linear_solver_export.hpp

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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
 *
 */



#ifndef ACADO_TOOLKIT_EXPORT_LINEAR_SOLVER_HPP
#define ACADO_TOOLKIT_EXPORT_LINEAR_SOLVER_HPP

#include <acado/code_generation/export_acado_function.hpp>
#include <acado/code_generation/export_variable.hpp>
#include <acado/code_generation/export_algorithm.hpp>
#include <acado/code_generation/export_arithmetic_statement.hpp>
#include <acado/code_generation/export_function_call.hpp>
#include <acado/code_generation/export_for_loop.hpp>
#include <acado/function/function.hpp>

#include <acado/user_interaction/options.hpp>


BEGIN_NAMESPACE_ACADO


class ExportLinearSolver : public ExportAlgorithm
{
    //
    // PUBLIC MEMBER FUNCTIONS:
    //
    public:

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

        virtual ~ExportLinearSolver( );

                virtual returnValue setup( ) = 0;


                returnValue init(       const uint newDim,
                                                        const bool& reuse = true,
                                                        const bool& unrolling = false
                                                        );


                returnValue init(       const uint newDim,
                                                        const bool& reuse,
                                                        const bool& unrolling,
                                                        const std::string& newId
                                                        );

                returnValue init(       unsigned _nRows,
                                                        unsigned _nCols,
                                                        unsigned _nBacksolves,
                                                        bool _reuse,
                                                        bool _unroll,
                                                        const std::string& _id
                                                        );

                virtual returnValue getDataDeclarations(        ExportStatementBlock& declarations,
                                                                                                        ExportStruct dataStruct = ACADO_ANY
                                                                                                        ) const = 0;


                virtual returnValue getFunctionDeclarations(    ExportStatementBlock& declarations
                                                                                                                ) const = 0;


                virtual returnValue getCode(    ExportStatementBlock& code
                                                                                ) = 0;


                virtual returnValue appendVariableNames( std::stringstream& string ) = 0;


                uint getDim() const;


                virtual ExportVariable getGlobalExportVariable( const uint factor ) const;
                
                
                bool getReuse() const;
                
                
                returnValue setReuse( const bool& reuse );
                
                
                bool getUnrolling() const;
                
                
                returnValue setUnrolling( const bool& unrolling );
                
                
                const std::string getNameSolveFunction(); 
                
                
                const std::string getNameSolveReuseFunction(); 


        //
    // PROTECTED MEMBER FUNCTIONS:
    //
    protected:


    protected:
    
                std::string identifier;                                                 
                bool UNROLLING;                                         
                bool REUSE;                                                     
                uint dim;                                                                       
                unsigned nRows;                                                         
                unsigned nCols;                                                         
                unsigned nBacksolves;                                           
                // DEFINITION OF THE EXPORTVARIABLES
                ExportVariable A;                                                       
                ExportVariable b;                                                       
                ExportFunction solve;                                           
                ExportFunction solveTriangular;                         
                ExportFunction solveReuse;                                      
                ExportVariable determinant;                                     
};


CLOSE_NAMESPACE_ACADO


#endif  // ACADO_TOOLKIT_EXPORT_LINEAR_SOLVER_HPP

// end of file.