irk_lifted_adjoint_export.hpp
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1 /*
2  * This file is part of ACADO Toolkit.
3  *
4  * ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
5  * Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
6  * Milan Vukov, Rien Quirynen, KU Leuven.
7  * Developed within the Optimization in Engineering Center (OPTEC)
8  * under supervision of Moritz Diehl. All rights reserved.
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10  * ACADO Toolkit is free software; you can redistribute it and/or
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25 
26 
27 
35 #ifndef ACADO_TOOLKIT_LIFTED_IRK_ADJOINT_EXPORT_HPP
36 #define ACADO_TOOLKIT_LIFTED_IRK_ADJOINT_EXPORT_HPP
37 
39 
40 
42 
54 {
55  //
56  // PUBLIC MEMBER FUNCTIONS:
57  //
58 
59  public:
60 
66  AdjointLiftedIRKExport( UserInteraction* _userInteraction = 0,
67  const std::string& _commonHeaderName = ""
68  );
69 
75  );
76 
79  virtual ~AdjointLiftedIRKExport( );
80 
81 
87  );
88 
89 
94  virtual returnValue setup( );
95 
96 
104 
105 
113  ExportStruct dataStruct = ACADO_ANY
114  ) const;
115 
116 
124  ) const;
125 
126 
127 
135  );
136 
137 
138  protected:
139 
140 
142 
143 
145  const ExportIndex& index1,
146  const ExportIndex& index2,
147  const ExportIndex& index3,
148  const ExportIndex& tmp_index1,
149  const ExportIndex& tmp_index2 );
150 
151 
153  const ExportIndex& index1,
154  const ExportIndex& index2,
155  const ExportIndex& tmp_index );
156 
157 
163 
164 
165  protected:
166 
167 
171 
173 // ExportVariable rk_A_traj; /**< Variable containing the factorized matrix of the linear system over the forward trajectory. */
174 // ExportVariable rk_aux_traj; /**< Variable containing the factorized matrix of the linear system over the forward trajectory. */
175 
176 };
177 
178 
180 
181 
182 #endif // ACADO_TOOLKIT_LIFTED_IRK_ADJOINT_EXPORT_HPP
183 
184 // end of file.
Allows to export a tailored lifted implicit Runge-Kutta integrator with forward sensitivity generatio...
virtual returnValue setDifferentialEquation(const Expression &rhs)
AdjointLiftedIRKExport & operator=(const AdjointLiftedIRKExport &arg)
Allows to export code of an ACADO function.
virtual returnValue evaluateRhsSensitivities(ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index1, const ExportIndex &tmp_index2)
Allows to pass back messages to the calling function.
Block< Derived > block(Index startRow, Index startCol, Index blockRows, Index blockCols)
Definition: BlockMethods.h:56
virtual returnValue getDataDeclarations(ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const
#define CLOSE_NAMESPACE_ACADO
Defines a scalar-valued index variable to be used for exporting code.
Expression returnLowerTriangular(const Expression &expr)
Base class for all variables within the symbolic expressions family.
Definition: expression.hpp:56
virtual returnValue getCode(ExportStatementBlock &code)
ExportStruct
ExportVariable getAuxVariable() const
AdjointLiftedIRKExport(UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")
Encapsulates all user interaction for setting options, logging data and plotting results.
virtual returnValue getFunctionDeclarations(ExportStatementBlock &declarations) const
#define BEGIN_NAMESPACE_ACADO
virtual returnValue updateImplicitSystem(ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &tmp_index)
Allows to export code for a block of statements.
Defines a matrix-valued variable to be used for exporting code.
ExportAcadoFunction rhs
Allows to export a tailored lifted implicit Runge-Kutta integrator with adjoint sensitivity generatio...


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Mon Jun 10 2019 12:34:43