196 h = (
double*)realloc(
h,
maxAlloc*
sizeof(
double));
208 for( jj = i1+1; jj <= i2; jj++ ){
210 for( run1 = 0; run1 <
m; run1++ )
213 for( run1 = 0; run1 <
mn; run1++ )
229 for( run1 = 0; run1 <
m; run1++ ){
261 for( run1 = 0; run1 <
m; run1++ )
267 for( run1 = 0; run1 <
m; run1++ )
268 eta4[run1] =
k[0][run1];
279 for( run1 = 0; run1 <
nFDirs; run1++ ){
281 for( run2 = 0; run2 <
m; run2++ )
287 for( run2 = 0; run2 <
m; run2++ )
288 etaG[run2] =
k[0][run2];
301 for( run2 = 0; run2 < ndir; run2++ )
304 for( run2 = 0; run2 <
m; run2++ )
310 for( run2 = 0; run2 < ndir; run2++ )
311 etaH[run2] +=
l[0][run2];
313 for( run2 = 0; run2 <
m; run2++ )
325 for( run2 = 0; run2 <
m; run2++ ){
327 G3[diff_index[run2]] =
etaG3[run2];
333 for( run2 = 0; run2 <
m; run2++ ){
334 etaG2[run2] =
k [0][run2];
348 for( run2 = 0; run2 < ndir; run2++ ){
353 for( run2 = 0; run2 <
m; run2++ ){
355 H3[run2] =
etaH3[diff_index[run2]];
361 for( run2 = 0; run2 < ndir; run2++ ){
362 etaH2[run2] +=
l [0][run2];
365 for( run2 = 0; run2 <
m; run2++ ){
367 etaH3[diff_index[run2]] =
l2[0][diff_index[run2]];
virtual IntegratorRK12 & operator=(const IntegratorRK12 &arg)
virtual double getStepLength() const
virtual ~IntegratorDiscretizedODE()
returnValue performADforwardStep(const int &number_)
virtual BooleanType isDiscretized() const
Allows to pass back messages to the calling function.
virtual returnValue init(const DifferentialEquation &rhs_)
#define CLOSE_NAMESPACE_ACADO
returnValue performADforwardStep2(const int &number_)
Abstract base class for all kinds of algorithms for integrating differential equations (ODEs or DAEs)...
uint getFloorIndex(double time) const
returnValue performADbackwardStep(const int &number_)
returnValue performDiscreteStep(const int &number_)
virtual returnValue step(int number)
virtual returnValue evaluate(const DVector &x0, const DVector &xa, const DVector &p, const DVector &u, const DVector &w, const Grid &t_)
returnValue performADbackwardStep2(const int &number_)
Implements the Runge-Kutta-12 scheme for integrating ODEs.
int index(VariableType variableType_, int index_) const
virtual IntegratorDiscretizedODE & operator=(const IntegratorDiscretizedODE &arg)
double getLastTime() const
#define ACADOWARNING(retval)
IntegratorDiscretizedODE()
#define BEGIN_NAMESPACE_ACADO
virtual returnValue init(const DifferentialEquation &rhs_)
virtual Integrator * clone() const
int getNumberOfVariables() const
Implements a scheme for evaluating discretized ODEs.
#define ACADOERROR(retval)
Allows to setup and evaluate differential equations (ODEs and DAEs) based on SymbolicExpressions.
DifferentialEquation * rhs