45 const std::string& _commonHeaderName
73 LOG(
LVL_DEBUG ) <<
"Preparing to export ExplicitRungeKuttaExport... " << endl;
77 if( !DERIVATIVES ) rhsDim =
NX;
123 rk_eta.
setDoc(
"Working array to pass the input values and return the results." );
124 reset_int.
setDoc(
"The internal memory of the integrator can be reset." );
127 integrate.
doc(
"Performs the integration and sensitivity propagation for one shooting interval." );
166 for(
uint run1 = 0; run1 < rkOrder; run1++ )
222 if( f_ODE.
getNDX() > 0 ) {
334 code <<
"#pragma omp threadprivate( " 368 const std::vector<std::string> _outputNames,
369 const std::vector<std::string> _diffs_outputNames,
370 const std::vector<uint> _dims_output ) {
377 const std::vector<std::string> _outputNames,
378 const std::vector<std::string> _diffs_outputNames,
379 const std::vector<uint> _dims_output,
380 const std::vector<DMatrix> _outputDependencies ) {
#define LOG(level)
Just define a handy macro for getting the logger.
Lowest level, the debug level.
virtual returnValue setup()
ExportVariable getRow(const ExportIndex &idx) const
Allows to export a tailored explicit Runge-Kutta integrator for fast model predictive control...
ExportVariable getGlobalExportVariable() const
double getFirstTime() const
Allows to export a tailored Runge-Kutta integrator for fast model predictive control.
ExportVariable & setup(const std::string &_name, uint _nRows=1, uint _nCols=1, ExportType _type=REAL, ExportStruct _dataStruct=ACADO_LOCAL, bool _callItByValue=false, const std::string &_prefix=std::string())
UserInteraction * userInteraction
ExportAcadoFunction diffs_rhs
returnValue get(OptionsName name, int &value) const
virtual ExportVariable getAuxVariable() const
Allows to pass back messages to the calling function.
GenericMatrix & makeVector()
Expression forwardDerivative(const Expression &arg1, const Expression &arg2)
returnValue addComment(const std::string &_comment)
BEGIN_NAMESPACE_ACADO typedef unsigned int uint
virtual returnValue setLinearOutput(const DMatrix &M3, const DMatrix &A3, const Expression &rhs)
Allows to export code of a for-loop.
string toString(T const &value)
returnValue setName(const std::string &_name)
#define CLOSE_NAMESPACE_ACADO
GenericMatrix< double > DMatrix
const std::string getNameDiffsRHS() const
Defines a scalar-valued index variable to be used for exporting code.
virtual ~ExplicitRungeKuttaExport()
Base class for all variables within the symbolic expressions family.
virtual returnValue setDoc(const std::string &_doc)
virtual ExportFunction & doc(const std::string &_doc)
virtual returnValue copy(const RungeKuttaExport &arg)
ExportVariable getCols(const ExportIndex &idx1, const ExportIndex &idx2) const
Expression multipleForwardDerivative(const Expression &arg1, const Expression &arg2, const Expression &seed)
virtual returnValue getFunctionDeclarations(ExportStatementBlock &declarations) const
Encapsulates all user interaction for setting options, logging data and plotting results.
Allows to export code of an arbitrary function.
virtual uint getDim() const
returnValue setDataStruct(ExportStruct _dataStruct)
returnValue addStatement(const ExportStatement &_statement)
std::string getFullName() const
virtual returnValue getDataDeclarations(ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const
returnValue addLinebreak(uint num=1)
ExportFunction & setReturnValue(const ExportVariable &_functionReturnValue, bool _returnAsPointer=false)
uint getNumIntervals() const
returnValue setGlobalExportVariable(const ExportVariable &var)
DifferentialStateDerivative dx
returnValue addDeclaration(const ExportVariable &_data, ExportStruct _dataStruct=ACADO_ANY)
double getLastTime() const
#define BEGIN_NAMESPACE_ACADO
ExportVariable error_code
returnValue clearStaticCounters()
returnValue addFunction(const ExportFunction &_function)
ExplicitRungeKuttaExport(UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")
virtual returnValue setDifferentialEquation(const Expression &rhs)
virtual returnValue clear()
virtual returnValue setLinearInput(const DMatrix &M1, const DMatrix &A1, const DMatrix &B1)
Allows to export code for a block of statements.
ExportArgument getAddress(const ExportIndex &_rowIdx, const ExportIndex &_colIdx=emptyConstExportIndex) const
ExportVariable getCol(const ExportIndex &idx) const
returnValue init(const Function &_f, const std::string &_name="acadoFcn", const uint _numX=0, const uint _numXA=0, const uint _numU=0, const uint _numP=0, const uint _numDX=0, const uint _numOD=0)
ExportFunction & addIndex(const ExportIndex &_index)
virtual returnValue setupOutput(const std::vector< Grid > outputGrids_, const std::vector< Expression > rhs)
virtual returnValue getCode(ExportStatementBlock &code)
#define ACADOERROR(retval)
virtual bool equidistantControlGrid() const
Defines a matrix-valued variable to be used for exporting code.
#define ACADOERRORTEXT(retval, text)
returnValue addFunctionCall(const std::string &_fName, const ExportArgument &_argument1=emptyConstExportArgument, const ExportArgument &_argument2=emptyConstExportArgument, const ExportArgument &_argument3=emptyConstExportArgument, const ExportArgument &_argument4=emptyConstExportArgument, const ExportArgument &_argument5=emptyConstExportArgument, const ExportArgument &_argument6=emptyConstExportArgument, const ExportArgument &_argument7=emptyConstExportArgument, const ExportArgument &_argument8=emptyConstExportArgument, const ExportArgument &_argument9=emptyConstExportArgument)
Allows to setup and evaluate differential equations (ODEs and DAEs) based on SymbolicExpressions.
std::string getName() const