Allows to export automatically generated algorithms for fast model predictive control. More...

#include <export_algorithm.hpp>

Inheritance diagram for ExportAlgorithm:

Public Member Functions
	ExportAlgorithm (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName=std::string())
virtual returnValue	getCode (ExportStatementBlock &code)=0
virtual returnValue	getDataDeclarations (ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const =0
virtual returnValue	getFunctionDeclarations (ExportStatementBlock &declarations) const =0
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 returnValue	setup ()
virtual	~ExportAlgorithm ()
Protected Attributes
std::string	commonHeaderName
uint	N
uint	NDX
uint	NOD
uint	NP
uint	NU
uint	NX
uint	NXA
uint	NY
uint	NYN

Detailed Description

Allows to export automatically generated algorithms for fast model predictive control.

The class ExportAlgorithm allows to export automatically generated algorithms for fast model predictive control.

Author:: Hans Joachim Ferreau, Milan Vukov, Boris Houska

Definition at line 61 of file export_algorithm.hpp.

Constructor & Destructor Documentation

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

Default constructor.

Parameters:

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

Definition at line 45 of file export_algorithm.cpp.

ExportAlgorithm::~ExportAlgorithm ( ) [virtual]

Destructor.

Definition at line 54 of file export_algorithm.cpp.

Member Function Documentation

virtual returnValue ExportAlgorithm::getCode ( ExportStatementBlock & code ) [pure virtual]

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

Parameters:

[in] code Code block containing the auto-generated algorithm.

Returns:: SUCCESSFUL_RETURN

Implemented in IntegratorExport, ImplicitRungeKuttaExport, DiscreteTimeExport, ExportLinearSolver, ExplicitRungeKuttaExport, RungeKuttaExport, ExportNLPSolver, ForwardIRKExport, ExportCholeskySolver, ThreeSweepsERKExport, AdjointERKExport, ExportGaussElim, ExportHouseholderQR, ExportCholeskyDecomposition, ExportGaussNewtonForces, ExportGaussNewtonQpDunes, ExportGaussNewtonCondensed, ExportGaussNewtonQpDunes2, ExportGaussNewtonHpmpc, ExportGaussNewtonCn2Factorization, ExportGaussNewtonCN2, and ExportExactHessianQpDunes.

virtual returnValue ExportAlgorithm::getDataDeclarations	(	ExportStatementBlock &	declarations,
		ExportStruct	dataStruct = `ACADO_ANY`
	)		const `[pure virtual]`

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

Parameters:

[in] declarations List of declarations.

Returns:: SUCCESSFUL_RETURN

Implemented in IntegratorExport, ImplicitRungeKuttaExport, DiscreteTimeExport, ExportLinearSolver, ExplicitRungeKuttaExport, RungeKuttaExport, NARXExport, ExportNLPSolver, ThreeSweepsERKExport, AdjointERKExport, ForwardIRKExport, ExportCholeskySolver, ExportCholeskyDecomposition, ExportGaussElim, ExportHouseholderQR, ExportGaussNewtonForces, ExportGaussNewtonQpDunes, ExportGaussNewtonCondensed, ExportGaussNewtonQpDunes2, ExportGaussNewtonHpmpc, ExportGaussNewtonCn2Factorization, and ExportGaussNewtonCN2.

virtual returnValue ExportAlgorithm::getFunctionDeclarations ( ExportStatementBlock & declarations ) const [pure virtual]

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

Parameters:

[in] declarations List of declarations.

Returns:: SUCCESSFUL_RETURN

Implemented in IntegratorExport, ImplicitRungeKuttaExport, DiscreteTimeExport, ExportLinearSolver, ExplicitRungeKuttaExport, RungeKuttaExport, ExportNLPSolver, ForwardIRKExport, ExportCholeskySolver, ExportCholeskyDecomposition, ExportGaussElim, ExportHouseholderQR, ExportGaussNewtonForces, ExportGaussNewtonQpDunes, ExportGaussNewtonCondensed, ExportGaussNewtonQpDunes2, ExportGaussNewtonHpmpc, ExportGaussNewtonCn2Factorization, ExportGaussNewtonCN2, ExportExactHessianQpDunes, and ExportExactHessianCN2.

uint ExportAlgorithm::getN ( ) const

Returns number of control intervals.

Returns:: Number of control intervals

Definition at line 128 of file export_algorithm.cpp.

uint ExportAlgorithm::getNDX ( ) const

Returns the number of differential states derivatives.

Returns:: The requested number of differential state derivatives

uint ExportAlgorithm::getNOD ( ) const

Returns number of parameters.

Returns:: Number of parameters

Definition at line 122 of file export_algorithm.cpp.

uint ExportAlgorithm::getNP ( ) const

Returns number of parameters.

Returns:: Number of parameters

Definition at line 117 of file export_algorithm.cpp.

uint ExportAlgorithm::getNU ( ) const

Returns number of control inputs.

Returns:: Number of control inputs

Definition at line 111 of file export_algorithm.cpp.

uint ExportAlgorithm::getNX ( ) const

Returns number of differential states.

Returns:: Number of differential states

Definition at line 99 of file export_algorithm.cpp.

uint ExportAlgorithm::getNXA ( ) const

Returns number of algebraic states.

Returns:: Number of algebraic states

Definition at line 105 of file export_algorithm.cpp.

uint ExportAlgorithm::getNY ( ) const

Definition at line 138 of file export_algorithm.cpp.

uint ExportAlgorithm::getNYN ( ) const

Definition at line 148 of file export_algorithm.cpp.

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

Sets the variables dimensions (ODE).

Parameters:

[in]	_NX	New number of differential states.
[in]	_NU	New number of control inputs.
[in]	_NP	New number of parameters.
[in]	_NI	New number of control intervals. (using _N resulted in a strange error when compiling with cygwin!)

Returns:: SUCCESSFUL_RETURN

Definition at line 65 of file export_algorithm.cpp.

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

Sets the variables dimensions (DAE).

Parameters:

[in]	_NX	New number of differential states.
[in]	_NDX	New number of differential states derivatives.
[in]	_NXA	New number of algebraic states.
[in]	_NU	New number of control inputs.
[in]	_NP	New number of parameters.
[in]	_NI	New number of control intervals.