export_forces_generator.cpp

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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
 *
 */

#include <acado/code_generation/export_forces_generator.hpp>

using namespace std;

BEGIN_NAMESPACE_ACADO

ExportForcesGenerator::ExportForcesGenerator(   const std::string& _templateName,
                                                                                                const std::string& _fileName,
                                                                                                const std::string& _commonHeaderName,
                                                                                                const std::string& _realString,
                                                                                                const std::string& _intString,
                                                                                                int _precision,
                                                                                                const std::string& _commentString
                                                ) : ExportTemplatedFile(_templateName, _fileName, _commonHeaderName, _realString, _intString, _precision, _commentString)
{}

returnValue ExportForcesGenerator::configure(   const unsigned _nx,
                                                                                                const unsigned _nu,
                                                                                                const unsigned _NN,
                                                                                                const std::vector< std::vector< unsigned > >& _lbIdx,
                                                                                                const std::vector< std::vector< unsigned > >& _ubIdx,
                                                                                                const bool _constHessian,
                                                                                                const bool _diagHessian,
                                                                                                const bool _diagHessianN,
                                                                                                const bool _fixedInitialState,
                                                                                                const std::string& _solverName,
                                                                                                const unsigned _printLevel,
                                                                                                const unsigned _maxIterations,
                                                                                                const unsigned _parallel,
                                                                                                bool matlabGenerator,
                                                                                                bool warmStart
                                                                                                )
{
        stringstream s;

        // Configure the dictionary

        s.str(std::string());
        s << _nx;
        dictionary[ "@NX@" ] =  s.str();

        s.str(std::string());
        s << _nu;
        dictionary[ "@NU@" ] =  s.str();

        // NOTE FORCES needs number of shooting nodes...
        s.str(std::string());
        s << _NN + 1;
        dictionary[ "@N@" ] =  s.str();

        s.str(std::string());
        if (matlabGenerator == true)
                for (unsigned i = 0; i < _lbIdx.size(); ++i)
                {
                        if ( i )
                                s << ", ..." << endl << "\t";

                        s << "{";
                        for (unsigned j = 0; j < _lbIdx[ i ].size(); ++j)
                        {
                                if ( j )
                                        s << ", ";
                                s << _lbIdx[ i ][ j ] + 1;
                        }
                        s << "}";
                }
        else
                // Python generator
                for (unsigned i = 0; i < _lbIdx.size(); ++i)
                {
                        if ( i )
                                s << ", " << endl << "\t";

                        s << "[";
                        for (unsigned j = 0; j < _lbIdx[ i ].size(); ++j)
                        {
                                if ( j )
                                        s << ", ";
                                s << _lbIdx[ i ][ j ] + 1;
                        }
                        s << "]";
                }

        dictionary[ "@LB_IDX@" ] =  s.str();

        s.str(std::string());
        if (matlabGenerator == true)
                for (unsigned i = 0; i < _ubIdx.size(); ++i)
                {
                        if ( i )
                                s << ", ..." << endl << "\t";

                        s << "{";
                        for (unsigned j = 0; j < _ubIdx[ i ].size(); ++j)
                        {
                                if ( j )
                                        s << ", ";
                                s << _ubIdx[ i ][ j ] + 1;
                        }
                        s << "}";
                }
        else
                // Python generator
                for (unsigned i = 0; i < _ubIdx.size(); ++i)
                {
                        if ( i )
                                s << ", " << endl << "\t";

                        s << "[";
                        for (unsigned j = 0; j < _ubIdx[ i ].size(); ++j)
                        {
                                if ( j )
                                        s << ", ";
                                s << _ubIdx[ i ][ j ] + 1;
                        }
                        s << "]";
                }

        dictionary[ "@UB_IDX@" ] =  s.str();

        s.str(std::string());
        s << (_constHessian == true ? 1 : 0);
        dictionary[ "@CONST_HESSIAN@" ] =  s.str();

        s.str(std::string());
        s << (_diagHessian == true ? 1 : 0);
        dictionary[ "@DIAG_HESSIAN@" ] =  s.str();

        s.str(std::string());
        s << (_diagHessianN == true ? 1 : 0);
        dictionary[ "@DIAG_HESSIAN_N@" ] =  s.str();

        s.str(std::string());
        s << (_fixedInitialState == true ? 1 : 0);
        dictionary[ "@FIXED_INITIAL_STATE@" ] =  s.str();

        dictionary[ "@SOLVER_NAME@" ] =  _solverName;

        s.str(std::string());
        s << _printLevel;
        dictionary[ "@PRINT_LEVEL@" ] =  s.str();

        s.str(std::string());
        s << _maxIterations;
        dictionary[ "@MAX_ITERATIONS@" ] =  s.str();

        s.str(std::string());
        s << _parallel;
        dictionary[ "@PARALLEL@" ] =  s.str();

        dictionary[ "@WARM_START@" ] =  warmStart ? "2" : "0";

        // And then fill a template file
        fillTemplate();

        return SUCCESSFUL_RETURN;
}

CLOSE_NAMESPACE_ACADO