Allows to export a tailored explicit Runge-Kutta integrator for fast model predictive control. More...

#include <erk_export.hpp>

Inheritance diagram for ExplicitRungeKuttaExport:

Public Member Functions
	ExplicitRungeKuttaExport (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")
	ExplicitRungeKuttaExport (const ExplicitRungeKuttaExport &arg)
virtual returnValue	getCode (ExportStatementBlock &code)
virtual returnValue	getDataDeclarations (ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const
virtual returnValue	getFunctionDeclarations (ExportStatementBlock &declarations) const
virtual returnValue	setDifferentialEquation (const Expression &rhs)
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	setup ()
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	~ExplicitRungeKuttaExport ()
Protected Member Functions
ExportVariable	getAuxVariable () const

Detailed Description

Allows to export a tailored explicit Runge-Kutta integrator for fast model predictive control.

The class ExplicitRungeKuttaExport allows to export a tailored explicit Runge-Kutta integrator for fast model predictive control.

Author:: Rien Quirynen

Definition at line 54 of file erk_export.hpp.

Constructor & Destructor Documentation

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

Default constructor.

Parameters:

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

Definition at line 44 of file erk_export.cpp.

ExplicitRungeKuttaExport::ExplicitRungeKuttaExport ( const ExplicitRungeKuttaExport & arg )

Copy constructor (deep copy).

Parameters:

[in] arg Right-hand side object.

Definition at line 52 of file erk_export.cpp.

ExplicitRungeKuttaExport::~ExplicitRungeKuttaExport ( ) [virtual]

Destructor.

Definition at line 59 of file erk_export.cpp.

Member Function Documentation

ExportVariable ExplicitRungeKuttaExport::getAuxVariable ( ) const [protected, virtual]

Returns the largest global export variable.

Returns:: SUCCESSFUL_RETURN

Implements IntegratorExport.

Reimplemented in ThreeSweepsERKExport.

Definition at line 389 of file erk_export.cpp.

returnValue ExplicitRungeKuttaExport::getCode ( ExportStatementBlock & code ) [virtual]

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

Parameters:

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

Returns:: SUCCESSFUL_RETURN

Implements RungeKuttaExport.

Reimplemented in ThreeSweepsERKExport, and AdjointERKExport.

Definition at line 322 of file erk_export.cpp.

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

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

Parameters:

[in] declarations List of declarations.

Returns:: SUCCESSFUL_RETURN

Implements RungeKuttaExport.

Reimplemented in ThreeSweepsERKExport, and AdjointERKExport.

Definition at line 290 of file erk_export.cpp.

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

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

Parameters:

[in] declarations List of declarations.

Returns:: SUCCESSFUL_RETURN

Implements RungeKuttaExport.

Definition at line 307 of file erk_export.cpp.

returnValue ExplicitRungeKuttaExport::setDifferentialEquation ( const Expression & rhs ) [virtual]

Assigns Differential Equation to be used by the integrator.

Parameters:

[in] rhs Right-hand side expression.

Returns:: SUCCESSFUL_RETURN

Implements RungeKuttaExport.

Reimplemented in ThreeSweepsERKExport, AdjointERKExport, and ForwardOverBackwardERKExport.

Definition at line 190 of file erk_export.cpp.

returnValue ExplicitRungeKuttaExport::setLinearInput	(	const DMatrix &	M1,
		const DMatrix &	A1,
		const DMatrix &	B1
	)		`[virtual]`

Parameters:

[in] .

Returns:: SUCCESSFUL_RETURN

Reimplemented from IntegratorExport.

Definition at line 272 of file erk_export.cpp.

returnValue ExplicitRungeKuttaExport::setLinearOutput	(	const DMatrix &	M3,
		const DMatrix &	A3,
		const Expression &	rhs
	)		`[virtual]`

Parameters:

[in] .

Returns:: SUCCESSFUL_RETURN

Reimplemented from IntegratorExport.

Definition at line 278 of file erk_export.cpp.

returnValue ExplicitRungeKuttaExport::setLinearOutput	(	const DMatrix &	M3,
		const DMatrix &	A3,
		const std::string &	_rhs3,
		const std::string &	_diffs_rhs3
	)		`[virtual]`

Parameters:

[in] .

Returns:: SUCCESSFUL_RETURN

Reimplemented from IntegratorExport.

Definition at line 284 of file erk_export.cpp.

returnValue ExplicitRungeKuttaExport::setup ( ) [virtual]

Initializes export of a tailored integrator.

Returns:: SUCCESSFUL_RETURN

Implements RungeKuttaExport.

Reimplemented in ThreeSweepsERKExport, AdjointERKExport, and ForwardOverBackwardERKExport.

Definition at line 65 of file erk_export.cpp.

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

Sets up the output with the grids for the different output functions.

Parameters:

outputGrids_	The vector containing a grid for each output function.
rhs	The expressions corresponding the output functions.

Returns:: SUCCESSFUL_RETURN

Implements RungeKuttaExport.

Definition at line 364 of file erk_export.cpp.

returnValue ExplicitRungeKuttaExport::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]`

Sets up the output with the grids for the different output functions.

Parameters:

outputGrids_	The vector containing a grid for each output function.
_outputNames	The names of the output functions.
_diffs_outputNames	The names of the functions, evaluating the derivatives of the outputs.
_dims_output	The dimensions of the output functions.

Returns:: SUCCESSFUL_RETURN

Implements IntegratorExport.

Definition at line 370 of file erk_export.cpp.

returnValue ExplicitRungeKuttaExport::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]`

Sets up the output with the grids for the different output functions.

Parameters:

outputGrids_	The vector containing a grid for each output function.
_outputNames	The names of the output functions.
_diffs_outputNames	The names of the functions, evaluating the derivatives of the outputs.
_dims_output	The dimensions of the output functions.
_outputDependencies	A separate dependency matrix for each output.

Returns:: SUCCESSFUL_RETURN

Implements IntegratorExport.

Definition at line 379 of file erk_export.cpp.

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

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation