erk3_export.cpp
Go to the documentation of this file.
1 /*
2  * This file is part of ACADO Toolkit.
3  *
4  * ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
5  * Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
6  * Milan Vukov, Rien Quirynen, KU Leuven.
7  * Developed within the Optimization in Engineering Center (OPTEC)
8  * under supervision of Moritz Diehl. All rights reserved.
9  *
10  * ACADO Toolkit is free software; you can redistribute it and/or
11  * modify it under the terms of the GNU Lesser General Public
12  * License as published by the Free Software Foundation; either
13  * version 3 of the License, or (at your option) any later version.
14  *
15  * ACADO Toolkit is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
18  * Lesser General Public License for more details.
19  *
20  * You should have received a copy of the GNU Lesser General Public
21  * License along with ACADO Toolkit; if not, write to the Free Software
22  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
23  *
24  */
25 
26 
27 
35 
37 
39 
40 
41 //
42 // PUBLIC MEMBER FUNCTIONS:
43 //
44 
46  const std::string& _commonHeaderName
47  ) : ExplicitRungeKuttaExport( _userInteraction,_commonHeaderName )
48 {
49 }
50 
51 
53  ) : ExplicitRungeKuttaExport( arg )
54 {
55  copy( arg );
56 }
57 
58 
60 {
61  clear( );
62 }
63 
64 
65 // PROTECTED:
66 
67 //
68 // Register the integrator
69 //
70 
72  const std::string &_commonHeaderName)
73 {
74  DMatrix AA(3,3);
75  DVector bb(3);
76  DVector cc(3);
77 
78  AA(0,0) = 0.0; AA(0,1) = 0.0; AA(0,2) = 0.0;
79  AA(1,0) = 1.0/3.0; AA(1,1) = 0.0; AA(1,2) = 0.0;
80  AA(2,0) = 0.0; AA(2,1) = 2.0/3.0; AA(2,2) = 0.0;
81 
82  bb(0) = 1.0/4.0;
83  bb(1) = 0.0;
84  bb(2) = 3.0/4.0;
85 
86  cc(0) = 0.0;
87  cc(1) = 1.0/3.0;
88  cc(2) = 2.0/3.0;
89 
90  ExplicitRungeKuttaExport* integrator = createExplicitRungeKuttaExport(_userInteraction, _commonHeaderName);
91  integrator->initializeButcherTableau(AA, bb, cc);
92 
93  return integrator;
94 }
95 
96 
98 
99 // end of file.
Allows to export a tailored explicit Runge-Kutta integrator for fast model predictive control...
Definition: erk_export.hpp:54
#define CLOSE_NAMESPACE_ACADO
virtual returnValue copy(const RungeKuttaExport &arg)
Definition: rk_export.cpp:122
virtual ~ExplicitRungeKutta3Export()
Definition: erk3_export.cpp:59
Allows to export a tailored explicit Runge-Kutta integrator of order 3 for fast model predictive cont...
Definition: erk3_export.hpp:54
Encapsulates all user interaction for setting options, logging data and plotting results.
returnValue initializeButcherTableau(const DMatrix &_AA, const DVector &_bb, const DVector &_cc)
Definition: rk_export.cpp:78
Allows to export a tailored integrator for fast model predictive control.
#define BEGIN_NAMESPACE_ACADO
IntegratorExport * createExplicitRungeKutta3Export(UserInteraction *_userInteraction, const std::string &_commonHeaderName)
Definition: erk3_export.cpp:71
ExplicitRungeKutta3Export(UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")
Definition: erk3_export.cpp:45
virtual returnValue clear()


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Mon Jun 10 2019 12:34:33