Allows to export a tailored lifted implicit Runge-Kutta integrator with forward sensitivity generation for extra fast model predictive control. More...

#include <irk_lifted_forward_export.hpp>

Inheritance diagram for ForwardLiftedIRKExport:

[legend]

Public Member Functions
	ForwardLiftedIRKExport (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")

	ForwardLiftedIRKExport (const ForwardLiftedIRKExport &arg)

virtual returnValue	getCode (ExportStatementBlock &code)

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

virtual returnValue	getFunctionDeclarations (ExportStatementBlock &declarations) const

ForwardLiftedIRKExport &	operator= (const ForwardLiftedIRKExport &arg)

virtual returnValue	setDifferentialEquation (const Expression &rhs)

virtual returnValue	setup ()

virtual	~ForwardLiftedIRKExport ()

Public Member Functions inherited from ForwardIRKExport
	ForwardIRKExport (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")

	ForwardIRKExport (const ForwardIRKExport &arg)

ForwardIRKExport &	operator= (const ForwardIRKExport &arg)

virtual	~ForwardIRKExport ()

Public Member Functions inherited from ImplicitRungeKuttaExport
	ImplicitRungeKuttaExport (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")

	ImplicitRungeKuttaExport (const ImplicitRungeKuttaExport &arg)

ImplicitRungeKuttaExport &	operator= (const ImplicitRungeKuttaExport &arg)

returnValue	setEigenvalues (const DMatrix &_eig)

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

returnValue	setSimplifiedTransformations (const DMatrix &_transf1, const DMatrix &_transf2)

returnValue	setSimplifiedTransformations (const DMatrix &_transf1, const DMatrix &_transf2, const DMatrix &_transf1_T, const DMatrix &_transf2_T)

returnValue	setSingleTransformations (const double _tau, const DVector &_low_tria, const DMatrix &_transf1, const DMatrix &_transf2)

returnValue	setSingleTransformations (const double _tau, const DVector &_low_tria, const DMatrix &_transf1, const DMatrix &_transf2, const DMatrix &_transf1_T, const DMatrix &_transf2_T)

virtual returnValue	setupOutput (const std::vector< Grid > outputGrids_, const std::vector< Expression > rhs)

virtual returnValue	setupOutput (const std::vector< Grid > outputGrids_, const std::vector< std::string > _outputNames, const std::vector< std::string > _diffs_outputNames, const std::vector< uint > _dims_output)

virtual returnValue	setupOutput (const std::vector< Grid > outputGrids_, const std::vector< std::string > _outputNames, const std::vector< std::string > _diffs_outputNames, const std::vector< uint > _dims_output, const std::vector< DMatrix > _outputDependencies)

virtual	~ImplicitRungeKuttaExport ()

Public Member Functions inherited from RungeKuttaExport
BooleanType	checkSymmetry (const DVector &_cc)

uint	getNumStages ()

returnValue	initializeButcherTableau (const DMatrix &_AA, const DVector &_bb, const DVector &_cc)

RungeKuttaExport &	operator= (const RungeKuttaExport &arg)

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

	RungeKuttaExport (const RungeKuttaExport &arg)

returnValue	setNARXmodel (const uint delay, const DMatrix &parms)

virtual	~RungeKuttaExport ()

Public Member Functions inherited from IntegratorExport
virtual bool	equidistantControlGrid () const

uint	getDimOUTPUT (uint index) const

virtual returnValue	getGrid (Grid &grid_) const

const std::string	getNameDiffsOUTPUT (uint index) const

const std::string	getNameDiffsRHS () const

virtual const std::string	getNameFullRHS () const

const std::string	getNameOUTPUT (uint index) const

const std::string	getNameOutputDiffs () const

const std::string	getNameOutputRHS () const

const std::string	getNameRHS () const

virtual returnValue	getNumSteps (DVector &_numSteps) const

virtual returnValue	getOutputExpressions (std::vector< Expression > &outputExpressions_) const

virtual returnValue	getOutputGrids (std::vector< Grid > &outputGrids_) const

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

	IntegratorExport (const IntegratorExport &arg)

IntegratorExport &	operator= (const IntegratorExport &arg)

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

virtual returnValue	propagateInputSystem (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)

virtual returnValue	setGrid (const Grid &_grid)

virtual returnValue	setLinearInput (const DMatrix &M1, const DMatrix &A1, const DMatrix &B1)

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)

virtual returnValue	setModelData (const ModelData &data)

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

virtual returnValue	updateInputSystem (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)

virtual	~IntegratorExport ()

Public Member Functions inherited from ExportAlgorithm
	ExportAlgorithm (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName=std::string())

uint	getN () const

uint	getNDX () const

uint	getNOD () const

uint	getNP () const

uint	getNU () const

uint	getNX () const

uint	getNXA () const

uint	getNY () const

uint	getNYN () const

returnValue	setDimensions (uint _NX=0, uint _NU=0, uint _NP=0, uint _NI=0, uint _NOD=0)

returnValue	setDimensions (uint _NX, uint _NDX, uint _NXA, uint _NU, uint _NP, uint _NI, uint _NOD)

void	setNY (uint NY_)

void	setNYN (uint NYN_)

virtual	~ExportAlgorithm ()

Public Member Functions inherited from AlgorithmicBase
int	addLogRecord (LogRecord &_record)

returnValue	addOption (OptionsName name, int value)

returnValue	addOption (OptionsName name, double value)

returnValue	addOption (uint idx, OptionsName name, int value)

returnValue	addOption (uint idx, OptionsName name, double value)

returnValue	addOptionsList ()

	AlgorithmicBase ()

	AlgorithmicBase (UserInteraction *_userInteraction)

	AlgorithmicBase (const AlgorithmicBase &rhs)

returnValue	get (OptionsName name, int &value) const

returnValue	get (OptionsName name, double &value) const

returnValue	get (OptionsName name, std::string &value) const

returnValue	get (uint idx, OptionsName name, int &value) const

returnValue	get (uint idx, OptionsName name, double &value) const

returnValue	getAll (LogName _name, MatrixVariablesGrid &values) const

returnValue	getFirst (LogName _name, DMatrix &firstValue) const

returnValue	getFirst (LogName _name, VariablesGrid &firstValue) const

returnValue	getLast (LogName _name, DMatrix &lastValue) const

returnValue	getLast (LogName _name, VariablesGrid &lastValue) const

Options	getOptions (uint idx) const

BooleanType	haveOptionsChanged () const

BooleanType	haveOptionsChanged (uint idx) const

AlgorithmicBase &	operator= (const AlgorithmicBase &rhs)

returnValue	plot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)

returnValue	printLogRecord (std::ostream &_stream, int idx, LogPrintMode _mode=PRINT_ITEM_BY_ITEM) const

returnValue	replot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)

returnValue	set (OptionsName name, int value)

returnValue	set (OptionsName name, double value)

returnValue	set (OptionsName name, const std::string &value)

returnValue	set (uint idx, OptionsName name, int value)

returnValue	set (uint idx, OptionsName name, double value)

returnValue	setAll (LogName _name, const MatrixVariablesGrid &values)

returnValue	setLast (LogName _name, int lastValue, double time=-INFTY)

returnValue	setLast (LogName _name, double lastValue, double time=-INFTY)

returnValue	setLast (LogName _name, const DVector &lastValue, double time=-INFTY)

returnValue	setLast (LogName _name, const DMatrix &lastValue, double time=-INFTY)

returnValue	setLast (LogName _name, const VariablesGrid &lastValue, double time=-INFTY)

returnValue	setOptions (const Options &arg)

returnValue	setOptions (uint idx, const Options &arg)

virtual	~AlgorithmicBase ()

Protected Member Functions
virtual returnValue	allSensitivitiesImplicitSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index1, const ExportIndex &tmp_index2, const ExportIndex &tmp_index3, const ExportIndex &k_index, const ExportVariable &Bh, bool update)

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 returnValue	evaluateInexactMatrix (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &tmp_index, const ExportIndex &k_index, const ExportVariable &_rk_A, const ExportVariable &Ah, const ExportVariable &C, bool evaluateB, bool DERIVATIVES)

virtual returnValue	evaluateRhsImplicitSystem (ExportStatementBlock *block, const ExportIndex &k_index, const ExportIndex &stage)

virtual returnValue	evaluateRhsInexactSensitivities (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index1, const ExportIndex &tmp_index2, const ExportIndex &tmp_index3, const ExportIndex &k_index, const ExportVariable &Ah)

virtual returnValue	evaluateRhsSensitivities (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index1, const ExportIndex &tmp_index2)

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

ExportVariable	getAuxVariable () const

virtual returnValue	prepareInputSystem (ExportStatementBlock &code)

virtual returnValue	prepareOutputSystem (ExportStatementBlock &code)

virtual returnValue	propagateOutputs (ExportStatementBlock *block, const ExportIndex &index, const ExportIndex &index0, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index1, const ExportIndex &tmp_index2, const ExportIndex &tmp_index3, const ExportIndex &tmp_index4, const ExportVariable &tmp_meas)

virtual returnValue	sensitivitiesInputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportVariable &Bh, bool STATES)

returnValue	sensitivitiesOutputs (ExportStatementBlock *block, const ExportIndex &index0, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &tmp_index1, const ExportIndex &tmp_index2, const ExportIndex &tmp_index3, const ExportVariable &tmp_meas, const ExportVariable &time_tmp, bool STATES, uint base)

virtual returnValue	sensitivitiesOutputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &index4, const ExportIndex &tmp_index1, const ExportIndex &tmp_index2, const ExportVariable &Ah, const ExportVariable &Bh, bool STATES, uint number)

virtual returnValue	solveImplicitSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index, const ExportIndex &k_index, const ExportVariable &Ah, const ExportVariable &C, const ExportVariable &det, bool DERIVATIVES=false)

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

Protected Member Functions inherited from ForwardIRKExport
returnValue	getCRSIndex (uint output, ExportIndex row, ExportIndex col)

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

Protected Member Functions inherited from ImplicitRungeKuttaExport
DVector	computeCombinations (const DVector &cVec, uint index, uint numEls)

virtual returnValue	copy (const ImplicitRungeKuttaExport &arg)

DVector	divideMeasurements (uint index)

DVector	evaluateDerivedPolynomial (double time)

returnValue	evaluateDerivedPolynomial (ExportStatementBlock &block, const ExportVariable &variable, const ExportVariable &grid)

DMatrix	evaluateDerivedPolynomial (uint index)

virtual returnValue	evaluateMatrix (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &tmp_index, const ExportIndex &k_index, const ExportVariable &_rk_A, const ExportVariable &Ah, const ExportVariable &C, bool evaluateB, bool DERIVATIVES)

DVector	evaluatePolynomial (double time)

returnValue	evaluatePolynomial (ExportStatementBlock &block, const ExportVariable &variable, const ExportVariable &grid, const std::string &h)

DMatrix	evaluatePolynomial (uint index)

returnValue	evaluateStatesOutputSystem (ExportStatementBlock *block, const ExportVariable &Ah, const ExportIndex &stage)

virtual DMatrix	formMatrix (const DMatrix &mass, const DMatrix &jacobian)

returnValue	generateOutput (ExportStatementBlock *block, const ExportIndex &index0, const ExportIndex &index1, const ExportIndex &tmp_index1, const ExportIndex &tmp_index2, const ExportVariable &tmp_meas, const ExportVariable &time_tmp, const uint directions)

uint	getNumIts () const

uint	getNumItsInit () const

returnValue	initializeCoefficients ()

returnValue	initializeDDMatrix ()

returnValue	prepareOutputEvaluation (ExportStatementBlock &code)

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

virtual returnValue	solveOutputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index, const ExportVariable &Ah, bool DERIVATIVES=false)

Protected Member Functions inherited from RungeKuttaExport
virtual returnValue	copy (const RungeKuttaExport &arg)

Protected Member Functions inherited from IntegratorExport
virtual returnValue	clear ()

virtual returnValue	copy (const IntegratorExport &arg)

DMatrix	expandOutputMatrix (const DMatrix &A3)

uint	getIntegrationInterval (double time)

Protected Attributes
ExportAcadoFunction	adjoint_sweep

ExportAcadoFunction	forward_sweep

ExportVariable	rk_adj_diffs_tmp

ExportVariable	rk_adj_traj

ExportVariable	rk_b_trans

ExportVariable	rk_delta

ExportVariable	rk_diffK_local

ExportVariable	rk_diffSweep

ExportVariable	rk_I

ExportVariable	rk_Khat_traj

ExportVariable	rk_seed

ExportVariable	rk_seed2

ExportVariable	rk_stageValues

ExportVariable	rk_Uprev

ExportVariable	rk_Xhat_traj

ExportVariable	rk_Xprev

ExportVariable	rk_xxx_lin

ExportVariable	rk_xxx_traj

Protected Attributes inherited from ImplicitRungeKuttaExport
DMatrix	coeffs

bool	CONTINUOUS_OUTPUT

DMatrix	DD

ExportVariable	debug_mat

DMatrix	eig

std::vector< ExportVariable >	gridVariables

ExportAcadoFunction	lin_output

DVector	low_tria

uint	NDX2

DVector	numDX_output

uint	numIts

uint	numItsInit

std::vector< ExportIndex >	numMeas

std::vector< ExportVariable >	numMeasVariables

DVector	numVARS_output

DVector	numXA_output

uint	NVARS2

uint	NVARS3

std::vector< ExportVariable >	polynDerVariables

ExportVariable	polynEvalVar

std::vector< ExportVariable >	polynVariables

bool	REUSE

ExportVariable	rk_A

ExportVariable	rk_auxSolver

ExportVariable	rk_b

ExportVariable	rk_diffK

ExportVariable	rk_diffsOutputTemp

ExportVariable	rk_diffsTemp3

ExportVariable	rk_dk1

ExportVariable	rk_dk3

ExportVariable	rk_mat1

ExportVariable	rk_mat3

ExportVariable	rk_out

ExportVariable	rk_outH

std::vector< ExportVariable >	rk_outputs

ExportVariable	rk_rhsOutputTemp

ExportVariable	rk_rhsTemp

DMatrix	simplified_transf1

DMatrix	simplified_transf1_T

DMatrix	simplified_transf2

DMatrix	simplified_transf2_T

DMatrix	single_transf1

DMatrix	single_transf1_T

DMatrix	single_transf2

DMatrix	single_transf2_T

ExportLinearSolver *	solver

ExportVariable	stepsH

double	tau

std::vector< uint >	totalMeas

Protected Attributes inherited from RungeKuttaExport
DMatrix	AA

DVector	bb

DVector	cc

BooleanType	is_symmetric

uint	numStages

ExportVariable	rk_kkk

Protected Attributes inherited from IntegratorExport
DMatrix	A11

DMatrix	A33

DMatrix	B11

bool	crsFormat

std::vector< ExportAcadoFunction >	diffs_outputs

ExportAcadoFunction	diffs_rhs

ExportAcadoFunction	diffs_rhs3

uint	diffsDim

DifferentialStateDerivative	dx

ExportVariable	error_code

bool	exportRhs

ExportFunction	fullRhs

Grid	grid

uint	inputDim

ExportFunction	integrate

ExportAcadoFunction	lin_input

DMatrix	M11

DMatrix	M33

uint	NDX3

std::vector< uint >	num_outputs

DVector	numSteps

uint	NX1

uint	NX2

uint	NX3

uint	NXA3

OnlineData	od

std::vector< DMatrix >	outputDependencies

std::vector< Expression >	outputExpressions

std::vector< Grid >	outputGrids

std::vector< ExportAcadoFunction >	outputs

ExportVariable	reset_int

ExportAcadoFunction	rhs

ExportAcadoFunction	rhs3

ExportVariable	rhs_in

ExportVariable	rhs_out

ExportVariable	rk_diffsNew1

ExportVariable	rk_diffsNew2

ExportVariable	rk_diffsNew3

ExportVariable	rk_diffsPrev1

ExportVariable	rk_diffsPrev2

ExportVariable	rk_diffsPrev3

ExportVariable	rk_diffsTemp2

ExportVariable	rk_eta

ExportVariable	rk_index

ExportVariable	rk_ttt

ExportVariable	rk_xxx

bool	timeDependant

Control	u

DifferentialState	x

AlgebraicState	z

Protected Attributes inherited from ExportAlgorithm
std::string	commonHeaderName

uint	N

uint	NDX

uint	NOD

uint	NP

uint	NU

uint	NX

uint	NXA

uint	NY

uint	NYN

Protected Attributes inherited from AlgorithmicBase
int	outputLoggingIdx

BooleanType	useModuleStandalone

UserInteraction *	userInteraction

Detailed Description

Allows to export a tailored lifted implicit Runge-Kutta integrator with forward sensitivity generation for extra fast model predictive control.

The class ForwardLiftedIRKExport allows to export a tailored lifted implicit Runge-Kutta integrator with forward sensitivity generation for extra fast model predictive control.

Author: Rien Quirynen

Definition at line 53 of file irk_lifted_forward_export.hpp.

Constructor & Destructor Documentation

◆ ForwardLiftedIRKExport() [1/2]

BEGIN_NAMESPACE_ACADO ForwardLiftedIRKExport::ForwardLiftedIRKExport	(	UserInteraction *	_userInteraction = `0`,
		const std::string &	_commonHeaderName = `""`
	)

Default constructor.

@param[in] _userInteraction         Pointer to corresponding user interface.
@param[in] _commonHeaderName        Name of common header file to be included.

Definition at line 45 of file irk_lifted_forward_export.cpp.

◆ ForwardLiftedIRKExport() [2/2]

ForwardLiftedIRKExport::ForwardLiftedIRKExport ( const ForwardLiftedIRKExport & arg )

Copy constructor (deep copy).

@param[in] arg              Right-hand side object.

Definition at line 51 of file irk_lifted_forward_export.cpp.

◆ ~ForwardLiftedIRKExport()

ForwardLiftedIRKExport::~ForwardLiftedIRKExport ( )

virtual

Destructor.

Definition at line 56 of file irk_lifted_forward_export.cpp.

Member Function Documentation

◆ allSensitivitiesImplicitSystem()

returnValue ForwardLiftedIRKExport::allSensitivitiesImplicitSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	tmp_index1,
		const ExportIndex &	tmp_index2,
		const ExportIndex &	tmp_index3,
		const ExportIndex &	k_index,
		const ExportVariable &	Bh,
		bool	update
	)

protectedvirtual

Reimplemented in ForwardBackwardLiftedIRKExport.

Definition at line 1127 of file irk_lifted_forward_export.cpp.

◆ evaluateAllStatesImplicitSystem()

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

protectedvirtual

Exports the evaluation of the states at all stages.

@param[in] block                    The block to which the code will be exported.
@param[in] Ah                               The matrix A of the IRK method, multiplied by the step size h.
@param[in] index                    The loop index, defining the stage.

\return SUCCESSFUL_RETURN

Reimplemented in ForwardBackwardLiftedIRKExport.

Definition at line 977 of file irk_lifted_forward_export.cpp.

◆ evaluateInexactMatrix()

returnValue ForwardLiftedIRKExport::evaluateInexactMatrix	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	tmp_index,
		const ExportIndex &	k_index,
		const ExportVariable &	_rk_A,
		const ExportVariable &	Ah,
		const ExportVariable &	C,
		bool	evaluateB,
		bool	DERIVATIVES
	)

protectedvirtual

Exports the evaluation of the inexact matrix for the linear system.

@param[in] block                    The block to which the code will be exported.
@param[in] index1                   The loop index of the outer loop.
@param[in] index2                   The loop index of the inner loop.
@param[in] tmp_index                A temporary index to be used.
@param[in] Ah                               The matrix A of the IRK method, multiplied by the step size h.
@param[in] evaluateB                True if the right-hand side of the linear system should also be evaluated, false otherwise.

\return SUCCESSFUL_RETURN

Definition at line 904 of file irk_lifted_forward_export.cpp.

◆ evaluateRhsImplicitSystem()

returnValue ForwardLiftedIRKExport::evaluateRhsImplicitSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	k_index,
		const ExportIndex &	stage
	)

protectedvirtual

Exports the evaluation of the right-hand side of the linear system at a specific stage.

@param[in] block                    The block to which the code will be exported.
@param[in] index                    The loop index, defining the stage.

\return SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

Definition at line 1017 of file irk_lifted_forward_export.cpp.

◆ evaluateRhsInexactSensitivities()

returnValue ForwardLiftedIRKExport::evaluateRhsInexactSensitivities	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	tmp_index1,
		const ExportIndex &	tmp_index2,
		const ExportIndex &	tmp_index3,
		const ExportIndex &	k_index,
		const ExportVariable &	Ah
	)

protectedvirtual

Exports the code needed to compute the sensitivities of the states defined by the nonlinear, fully implicit system.

@param[in] block                    The block to which the code will be exported.
@param[in] Ah                               The variable containing the internal coefficients of the RK method, multiplied with the step size.
@param[in] Bh                               The variable containing the weights of the RK method, multiplied with the step size.
@param[in] det                              The variable that holds the determinant of the matrix in the linear system.
@param[in] STATES                   True if the sensitivities with respect to a state are needed, false otherwise.
@param[in] number                   This number defines the stage of the state with respect to which the sensitivities are computed.

\return SUCCESSFUL_RETURN

Reimplemented in ForwardBackwardLiftedIRKExport.

Definition at line 1041 of file irk_lifted_forward_export.cpp.

◆ evaluateRhsSensitivities()

returnValue ForwardLiftedIRKExport::evaluateRhsSensitivities	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	tmp_index1,
		const ExportIndex &	tmp_index2
	)

protectedvirtual

Reimplemented in AdjointLiftedIRKExport.

Definition at line 1272 of file irk_lifted_forward_export.cpp.

◆ evaluateStatesImplicitSystem()

returnValue ForwardLiftedIRKExport::evaluateStatesImplicitSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	k_index,
		const ExportVariable &	Ah,
		const ExportVariable &	C,
		const ExportIndex &	stage,
		const ExportIndex &	i,
		const ExportIndex &	tmp_index
	)

protectedvirtual

Exports the evaluation of the states at a specific stage.

@param[in] block                    The block to which the code will be exported.
@param[in] Ah                               The matrix A of the IRK method, multiplied by the step size h.
@param[in] index                    The loop index, defining the stage.

\return SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

Definition at line 998 of file irk_lifted_forward_export.cpp.

◆ getAuxVariable()

ExportVariable ForwardLiftedIRKExport::getAuxVariable ( ) const

protectedvirtual

Returns the largest global export variable.

\return SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Reimplemented in SymmetricLiftedIRKExport.

Definition at line 77 of file irk_lifted_forward_export.cpp.

◆ getCode()

returnValue ForwardLiftedIRKExport::getCode ( ExportStatementBlock & code )

virtual

Exports source code of the auto-generated integrator into the given directory.

@param[in] code                             Code block containing the auto-generated integrator.

\return SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Reimplemented in AdjointLiftedIRKExport, ForwardBackwardLiftedIRKExport, and SymmetricLiftedIRKExport.

Definition at line 252 of file irk_lifted_forward_export.cpp.

◆ getDataDeclarations()

returnValue ForwardLiftedIRKExport::getDataDeclarations	(	ExportStatementBlock &	declarations,
		ExportStruct	dataStruct = `ACADO_ANY`
	)		const

virtual

Adds all data declarations of the auto-generated integrator to given list of declarations.

@param[in] declarations             List of declarations.

\return SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Reimplemented in AdjointLiftedIRKExport, ForwardBackwardLiftedIRKExport, and SymmetricLiftedIRKExport.

Definition at line 118 of file irk_lifted_forward_export.cpp.

◆ getFunctionDeclarations()

returnValue ForwardLiftedIRKExport::getFunctionDeclarations ( ExportStatementBlock & declarations ) const

virtual

Adds all function (forward) declarations of the auto-generated integrator to given list of declarations.

@param[in] declarations             List of declarations.

\return SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Reimplemented in AdjointLiftedIRKExport, ForwardBackwardLiftedIRKExport, and SymmetricLiftedIRKExport.

Definition at line 151 of file irk_lifted_forward_export.cpp.

◆ operator=()

ForwardLiftedIRKExport & ForwardLiftedIRKExport::operator= ( const ForwardLiftedIRKExport & arg )

Assignment operator (deep copy).

@param[in] arg              Right-hand side object.

Definition at line 66 of file irk_lifted_forward_export.cpp.

◆ prepareInputSystem()

returnValue ForwardLiftedIRKExport::prepareInputSystem ( ExportStatementBlock & code )

protectedvirtual

Precompute as much as possible for the linear input system and export the resulting definitions.

@param[in] code                     The block to which the code will be exported.

\return SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Definition at line 956 of file irk_lifted_forward_export.cpp.

◆ prepareOutputSystem()

returnValue ForwardLiftedIRKExport::prepareOutputSystem ( ExportStatementBlock & code )

protectedvirtual

Precompute as much as possible for the linear output system and export the resulting definitions.

@param[in] code                     The block to which the code will be exported.

\return SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Definition at line 963 of file irk_lifted_forward_export.cpp.

◆ propagateOutputs()

returnValue ForwardLiftedIRKExport::propagateOutputs	(	ExportStatementBlock *	block,
		const ExportIndex &	index,
		const ExportIndex &	index0,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	tmp_index1,
		const ExportIndex &	tmp_index2,
		const ExportIndex &	tmp_index3,
		const ExportIndex &	tmp_index4,
		const ExportVariable &	tmp_meas
	)

protectedvirtual

Exports the propagation of the sensitivities for the continuous output.

@param[in] block                    The block to which the code will be exported.
@param[in] tmp_meas                 The number of measurements in the current integration step (in case of an online grid).

\return SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Definition at line 947 of file irk_lifted_forward_export.cpp.

◆ sensitivitiesInputSystem()

returnValue ForwardLiftedIRKExport::sensitivitiesInputSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportVariable &	Bh,
		bool	STATES
	)

protectedvirtual

Exports the code needed to compute the sensitivities of the states, defined by the linear input system.

@param[in] block                    The block to which the code will be exported.
@param[in] Bh                               The variable containing the weights of the RK method, multiplied with the step size.
@param[in] STATES                   True if the sensitivities with respect to a state are needed, false otherwise.

\return SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Definition at line 970 of file irk_lifted_forward_export.cpp.

◆ sensitivitiesOutputs()

returnValue ForwardLiftedIRKExport::sensitivitiesOutputs	(	ExportStatementBlock *	block,
		const ExportIndex &	index0,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	tmp_index1,
		const ExportIndex &	tmp_index2,
		const ExportIndex &	tmp_index3,
		const ExportVariable &	tmp_meas,
		const ExportVariable &	time_tmp,
		bool	STATES,
		uint	base
	)

protectedvirtual

Exports the computation of the sensitivities for the continuous output.

@param[in] block                    The block to which the code will be exported.
@param[in] tmp_meas                 The number of measurements in the current integration step (in case of an online grid).
@param[in] rk_tPrev                 The time point, defining the beginning of the current integration step (in case of an online grid).
@param[in] time_tmp                 A variable used for time transformations (in case of an online grid).
@param[in] STATES                   True if the sensitivities with respect to a state are needed, false otherwise.
@param[in] base                             The number of states in stages with respect to which the sensitivities have already been computed.

\return SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Definition at line 1346 of file irk_lifted_forward_export.cpp.

◆ sensitivitiesOutputSystem()

returnValue ForwardLiftedIRKExport::sensitivitiesOutputSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	index4,
		const ExportIndex &	tmp_index1,
		const ExportIndex &	tmp_index2,
		const ExportVariable &	Ah,
		const ExportVariable &	Bh,
		bool	STATES,
		uint	number
	)

protectedvirtual

Exports the code needed to compute the sensitivities of the states, defined by the linear output system.

@param[in] block                    The block to which the code will be exported.
@param[in] Ah                               The variable containing the internal coefficients of the RK method, multiplied with the step size.
@param[in] Bh                               The variable containing the weights of the RK method, multiplied with the step size.
@param[in] STATES                   True if the sensitivities with respect to a state are needed, false otherwise.
@param[in] number                   This number defines the stage of the state with respect to which the sensitivities are computed.

\return SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Definition at line 1339 of file irk_lifted_forward_export.cpp.

◆ setDifferentialEquation()

returnValue ForwardLiftedIRKExport::setDifferentialEquation ( const Expression & rhs )

virtual

Assigns Differential Equation to be used by the integrator.

@param[in] rhs              Right-hand side expression.

\return SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

Reimplemented in AdjointLiftedIRKExport, ForwardBackwardLiftedIRKExport, and SymmetricLiftedIRKExport.

Definition at line 162 of file irk_lifted_forward_export.cpp.

◆ setup()

returnValue ForwardLiftedIRKExport::setup ( )

virtual

Initializes export of a tailored integrator.

\return SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Reimplemented in AdjointLiftedIRKExport, ForwardBackwardLiftedIRKExport, and SymmetricLiftedIRKExport.

Definition at line 1355 of file irk_lifted_forward_export.cpp.

◆ solveImplicitSystem()

returnValue ForwardLiftedIRKExport::solveImplicitSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	tmp_index,
		const ExportIndex &	k_index,
		const ExportVariable &	Ah,
		const ExportVariable &	C,
		const ExportVariable &	det,
		bool	DERIVATIVES = `false`
	)

protectedvirtual

Exports the code needed to solve the system of collocation equations for the nonlinear, fully implicit system.

@param[in] block                    The block to which the code will be exported.
@param[in] Ah                               The variable containing the internal coefficients of the RK method, multiplied with the step size.
@param[in] det                              The variable that holds the determinant of the matrix in the linear system.

\return SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

Definition at line 815 of file irk_lifted_forward_export.cpp.

◆ updateImplicitSystem()

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

protectedvirtual

Exports the code needed to update the sensitivities of the states defined by the nonlinear, fully implicit system.

@param[in] block                    The block to which the code will be exported.

\return SUCCESSFUL_RETURN

Reimplemented from IntegratorExport.

Reimplemented in ForwardBackwardLiftedIRKExport, AdjointLiftedIRKExport, and SymmetricLiftedIRKExport.

Definition at line 1295 of file irk_lifted_forward_export.cpp.

Member Data Documentation

◆ adjoint_sweep

ExportAcadoFunction ForwardLiftedIRKExport::adjoint_sweep

protected

Module to export the evaluation of an adjoint sweep of the derivatives of the ordinary differential equations.

Definition at line 394 of file irk_lifted_forward_export.hpp.

◆ forward_sweep

ExportAcadoFunction ForwardLiftedIRKExport::forward_sweep

protected

Module to export the evaluation of a forward sweep of the derivatives of the ordinary differential equations.

Definition at line 393 of file irk_lifted_forward_export.hpp.

◆ rk_adj_diffs_tmp

ExportVariable ForwardLiftedIRKExport::rk_adj_diffs_tmp

protected

Definition at line 397 of file irk_lifted_forward_export.hpp.

◆ rk_adj_traj

ExportVariable ForwardLiftedIRKExport::rk_adj_traj

protected

Variable containing the adjoint trajectory of the lambda_hat values.

Definition at line 396 of file irk_lifted_forward_export.hpp.

◆ rk_b_trans

ExportVariable ForwardLiftedIRKExport::rk_b_trans

protected

Definition at line 395 of file irk_lifted_forward_export.hpp.

◆ rk_delta

ExportVariable ForwardLiftedIRKExport::rk_delta

protected

Variable containing the update on the optimization variables.

Definition at line 410 of file irk_lifted_forward_export.hpp.

◆ rk_diffK_local

ExportVariable ForwardLiftedIRKExport::rk_diffK_local

protected

Definition at line 416 of file irk_lifted_forward_export.hpp.

◆ rk_diffSweep

ExportVariable ForwardLiftedIRKExport::rk_diffSweep

protected

Definition at line 401 of file irk_lifted_forward_export.hpp.

◆ rk_I

ExportVariable ForwardLiftedIRKExport::rk_I

protected

Definition at line 402 of file irk_lifted_forward_export.hpp.

◆ rk_Khat_traj

ExportVariable ForwardLiftedIRKExport::rk_Khat_traj

protected

Definition at line 413 of file irk_lifted_forward_export.hpp.

◆ rk_seed

ExportVariable ForwardLiftedIRKExport::rk_seed

protected

Variable containing the forward seed.

Definition at line 404 of file irk_lifted_forward_export.hpp.

◆ rk_seed2

ExportVariable ForwardLiftedIRKExport::rk_seed2

protected

Definition at line 398 of file irk_lifted_forward_export.hpp.

◆ rk_stageValues

ExportVariable ForwardLiftedIRKExport::rk_stageValues

protected

Variable containing the evaluated stage values.

Definition at line 405 of file irk_lifted_forward_export.hpp.

◆ rk_Uprev

ExportVariable ForwardLiftedIRKExport::rk_Uprev

protected

Variable containing the previous control trajectory.

Definition at line 408 of file irk_lifted_forward_export.hpp.

◆ rk_Xhat_traj

ExportVariable ForwardLiftedIRKExport::rk_Xhat_traj

protected

Definition at line 414 of file irk_lifted_forward_export.hpp.

◆ rk_Xprev

ExportVariable ForwardLiftedIRKExport::rk_Xprev

protected

Variable containing the full previous state trajectory.

Definition at line 407 of file irk_lifted_forward_export.hpp.

◆ rk_xxx_lin

ExportVariable ForwardLiftedIRKExport::rk_xxx_lin

protected

Definition at line 412 of file irk_lifted_forward_export.hpp.

◆ rk_xxx_traj

ExportVariable ForwardLiftedIRKExport::rk_xxx_traj

protected

Variable containing the forward trajectory of the state values.

Definition at line 399 of file irk_lifted_forward_export.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ForwardLiftedIRKExport() [1/2]

◆ ForwardLiftedIRKExport() [2/2]

◆ ~ForwardLiftedIRKExport()

Member Function Documentation

◆ allSensitivitiesImplicitSystem()

◆ evaluateAllStatesImplicitSystem()

◆ evaluateInexactMatrix()

◆ evaluateRhsImplicitSystem()

◆ evaluateRhsInexactSensitivities()

◆ evaluateRhsSensitivities()

◆ evaluateStatesImplicitSystem()

◆ getAuxVariable()

◆ getCode()

◆ getDataDeclarations()

◆ getFunctionDeclarations()

◆ operator=()

◆ prepareInputSystem()

◆ prepareOutputSystem()

◆ propagateOutputs()

◆ sensitivitiesInputSystem()

◆ sensitivitiesOutputs()

◆ sensitivitiesOutputSystem()

◆ setDifferentialEquation()

◆ setup()

◆ solveImplicitSystem()

◆ updateImplicitSystem()

Member Data Documentation

◆ adjoint_sweep

◆ forward_sweep

◆ rk_adj_diffs_tmp

◆ rk_adj_traj

◆ rk_b_trans

◆ rk_delta

◆ rk_diffK_local

◆ rk_diffSweep

◆ rk_I

◆ rk_Khat_traj

◆ rk_seed

◆ rk_seed2

◆ rk_stageValues

◆ rk_Uprev

◆ rk_Xhat_traj

◆ rk_Xprev

◆ rk_xxx_lin

◆ rk_xxx_traj