46 const std::string& _commonHeaderName
74 const std::string &_commonHeaderName)
80 AA(0,0) = (6.0-
sqrt(6.0))/10.0;
AA(0,1) = 0.0;
AA(0,2) = 0.0;
AA(0,3) = 0.0;
AA(0,4) = 0.0;
81 AA(1,0) = (5.0*
sqrt(6.0)-6.0)/14.0;
AA(1,1) = (6.0-
sqrt(6.0))/10.0;
AA(1,2) = 0.0;
AA(1,3) = 0.0;
AA(1,4) = 0.0;
82 AA(2,0) = (607.0*
sqrt(6.0)+888.0)/2850.0;
AA(2,1) = (126.0-161.0*
sqrt(6.0))/1425.0;
AA(2,2) = (6.0-
sqrt(6.0))/10.0;
AA(2,3) = 0.0;
AA(2,4) = 0.0;
83 AA(3,0) = (3153.0-3082.0*
sqrt(6.0))/14250.0;
AA(3,1) = (3213.0+1148.0*
sqrt(6.0))/28500.0;
AA(3,2) = (88.0*
sqrt(6.0)-267.0)/500.0;
AA(3,3) = (6.0-
sqrt(6.0))/10.0;
AA(3,4) = 0.0;
84 AA(4,0) = (14638.0*
sqrt(6.0)-32583.0)/71250.0;
AA(4,1) = (364.0*
sqrt(6.0)-17199.0)/142500.0;
AA(4,2) = (1329.0-544.0*
sqrt(6.0))/2500.0;
AA(4,3) = (131.0*
sqrt(6.0)-96.0)/625.0;
AA(4,4) = (6.0-
sqrt(6.0))/10.0;
89 bb(3) = (16.0-
sqrt(6.0))/36.0;
90 bb(4) = (16.0+
sqrt(6.0))/36.0;
92 cc(0) = (6.0-
sqrt(6.0))/10.0;
93 cc(1) = (6.0+9.0*
sqrt(6.0))/35.0;
95 cc(3) = (4.0-
sqrt(6.0))/10.0;
96 cc(4) = (4.0+
sqrt(6.0))/10.0;
DiagonallyImplicitRKExport * createDiagonallyImplicitRKExport(UserInteraction *_userInteraction, const std::string &_commonHeaderName)
IntermediateState sqrt(const Expression &arg)
DiagonallyIRK5Export(UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")
IntegratorExport * createDiagonallyIRK5Export(UserInteraction *_userInteraction, const std::string &_commonHeaderName)
#define CLOSE_NAMESPACE_ACADO
virtual returnValue copy(const ImplicitRungeKuttaExport &arg)
Allows to export a tailored diagonally implicit 5-stage Runge-Kutta method of order 5 for fast model ...
Encapsulates all user interaction for setting options, logging data and plotting results.
returnValue initializeButcherTableau(const DMatrix &_AA, const DVector &_bb, const DVector &_cc)
Allows to export a tailored integrator for fast model predictive control.
#define BEGIN_NAMESPACE_ACADO
virtual ~DiagonallyIRK5Export()
virtual returnValue clear()
Allows to export a tailored diagonally implicit Runge-Kutta integrator for fast model predictive cont...