irk_lifted_feedback_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_LIFTED_IRK_FEEDBACK_EXPORT_HPP
#define ACADO_TOOLKIT_LIFTED_IRK_FEEDBACK_EXPORT_HPP

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


BEGIN_NAMESPACE_ACADO

class FeedbackLiftedIRKExport : public ForwardIRKExport
{
    //
    // PUBLIC MEMBER FUNCTIONS:
    //

    public:

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

        FeedbackLiftedIRKExport(    const FeedbackLiftedIRKExport& arg
                            );

        virtual ~FeedbackLiftedIRKExport( );


        FeedbackLiftedIRKExport& operator=( const FeedbackLiftedIRKExport& arg
                                        );


        virtual returnValue setup( );


        virtual returnValue setNonlinearFeedback( const DMatrix& C, const Expression& feedb );
        

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


        virtual returnValue getFunctionDeclarations(    ExportStatementBlock& declarations
                                                        ) const;



        virtual returnValue getCode(    ExportStatementBlock& code
                                        );


    protected:


        returnValue setInputSystem( );
        returnValue prepareInputSystem( ExportStatementBlock& code );


        virtual returnValue solveInputSystem(   ExportStatementBlock* block,
                                        const ExportIndex& index1,
                                        const ExportIndex& index2,
                                        const ExportIndex& index3,
                                        const ExportIndex& k_index,
                                        const ExportVariable& Ah );


        virtual returnValue evaluateAllStatesImplicitSystem(    ExportStatementBlock* block,
                                            const ExportIndex& k_index,
                                            const ExportVariable& Ah,
                                            const ExportVariable& C,
                                            const ExportIndex& stage,
                                            const ExportIndex& i,
                                            const ExportIndex& tmp_index );


        virtual ExportVariable getAuxVariable() const;


    protected:

        ExportVariable  rk_seed;                
        ExportVariable  rk_stageValues;         
        ExportVariable  rk_Xprev;               
        ExportVariable  rk_Uprev;               
        ExportVariable  rk_delta;               
        ExportVariable  rk_xxx_lin;
        ExportVariable  rk_Khat_traj;
        ExportVariable  rk_Xhat_traj;

        // Static feedback function:
        ExportAcadoFunction feedb;
        DMatrix C11;
        uint NF;

        DMatrix mat1, sensMat;

        ExportVariable  rk_kTemp;
        ExportVariable  rk_dk1_tmp;
        ExportVariable  rk_dk2_tmp;

        ExportAcadoFunction sens_input;
        ExportAcadoFunction sens_fdb;
        ExportVariable  rk_sensF;

};


CLOSE_NAMESPACE_ACADO


#endif  // ACADO_TOOLKIT_LIFTED_IRK_FEEDBACK_EXPORT_HPP

// end of file.