irk_4stage_single_newton_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_EXPORT_IRK_4STAGE_SINGLE_SOLVER_HPP
#define ACADO_TOOLKIT_EXPORT_IRK_4STAGE_SINGLE_SOLVER_HPP

#include <acado/code_generation/linear_solvers/gaussian_elimination_export.hpp>


BEGIN_NAMESPACE_ACADO


class ExportIRK4StageSingleNewton : public ExportGaussElim
{
    //
    // PUBLIC MEMBER FUNCTIONS:
    //
    public:

        ExportIRK4StageSingleNewton(    UserInteraction* _userInteraction = 0,
                                                        const std::string& _commonHeaderName = ""
                                                        );

        virtual ~ExportIRK4StageSingleNewton( );


                virtual returnValue setup( );

        returnValue setTransformations( const double _tau, const DVector& _low_tria, const DMatrix& _transf1, const DMatrix& _transf2, const DMatrix& _transf1_T, const DMatrix& _transf2_T );

        returnValue setStepSize( double _stepsize );


                virtual returnValue performTransformation(      ExportStatementBlock& code, const ExportVariable& from, const ExportVariable& to, const ExportVariable& transf, const ExportIndex& index );


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


                virtual returnValue getFunctionDeclarations(    ExportStatementBlock& declarations
                                                                                                                ) const;


                virtual returnValue getCode(    ExportStatementBlock& code
                                                                                );


                returnValue setImplicit( BooleanType _implicit );


        //
    // PROTECTED MEMBER FUNCTIONS:
    //
    protected:


                const std::string getNameSubSolveFunction();
                const std::string getNameSubSolveReuseFunction();
                const std::string getNameSubSolveTransposeReuseFunction();


    protected:

                BooleanType implicit;
                double stepsize;
                double tau;
                DVector low_tria;
                DMatrix transf1;
                DMatrix transf2;
                DMatrix transf1_T;
                DMatrix transf2_T;

                // DEFINITION OF THE EXPORTVARIABLES
                ExportVariable A_full;                                          
                ExportVariable I_full;                                          
                ExportVariable b_full;                                          
                ExportVariable rk_perm_full;                            
                ExportFunction solve_full;                                      
                ExportFunction solveReuse_full;                         
                ExportFunction solveReuseTranspose_full;        
                ExportVariable b_full_trans;                            
                ExportVariable b_mem_trans;                                     
                ExportVariable A_mem;                                   
                ExportVariable b_mem;                                   
};


CLOSE_NAMESPACE_ACADO


#endif  // ACADO_TOOLKIT_EXPORT_IRK_4STAGE_SINGLE_SOLVER_HPP

// end of file.