irk_symmetric_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_IRK_SYMMETRIC_EXPORT_HPP
#define ACADO_TOOLKIT_IRK_SYMMETRIC_EXPORT_HPP

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


BEGIN_NAMESPACE_ACADO

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

    public:

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

        SymmetricIRKExport(     const SymmetricIRKExport& arg
                                                        );

        virtual ~SymmetricIRKExport( );


                SymmetricIRKExport& operator=(  const SymmetricIRKExport& arg
                                                                                );


                virtual returnValue setup( );


                virtual returnValue setDifferentialEquation( const Expression& rhs );
        

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


                virtual returnValue getFunctionDeclarations(    ExportStatementBlock& declarations
                                                                                                                ) const;



                virtual returnValue getCode(    ExportStatementBlock& code
                                                                                );


        protected:


                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,
                                                                                        const ExportIndex& tmp_index2 );


                virtual returnValue updateImplicitSystem(       ExportStatementBlock* block,
                                                                                                        const ExportIndex& index1,
                                                                                                        const ExportIndex& index2,
                                                                                                        const ExportIndex& tmp_index    );


                virtual returnValue propagateImplicitSystem(    ExportStatementBlock* block,
                                                                                                                const ExportIndex& index1,
                                                                                                                const ExportIndex& index2,
                                                                                                                const ExportIndex& _index3,
                                                                                                                const ExportIndex& tmp_index    );


                virtual returnValue sensitivitiesImplicitSystem(        ExportStatementBlock* block,
                                                                                                        const ExportIndex& index1,
                                                                                                        const ExportIndex& index2,
                                                                                                        const ExportIndex& index3,
                                                                                                        const ExportIndex& tmp_index1,
                                                                                                        const ExportIndex& tmp_index2,
                                                                                                        const ExportIndex& stepI,
                                                                                                        const ExportVariable& Ah,
                                                                                                        const ExportVariable& Bh,
                                                                                                        const ExportVariable& det,
                                                                                                        bool STATES,
                                                                                                        uint number             );


                Expression returnLowerTriangular( const Expression& expr );


                returnValue updateHessianTerm( ExportStatementBlock* block, const ExportIndex& index1, const ExportIndex& index2 );


                ExportVariable getAuxVariable() const;


    protected:


                ExportAcadoFunction diffs_sweep;                
                ExportAcadoFunction adjoint_sweep;              
                ExportVariable  rk_b_trans;

                ExportVariable  rk_adj_diffs_tmp;
                ExportVariable  rk_seed;                        
                ExportVariable  rk_xxx_traj;                    
//              ExportVariable  rk_adj_traj;                    /**< Variable containing the adjoint trajectory of the lambda_hat values. */
                ExportVariable  rk_S_traj;                              
                ExportVariable  rk_A_traj;                              
                ExportVariable  rk_aux_traj;                    
//              ExportVariable  rk_diff_mu;                             /**< Sensitivities to update the mu variables. */
//              ExportVariable  rk_diff_lam;                    /**< Sensitivities to propagate the lambda variables. */

//              ExportVariable  rk_lambda;                              /**< The lambda variables over the shooting interval. */
//              ExportVariable  rk_b_mu;                                /**< The lambda variables over the shooting interval. */

                ExportVariable  rk_hess_tmp1;
                ExportVariable  rk_hess_tmp2;
};


CLOSE_NAMESPACE_ACADO


#endif  // ACADO_TOOLKIT_IRK_SYMMETRIC_EXPORT_HPP

// end of file.