erk_export.hpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */



#ifndef ACADO_TOOLKIT_ERK_EXPORT_HPP
#define ACADO_TOOLKIT_ERK_EXPORT_HPP

#include <acado/code_generation/integrators/rk_export.hpp>


BEGIN_NAMESPACE_ACADO


class ExplicitRungeKuttaExport : public RungeKuttaExport
{
    //
    // PUBLIC MEMBER FUNCTIONS:
    //

    public:

        ExplicitRungeKuttaExport(       UserInteraction* _userInteraction = 0,
                                                        const std::string& _commonHeaderName = ""
                                                        );

        ExplicitRungeKuttaExport(       const ExplicitRungeKuttaExport& arg
                                                        );

        virtual ~ExplicitRungeKuttaExport( );


                virtual returnValue setup( );


                virtual returnValue setDifferentialEquation( const Expression& rhs );


                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 getDataDeclarations(        ExportStatementBlock& declarations,
                                                                                                        ExportStruct dataStruct = ACADO_ANY
                                                                                                        ) const;


                virtual returnValue getFunctionDeclarations(    ExportStatementBlock& declarations
                                                                                                                ) const;



                virtual returnValue getCode(    ExportStatementBlock& code
                                                                                );
                                                        
        
                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 );


        protected:


                virtual ExportVariable getAuxVariable() const;


    protected:


};

CLOSE_NAMESPACE_ACADO


#include <acado/code_generation/integrators/lifted_erk_export.hpp>
#include <acado/code_generation/integrators/erk_adjoint_export.hpp>
#include <acado/code_generation/integrators/erk_fob_export.hpp>
#include <acado/code_generation/integrators/erk_3sweep_export.hpp>
#include <acado/code_generation/integrators/erk_export.ipp>


#endif  // ACADO_TOOLKIT_ERK_EXPORT_HPP

// end of file.