narx_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_NARX_EXPORT_HPP
#define ACADO_TOOLKIT_NARX_EXPORT_HPP

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


BEGIN_NAMESPACE_ACADO


class NARXExport : public DiscreteTimeExport
{
    //
    // PUBLIC MEMBER FUNCTIONS:
    //

    public:

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

        NARXExport(     const NARXExport& arg
                                                        );

        virtual ~NARXExport( );


                virtual returnValue setup( );


                virtual returnValue setDifferentialEquation( const Expression& rhs );


                returnValue setModel( const std::string& _rhs, const std::string& _diffs_rhs );


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


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


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


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


                returnValue propagateInputSystem(       ExportStatementBlock* block,
                                                                                        const ExportIndex& index1,
                                                                                        const ExportIndex& index2,
                                                                                        const ExportIndex& index3,
                                                                                        const ExportIndex& tmp_index    );


                returnValue propagateImplicitSystem(    ExportStatementBlock* block,
                                                                                                const ExportIndex& index1,
                                                                                                const ExportIndex& index2,
                                                                                                const ExportIndex& index3,
                                                                                                const ExportIndex& tmp_index    );


                virtual returnValue propagateOutputSystem(      ExportStatementBlock* block,
                                                                                                        const ExportIndex& index1,
                                                                                                        const ExportIndex& index2,
                                                                                                        const ExportIndex& index3,
                                                                                                        const ExportIndex& tmp_index    );


                returnValue setNARXmodel( const uint _delay, const DMatrix& _parms );


                virtual returnValue setLinearOutput( const DMatrix& M3, const DMatrix& A3, const Expression& rhs );


                virtual returnValue setLinearOutput( const DMatrix& M3, const DMatrix& A3, const std::string& _rhs3, const std::string& _diffs_rhs3 );


        protected:


                returnValue prepareFullRhs( );


                returnValue formNARXpolynomial( const uint num, const uint order, uint& base, const uint index, IntermediateState& result );


    protected:

                uint delay;
                DMatrix parms;

};

IntegratorExport* createNARXExport(     UserInteraction* _userInteraction,
                                                                                                        const std::string &_commonHeaderName);


CLOSE_NAMESPACE_ACADO


#endif  // ACADO_TOOLKIT_NARX_EXPORT_HPP

// end of file.