34 #ifndef ACADO_TOOLKIT_INTEGRATOR_HPP 35 #define ACADO_TOOLKIT_INTEGRATOR_HPP 483 const Grid &t_ ) = 0;
524 const int &order ) = 0;
536 const int &order ) = 0;
559 int order )
const = 0;
577 int order )
const = 0;
585 virtual int getDim()
const = 0;
723 #include <acado/integrator/integrator.ipp> 738 #endif // ACADO_TOOLKIT_INTEGRATOR_HPP
returnValue getX(DVector &xEnd) const
virtual int getDimX() const
virtual returnValue freezeAll()=0
virtual returnValue getProtectedX(DVector *xEnd) const =0
virtual double getStepSize() const =0
virtual returnValue evaluateSensitivities()=0
Allows real time measurements based on the system's clock.
int * int_parameter_index
virtual int getNumberOfSteps() const =0
virtual returnValue deleteAllSeeds()
Discretizes a DifferentialEquation by means of single or multiple shooting.
virtual int getNumberOfRejectedSteps() const =0
Provides a time grid consisting of vector-valued optimization variables at each grid point...
Allows to pass back messages to the calling function.
Base class for all algorithmic modules within the ACADO Toolkit providing some basic functionality...
virtual int getDim() const =0
Allows to conveniently handle (one-dimensional) grids consisting of time points.
RealClock functionEvaluation
virtual double getDifferentialEquationSampleTime() const
#define CLOSE_NAMESPACE_ACADO
virtual returnValue getProtectedBackwardSensitivities(DVector &Dx_x0, DVector &Dx_p, DVector &Dx_u, DVector &Dx_w, int order) const =0
virtual returnValue freezeMesh()=0
Abstract base class for all kinds of algorithms for integrating differential equations (ODEs or DAEs)...
virtual BooleanType canHandleImplicitSwitches() const
virtual returnValue setupOptions()
virtual returnValue unfreeze()=0
returnValue setForwardSeed(const int &order, const DVector &xSeed, const DVector &pSeed=emptyVector, const DVector &uSeed=emptyVector, const DVector &wSeed=emptyVector)
virtual returnValue setDxInitialization(double *dx0)=0
friend class SimulationByIntegration
returnValue getI(VariablesGrid &I) const
returnValue setTransition(const Transition &trs)
virtual returnValue setupLogging()
virtual returnValue getProtectedForwardSensitivities(DMatrix *Dx, int order) const =0
returnValue getBackwardSensitivities(DVector &Dx_x0, DVector &Dx_p, DVector &Dx_u, DVector &Dx_w, int order) const
returnValue getXA(DVector &xaEnd) const
virtual returnValue setProtectedForwardSeed(const DVector &xSeed, const DVector &pSeed, const DVector &uSeed, const DVector &wSeed, const int &order)=0
Allows to setup and evaluate transition functions based on SymbolicExpressions.
virtual BooleanType isDifferentialEquationAffine() const
virtual returnValue diffTransitionForward(DVector &DX, const DVector &DP, const DVector &DU, const DVector &DW, const int &order)
virtual returnValue init(const DifferentialEquation &rhs)=0
virtual returnValue diffTransitionBackward(DVector &DX, DVector &DP, DVector &DU, DVector &DW, int &order)
static DVector emptyVector
#define BEGIN_NAMESPACE_ACADO
returnValue integrateSensitivities()
returnValue getForwardSensitivities(DVector &Dx, int order) const
virtual returnValue evaluate(const DVector &x0, const DVector &xa, const DVector &p, const DVector &u, const DVector &w, const Grid &t_)=0
virtual returnValue evaluateTransition(const double time, DVector &xd, const DVector &xa, const DVector &p, const DVector &u, const DVector &w)
returnValue setBackwardSeed(const int &order, const DVector &seed)
virtual returnValue printRunTimeProfile() const
virtual Integrator * clone() const =0
virtual returnValue setProtectedBackwardSeed(const DVector &seed, const int &order)=0
returnValue integrate(double t0, double tend, double *x0, double *xa=0, double *p=0, double *u=0, double *w=0)
virtual BooleanType isDifferentialEquationDefined() const
Allows to setup and evaluate differential equations (ODEs and DAEs) based on SymbolicExpressions.
DifferentialEquation * rhs