

virtual ExportVariable	getAuxVariable () const =0

uint	getIntegrationInterval (double time)

Protected Attributes
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 Runge-Kutta integrator for fast model predictive control.

The class RungeKuttaExport allows to export a tailored Runge-Kutta integrator for fast model predictive control.

Author: Rien Quirynen

Definition at line 54 of file rk_export.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO RungeKuttaExport::RungeKuttaExport	(	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 rk_export.cpp.

RungeKuttaExport::RungeKuttaExport ( const RungeKuttaExport & arg )

Copy constructor (deep copy).

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

Definition at line 52 of file rk_export.cpp.

RungeKuttaExport::~RungeKuttaExport ( )

virtual

Destructor.

Definition at line 59 of file rk_export.cpp.

Member Function Documentation

BooleanType RungeKuttaExport::checkSymmetry ( const DVector & _cc )

This routine checks the symmetry of the cc vector from the Butcher Tableau.

Definition at line 93 of file rk_export.cpp.

returnValue RungeKuttaExport::copy ( const RungeKuttaExport & arg )

protectedvirtual

Copies all class members from given object.

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

\return SUCCESSFUL_RETURN

Definition at line 122 of file rk_export.cpp.

virtual returnValue RungeKuttaExport::getCode ( ExportStatementBlock & code )

pure 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

Implements IntegratorExport.

Implemented in ImplicitRungeKuttaExport, ExplicitRungeKuttaExport, AdjointLiftedIRKExport, FeedbackLiftedIRKExport, ForwardBackwardLiftedIRKExport, ForwardLiftedIRKExport, SymmetricLiftedIRKExport, SymmetricIRKExport, ForwardIRKExport, LiftedERKExport, ThreeSweepsERKExport, and AdjointERKExport.

virtual returnValue RungeKuttaExport::getDataDeclarations	(	ExportStatementBlock &	declarations,
		ExportStruct	dataStruct = `ACADO_ANY`
	)		const

pure virtual

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

@param[in] declarations             List of declarations.

\return SUCCESSFUL_RETURN

Implements IntegratorExport.

Implemented in ImplicitRungeKuttaExport, ExplicitRungeKuttaExport, AdjointLiftedIRKExport, FeedbackLiftedIRKExport, ForwardBackwardLiftedIRKExport, ForwardLiftedIRKExport, SymmetricLiftedIRKExport, SymmetricIRKExport, LiftedERKExport, ThreeSweepsERKExport, AdjointERKExport, and ForwardIRKExport.

virtual returnValue RungeKuttaExport::getFunctionDeclarations ( ExportStatementBlock & declarations ) const

pure 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

Implements IntegratorExport.

Implemented in ImplicitRungeKuttaExport, ExplicitRungeKuttaExport, AdjointLiftedIRKExport, FeedbackLiftedIRKExport, ForwardBackwardLiftedIRKExport, ForwardLiftedIRKExport, SymmetricLiftedIRKExport, SymmetricIRKExport, and ForwardIRKExport.

uint RungeKuttaExport::getNumStages ( )

This routine returns the number of stages of the Runge-Kutta integrator that will be exported.

Definition at line 106 of file rk_export.cpp.

returnValue RungeKuttaExport::initializeButcherTableau	(	const DMatrix &	_AA,
		const DVector &	_bb,
		const DVector &	_cc
	)

This routine initializes the matrices AA, bb and cc which form the Butcher Tableau.

Definition at line 78 of file rk_export.cpp.

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

Assignment operator (deep copy).

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

Definition at line 65 of file rk_export.cpp.

virtual returnValue RungeKuttaExport::setDifferentialEquation ( const Expression & rhs )

pure virtual

Assigns Differential Equation to be used by the integrator.

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

\return SUCCESSFUL_RETURN

Implements IntegratorExport.

Implemented in ImplicitRungeKuttaExport, AdjointLiftedIRKExport, ForwardBackwardLiftedIRKExport, ForwardLiftedIRKExport, SymmetricLiftedIRKExport, SymmetricIRKExport, ExplicitRungeKuttaExport, LiftedERKExport, ThreeSweepsERKExport, AdjointERKExport, and ForwardOverBackwardERKExport.

returnValue RungeKuttaExport::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

Implements IntegratorExport.

Definition at line 112 of file rk_export.cpp.

virtual returnValue RungeKuttaExport::setup ( )

pure virtual

Initializes export of a tailored integrator.

\return SUCCESSFUL_RETURN

Implements IntegratorExport.

Implemented in DiagonallyImplicitRKExport, LiftedERKExport, ThreeSweepsERKExport, AdjointERKExport, ForwardOverBackwardERKExport, ImplicitRungeKuttaExport, ForwardIRKExport, AdjointLiftedIRKExport, FeedbackLiftedIRKExport, ForwardBackwardLiftedIRKExport, ForwardLiftedIRKExport, SymmetricLiftedIRKExport, SymmetricIRKExport, and ExplicitRungeKuttaExport.

virtual returnValue RungeKuttaExport::setupOutput	(	const std::vector< Grid >	outputGrids_,
		const std::vector< Expression >	rhs
	)

pure virtual

Sets up the output with the grids for the different output functions.

Parameters

outputGrids_	The vector containing a grid for each output function.
rhs	The expressions corresponding the output functions.

Returns: SUCCESSFUL_RETURN

Implements IntegratorExport.

Implemented in ExplicitRungeKuttaExport, and ImplicitRungeKuttaExport.

Member Data Documentation

DMatrix RungeKuttaExport::AA

protected

This matrix defines the Runge-Kutta method to be exported.

Definition at line 191 of file rk_export.hpp.

DVector RungeKuttaExport::bb

protected

Definition at line 192 of file rk_export.hpp.

DVector RungeKuttaExport::cc

protected

These vectors define the Runge-Kutta method to be exported.

Definition at line 192 of file rk_export.hpp.

BooleanType RungeKuttaExport::is_symmetric

protected

Boolean defining whether a certain RK method is symmetric or not, which is important for backward sensitivity propagation.

Definition at line 194 of file rk_export.hpp.

uint RungeKuttaExport::numStages

protected

This is the number of stages for the Runge-Kutta method.

Definition at line 196 of file rk_export.hpp.

ExportVariable RungeKuttaExport::rk_kkk

protected

Variable containing intermediate results of the RK integrator.

Definition at line 189 of file rk_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