export_matlab_integrator.cpp

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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
 *
 */



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


BEGIN_NAMESPACE_ACADO

using namespace std;


//
// PUBLIC MEMBER FUNCTIONS:
//

ExportMatlabIntegrator::ExportMatlabIntegrator( const std::string& _templateName,
                                                                                                const std::string& _fileName,
                                                                                                const std::string& _commonHeaderName,
                                                                                                const std::string& _realString,
                                                                                                const std::string& _intString,
                                                                                                int _precision,
                                                                                                const std::string& _commentString
                                                ) : ExportTemplatedFile(_templateName, _fileName, _commonHeaderName, _realString, _intString, _precision, _commentString)
{}


ExportMatlabIntegrator::ExportMatlabIntegrator( const ExportMatlabIntegrator& arg
                                                ) : ExportTemplatedFile( arg )
{}


ExportMatlabIntegrator::~ExportMatlabIntegrator( )
{}


ExportMatlabIntegrator& ExportMatlabIntegrator::operator=(      const ExportMatlabIntegrator& arg
                                                                                                                )
{
        if( this != &arg )
        {
                ExportTemplatedFile::operator=( arg );
        }
        
        return *this;
}

returnValue ExportMatlabIntegrator::configure(  const uint sensProp, const uint online, const uint debugMode, const uint timingCalls, const uint numStages )
{       
        // Configure the dictionary
        dictionary[ "@SENS_PROP@" ] =  toString(sensProp);
        dictionary[ "@ONLINE_GRID@" ] =  toString(online);
        dictionary[ "@DEBUG_MODE@" ] =  toString(debugMode);
        if( timingCalls > 1 )   dictionary[ "@CALLS_TIMING@" ] =  toString(timingCalls);
        else                                    dictionary[ "@CALLS_TIMING@" ] =  toString(1);
        dictionary[ "@NUM_STAGES@" ] =  toString(numStages);
        dictionary[ "@MODULE_NAME@" ] = ExportStatement::fcnPrefix;
        dictionary[ "@MODULE_PREFIX@" ] = ExportStatement::varPrefix;
        
        // And then fill a template file
        fillTemplate();

        return SUCCESSFUL_RETURN;
}

//
// PROTECTED MEMBER FUNCTIONS:
//

CLOSE_NAMESPACE_ACADO

// end of file.