Allows to export a tailored lifted implicit Runge-Kutta integrator with symmetric second order sensitivity generation for extra fast model predictive control. More...
#include <irk_lifted_symmetric_export.hpp>
Public Member Functions | |
virtual returnValue | getCode (ExportStatementBlock &code) |
virtual returnValue | getDataDeclarations (ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const |
virtual returnValue | getFunctionDeclarations (ExportStatementBlock &declarations) const |
SymmetricLiftedIRKExport & | operator= (const SymmetricLiftedIRKExport &arg) |
virtual returnValue | setDifferentialEquation (const Expression &rhs) |
virtual returnValue | setup () |
SymmetricLiftedIRKExport (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="") | |
SymmetricLiftedIRKExport (const SymmetricLiftedIRKExport &arg) | |
virtual | ~SymmetricLiftedIRKExport () |
Public Member Functions inherited from ForwardLiftedIRKExport | |
ForwardLiftedIRKExport (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="") | |
ForwardLiftedIRKExport (const ForwardLiftedIRKExport &arg) | |
ForwardLiftedIRKExport & | operator= (const ForwardLiftedIRKExport &arg) |
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 () |
Allows to export a tailored lifted implicit Runge-Kutta integrator with symmetric second order sensitivity generation for extra fast model predictive control.
The class SymmetricLiftedIRKExport allows to export a tailored lifted implicit Runge-Kutta integrator with symmetric second order sensitivity generation for extra fast model predictive control.
Definition at line 53 of file irk_lifted_symmetric_export.hpp.
BEGIN_NAMESPACE_ACADO SymmetricLiftedIRKExport::SymmetricLiftedIRKExport | ( | 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_symmetric_export.cpp.
SymmetricLiftedIRKExport::SymmetricLiftedIRKExport | ( | const SymmetricLiftedIRKExport & | arg | ) |
Copy constructor (deep copy).
@param[in] arg Right-hand side object.
Definition at line 51 of file irk_lifted_symmetric_export.cpp.
|
virtual |
Destructor.
Definition at line 56 of file irk_lifted_symmetric_export.cpp.
|
protectedvirtual |
Returns the largest global export variable.
\return SUCCESSFUL_RETURN
Reimplemented from ForwardLiftedIRKExport.
Definition at line 77 of file irk_lifted_symmetric_export.cpp.
|
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 ForwardLiftedIRKExport.
Definition at line 272 of file irk_lifted_symmetric_export.cpp.
|
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 ForwardLiftedIRKExport.
Definition at line 121 of file irk_lifted_symmetric_export.cpp.
|
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 ForwardLiftedIRKExport.
Definition at line 144 of file irk_lifted_symmetric_export.cpp.
SymmetricLiftedIRKExport & SymmetricLiftedIRKExport::operator= | ( | const SymmetricLiftedIRKExport & | arg | ) |
Assignment operator (deep copy).
@param[in] arg Right-hand side object.
Definition at line 66 of file irk_lifted_symmetric_export.cpp.
|
protected |
Definition at line 258 of file irk_lifted_symmetric_export.cpp.
|
virtual |
Assigns Differential Equation to be used by the integrator.
@param[in] rhs Right-hand side expression. \return SUCCESSFUL_RETURN
Reimplemented from ForwardLiftedIRKExport.
Definition at line 153 of file irk_lifted_symmetric_export.cpp.
|
virtual |
Initializes export of a tailored integrator.
\return SUCCESSFUL_RETURN
Reimplemented from ForwardLiftedIRKExport.
Definition at line 829 of file irk_lifted_symmetric_export.cpp.
|
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 ForwardLiftedIRKExport.
Definition at line 803 of file irk_lifted_symmetric_export.cpp.
|
protected |
Module to export the evaluation of a forward sweep of the derivatives of the ordinary differential equations.
Definition at line 160 of file irk_lifted_symmetric_export.hpp.
|
protected |
Variable containing the factorized matrix of the linear system over the forward trajectory.
Definition at line 163 of file irk_lifted_symmetric_export.hpp.
|
protected |
Variable containing the factorized matrix of the linear system over the forward trajectory.
Definition at line 164 of file irk_lifted_symmetric_export.hpp.
|
protected |
The lambda variables over the shooting interval.
Definition at line 173 of file irk_lifted_symmetric_export.hpp.
|
protected |
Variable containing the FULL update on all the variables.
Definition at line 168 of file irk_lifted_symmetric_export.hpp.
|
protected |
Sensitivities to propagate the lambda variables.
Definition at line 170 of file irk_lifted_symmetric_export.hpp.
|
protected |
Sensitivities to update the mu variables.
Definition at line 169 of file irk_lifted_symmetric_export.hpp.
|
protected |
TODO.
Definition at line 167 of file irk_lifted_symmetric_export.hpp.
|
protected |
TODO.
Definition at line 166 of file irk_lifted_symmetric_export.hpp.
|
protected |
The lambda variables over the shooting interval.
Definition at line 172 of file irk_lifted_symmetric_export.hpp.
|
protected |
Variable containing the forward trajectory of the first order sensitivities.
Definition at line 162 of file irk_lifted_symmetric_export.hpp.