Allows to setup and evaluate differential equations (ODEs and DAEs) based on SymbolicExpressions. More...

#include <differential_equation.hpp>

Inheritance diagram for DifferentialEquation:

Public Member Functions
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)
virtual DifferentialEquation *	clone () const
	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 ()
Protected Member Functions
void	copy (const DifferentialEquation &arg)
void	setup ()
Protected Attributes
int *	component
int	counter
DifferentialEquationType	det
BooleanType	is_discretized
BooleanType	is_implicit
Lyapunov	lyap
double	stepLength
Parameter *	T1
double	t1
Parameter *	T2
double	t2

Detailed Description

Allows to setup and evaluate differential equations (ODEs and DAEs) based on SymbolicExpressions.

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

Author:: Boris Houska, Hans Joachim Ferreau

Definition at line 55 of file differential_equation.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO DifferentialEquation::DifferentialEquation ( )

Default constructor.

Definition at line 50 of file differential_equation.cpp.

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

Default constructor.

Definition at line 60 of file differential_equation.cpp.

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

Default constructor.

Definition at line 70 of file differential_equation.cpp.

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

Default constructor.

Definition at line 82 of file differential_equation.cpp.

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

Default constructor.

Definition at line 94 of file differential_equation.cpp.

DifferentialEquation::DifferentialEquation ( const DifferentialEquation & arg )

Copy constructor (deep copy).

Definition at line 154 of file differential_equation.cpp.

DifferentialEquation::~DifferentialEquation ( ) [virtual]

Destructor.

Definition at line 162 of file differential_equation.cpp.

Member Function Documentation

DifferentialEquation & DifferentialEquation::addAlgebraic ( const Expression & arg )

Loading Expressions (deep copy).

Definition at line 274 of file differential_equation.cpp.

DifferentialEquation & DifferentialEquation::addAlgebraic ( const double & arg )

Loading Expressions (deep copy).

Definition at line 282 of file differential_equation.cpp.

DifferentialEquation & DifferentialEquation::addAlgebraic ( const DVector & arg )

Loading Symbolic DVector (deep copy).

Definition at line 302 of file differential_equation.cpp.

DifferentialEquation & DifferentialEquation::addAlgebraic ( const DMatrix & arg )

Loading Symbolic DMatrix (deep copy).

Definition at line 325 of file differential_equation.cpp.

DifferentialEquation & DifferentialEquation::addDifferential ( const Expression & arg )

Loading Expressions (deep copy).

Definition at line 237 of file differential_equation.cpp.

DifferentialEquation & DifferentialEquation::addDifferential ( const double & arg )

Loading Expressions (deep copy).

Definition at line 266 of file differential_equation.cpp.

DifferentialEquation & DifferentialEquation::addDifferential ( const DVector & arg )

Loading Symbolic DVector (deep copy).

Definition at line 291 of file differential_equation.cpp.

DifferentialEquation & DifferentialEquation::addDifferential ( const DMatrix & arg )

Loading Symbolic DMatrix (deep copy).

Definition at line 313 of file differential_equation.cpp.

DifferentialEquation * DifferentialEquation::clone ( ) const [virtual]

Clone constructor (deep copy).

Reimplemented in DiscretizedDifferentialEquation.

Definition at line 191 of file differential_equation.cpp.

void DifferentialEquation::copy ( const DifferentialEquation & arg ) [protected]

Protected version of the copy constructor.

Definition at line 120 of file differential_equation.cpp.

int* DifferentialEquation::getComponents ( ) const [inline]

DVector DifferentialEquation::getDifferentialStateComponents ( ) const [inline]

double DifferentialEquation::getEndTime ( ) const [inline]

Returns the end time of the horizon of the differential equation
or +INFTY for the case that the start time is not defined.

Returns:: the end time.

int DifferentialEquation::getEndTimeIdx ( ) const [inline]

Returns the index of the parameter associated with the start time
of the time horizon of the differential equation or -1 for the
that the start time is constant

Returns:: the start time.

Lyapunov DifferentialEquation::getLyapunovObject ( ) const

Definition at line 346 of file differential_equation.cpp.

int DifferentialEquation::getNumAlgebraicEquations ( ) const [inline]

Returns the number of algebraic equations

int DifferentialEquation::getNumDynamicEquations ( ) const [inline]

Returns the number of dynamic equations

Expression DifferentialEquation::getODEexpansion ( const int & order ) const

Returning an Expression that contains a Taylor expansion
of the ODE-solution trajectory.

Parameters:

order the order of Taylor expansion.

Returns:: A matrix valued expression C of dimension
n_x times (order+2) ,
whose rows contain the Taylor coefficients.
C = [ x,f(x),f'(x)f(x),f''(x)f(x)f(x)+f'(x)f'(x)f(x), ... ].

Definition at line 402 of file differential_equation.cpp.

double DifferentialEquation::getStartTime ( ) const [inline]

Returns the start time of the horizon of the differential equation
or -INFTY for the case that the start time is not defined.

Returns:: the start time.

int DifferentialEquation::getStartTimeIdx ( ) const [inline]

Returns the index of the parameter associated with the start time
of the time horizon of the differential equation or -1 for the
that the start time is constant

Returns:: the start time.

int DifferentialEquation::getStateEnumerationIndex ( int index_ ) [inline]

double DifferentialEquation::getStepLength ( ) const [virtual]

Always returns -INFTY in the time-continuous case.

Definition at line 433 of file differential_equation.cpp.

BooleanType DifferentialEquation::hasLyapunovEquation ( ) const

Definition at line 351 of file differential_equation.cpp.

BooleanType DifferentialEquation::isDAE ( ) const

Ask whether the differential equation is a DAE.

Definition at line 388 of file differential_equation.cpp.

BooleanType DifferentialEquation::isDiscretized ( ) const [virtual]

Ask whether the differential equation is discretized (in time).

Definition at line 427 of file differential_equation.cpp.

BooleanType DifferentialEquation::isImplicit ( ) const [inline]

Ask whether the differential equation is given in implicit form.

BooleanType DifferentialEquation::isODE ( ) const

Ask whether the differential equation is a ODE.

Definition at line 395 of file differential_equation.cpp.

BooleanType DifferentialEquation::makeImplicit ( ) [virtual]

Adds DifferentialStateDerivative if the differential
equation is an ODE.

Returns:: BT_TRUE if the ODE is made implicit
BT_FALSE if the differential equation is no
ODE.

Definition at line 414 of file differential_equation.cpp.

DifferentialEquation & DifferentialEquation::operator<< ( const Expression & arg )

Loading Expressions (deep copy).

Reimplemented from Function.

Definition at line 198 of file differential_equation.cpp.

DifferentialEquation & DifferentialEquation::operator<< ( const int & arg )

Loading Expressions (deep copy).

Definition at line 225 of file differential_equation.cpp.

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

Assignment operator (deep copy).

Definition at line 173 of file differential_equation.cpp.

DifferentialEquation & DifferentialEquation::operator== ( const Expression & arg )

Loading Expressions (deep copy).

Definition at line 359 of file differential_equation.cpp.

DifferentialEquation & DifferentialEquation::operator== ( const double & arg )

Loading Expressions (deep copy).

Definition at line 366 of file differential_equation.cpp.

DifferentialEquation & DifferentialEquation::operator== ( const DVector & arg )

Loading Symbolic DVector (deep copy).

Definition at line 373 of file differential_equation.cpp.

DifferentialEquation & DifferentialEquation::operator== ( const DMatrix & arg )

Loading Symbolic DMatrix (deep copy).

Definition at line 380 of file differential_equation.cpp.

DifferentialEquation & DifferentialEquation::operator== ( const Lyapunov & arg )

Definition at line 337 of file differential_equation.cpp.

void DifferentialEquation::setup ( ) [protected]

Setup routine (for internal use only)

Definition at line 107 of file differential_equation.cpp.

Member Data Documentation

int* DifferentialEquation::component [protected]

Definition at line 267 of file differential_equation.hpp.

int DifferentialEquation::counter [protected]

Definition at line 266 of file differential_equation.hpp.

DifferentialEquationType DifferentialEquation::det [protected]

Definition at line 262 of file differential_equation.hpp.

BooleanType DifferentialEquation::is_discretized [protected]

Definition at line 264 of file differential_equation.hpp.

BooleanType DifferentialEquation::is_implicit [protected]

Definition at line 263 of file differential_equation.hpp.

Lyapunov DifferentialEquation::lyap [protected]

Definition at line 273 of file differential_equation.hpp.

double DifferentialEquation::stepLength [protected]

Definition at line 272 of file differential_equation.hpp.

Parameter* DifferentialEquation::T1 [protected]

Definition at line 269 of file differential_equation.hpp.

double DifferentialEquation::t1 [protected]

Definition at line 270 of file differential_equation.hpp.

Parameter * DifferentialEquation::T2 [protected]

Definition at line 269 of file differential_equation.hpp.

double DifferentialEquation::t2 [protected]

Definition at line 270 of file differential_equation.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

Member Function Documentation

Member Data Documentation