Allows to setup and evaluate discretized differential equations based on SymbolicExpressions. More...

#include <discretized_differential_equation.hpp>

Inheritance diagram for DiscretizedDifferentialEquation:

Public Member Functions
virtual DifferentialEquation *	clone () const

	DiscretizedDifferentialEquation ()

	DiscretizedDifferentialEquation (const double &stepLength_)

	DiscretizedDifferentialEquation (const DiscretizedDifferentialEquation &arg)

DiscretizedDifferentialEquation &	operator= (const DiscretizedDifferentialEquation &arg)

virtual	~DiscretizedDifferentialEquation ()

Public Member Functions inherited from DifferentialEquation
DifferentialEquation &	addAlgebraic (const Expression &arg)

DifferentialEquation &	addAlgebraic (const double &arg)

DifferentialEquation &	addAlgebraic (const DVector &arg)

DifferentialEquation &	addAlgebraic (const DMatrix &arg)

DifferentialEquation &	addDifferential (const Expression &arg)

DifferentialEquation &	addDifferential (const double &arg)

DifferentialEquation &	addDifferential (const DVector &arg)

DifferentialEquation &	addDifferential (const DMatrix &arg)

	DifferentialEquation ()

	DifferentialEquation (const double &tStart, const double &tEnd)

	DifferentialEquation (const double &tStart, const Parameter &tEnd)

	DifferentialEquation (const Parameter &tStart, const double &tEnd)

	DifferentialEquation (const Parameter &tStart, const Parameter &tEnd)

	DifferentialEquation (const DifferentialEquation &arg)

int *	getComponents () const

DVector	getDifferentialStateComponents () const

double	getEndTime () const

int	getEndTimeIdx () const

Lyapunov	getLyapunovObject () const

int	getNumAlgebraicEquations () const

int	getNumDynamicEquations () const

Expression	getODEexpansion (const int &order) const

double	getStartTime () const

int	getStartTimeIdx () const

int	getStateEnumerationIndex (int index_)

virtual double	getStepLength () const

BooleanType	hasLyapunovEquation () const

BooleanType	isDAE () const

virtual BooleanType	isDiscretized () const

BooleanType	isImplicit () const

BooleanType	isODE () const

virtual BooleanType	makeImplicit ()

DifferentialEquation &	operator<< (const Expression &arg)

DifferentialEquation &	operator<< (const int &arg)

DifferentialEquation &	operator= (const DifferentialEquation &arg)

DifferentialEquation &	operator== (const Expression &arg)

DifferentialEquation &	operator== (const double &arg)

DifferentialEquation &	operator== (const DVector &arg)

DifferentialEquation &	operator== (const DMatrix &arg)

DifferentialEquation &	operator== (const Lyapunov &arg)

virtual	~DifferentialEquation ()

Public Member Functions inherited from Function
returnValue	AD_backward (const DVector &seed, EvaluationPoint &df, const int &number=0)

returnValue	AD_backward (int number, double seed, double df)

returnValue	AD_backward2 (int number, double seed1, double seed2, double df, double ddf)

DVector	AD_forward (const EvaluationPoint &x, const int &number=0)

returnValue	AD_forward (int number, double seed, double df)

returnValue	AD_forward2 (int number, double seed1, double seed2, double df, double ddf)

BooleanType	ADisSupported () const

returnValue	clearBuffer ()

DVector	evaluate (const EvaluationPoint &x, const int &number=0)

template<typename T >
Tmatrix< T >	evaluate (const TevaluationPoint< T > &x)

returnValue	evaluate (int number, double x, double _result)

returnValue	exportCode (std::ostream &stream, const char fcnName="ACADOfcn", const char realString="double", uint _numX=0, uint _numXA=0, uint _numU=0, uint _numP=0, uint _numDX=0, uint _numOD=0, bool allocateMemory=true, bool staticMemory=false) const

returnValue	exportForwardDeclarations (std::ostream &stream, const char fcnName="ACADOfcn", const char realString="double") const

	Function ()

	Function (const Function &rhs)

int	getDim () const

returnValue	getExpression (Expression &expression) const

Operator *	getExpression (uint componentIdx) const

std::string	getGlobalExportVariableName () const

unsigned	getGlobalExportVariableSize () const

int	getN () const

int	getN (VariableType &variableType_) const

int	getNDX () const

int	getNOD () const

int	getNP () const

int	getNPI () const

int	getNT () const

int	getNU () const

int	getNUI () const

int	getNumberOfVariables () const

int	getNW () const

int	getNX () const

int	getNXA () const

int	index (VariableType variableType_, int index_) const

BooleanType	isAffine ()

BooleanType	isConcave ()

BooleanType	isConstant ()

BooleanType	isConvex ()

BooleanType	isDependingOn (const Expression &variable)

BooleanType	isLinearIn (const Expression &variable)

BooleanType	isNondecreasing ()

BooleanType	isNonincreasing ()

NeutralElement	isOneOrZero ()

BooleanType	isPolynomialIn (const Expression &variable)

BooleanType	isRationalIn (const Expression &variable)

BooleanType	isSymbolic () const

returnValue	jacobian (DMatrix &x)
	calculate the jacobian of an evaluated function More...

Function	operator() (uint idx) const

DVector	operator() (const EvaluationPoint &x, const int &number=0)

Function &	operator<< (const Expression &arg)

Function &	operator<< (const double &arg)

Function &	operator<< (const DVector &arg)

Function &	operator<< (const DMatrix &arg)

Function &	operator= (const Function &rhs)

returnValue	print (std::ostream &stream, const char fcnName="ACADOfcn", const char realString="double") const

returnValue	reset ()

double	scale (VariableType variableType_, int index_) const

returnValue	setGlobalExportVariableName (const std::string &var)

returnValue	setMemoryOffset (int memoryOffset_)

returnValue	setScale (double *scale_)

returnValue	substitute (VariableType variableType_, int index_, double sub_)

virtual	~Function ()

Additional Inherited Members
Protected Member Functions inherited from DifferentialEquation
void	copy (const DifferentialEquation &arg)

void	setup ()

Protected Attributes inherited from DifferentialEquation
int *	component

int	counter

DifferentialEquationType	det

BooleanType	is_discretized

BooleanType	is_implicit

Lyapunov	lyap

double	stepLength

Parameter *	T1

double	t1

Parameter *	T2

double	t2

Protected Attributes inherited from Function
FunctionEvaluationTree	evaluationTree

int	memoryOffset

double *	result

Detailed Description

Allows to setup and evaluate discretized differential equations based on SymbolicExpressions.

The class DiscretizedDifferentialEquation allows to setup and evaluate discretized differential equations (ODEs and DAEs) based on SymbolicExpressions.

Author: Boris Houska, Hans Joachim Ferreau

Definition at line 54 of file discretized_differential_equation.hpp.

Constructor & Destructor Documentation

◆ DiscretizedDifferentialEquation() [1/3]

BEGIN_NAMESPACE_ACADO DiscretizedDifferentialEquation::DiscretizedDifferentialEquation ( )

Default constructor. If this constructor is used a nonlinear
autonomous discrete time system will be set up, i.e. the class
represtents a system of the form

x_{k+1} = f( x_k, u_k, p, ... )

Here, the function f can be defined as usual with the
<< operator which is inherited form the class DifferentialEquation.
Note that this function will in general assume that the function
f is not explictly time dependent.
If this constructor is used, the step length will be 1 by default.

Definition at line 49 of file discretized_differential_equation.cpp.