Allows to export a tailored implicit Runge-Kutta integrator with forward sensitivity generation for fast model predictive control. More...

#include <irk_forward_export.hpp>

Inheritance diagram for ForwardIRKExport:

[legend]

List of all members.

Public Member Functions
	ForwardIRKExport (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")
	ForwardIRKExport (const ForwardIRKExport &arg)
virtual returnValue	getCode (ExportStatementBlock &code)
virtual returnValue	getDataDeclarations (ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const
virtual returnValue	getFunctionDeclarations (ExportStatementBlock &declarations) const
ForwardIRKExport &	operator= (const ForwardIRKExport &arg)
virtual returnValue	setup ()
virtual	~ForwardIRKExport ()
Protected Member Functions
ExportVariable	getAuxVariable () const
returnValue	getCRSIndex (uint output, ExportIndex row, ExportIndex col)
virtual returnValue	prepareInputSystem (ExportStatementBlock &code)
virtual returnValue	prepareOutputSystem (ExportStatementBlock &code)
virtual returnValue	propagateOutputs (ExportStatementBlock *block, const ExportIndex &index, const ExportIndex &index0, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index1, const ExportIndex &tmp_index2, const ExportIndex &tmp_index3, const ExportIndex &tmp_index4, const ExportVariable &tmp_meas)
virtual returnValue	sensitivitiesImplicitSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index1, const ExportIndex &tmp_index2, const ExportVariable &Ah, const ExportVariable &Bh, const ExportVariable &det, bool STATES, uint number)
virtual returnValue	sensitivitiesInputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportVariable &Bh, bool STATES)
returnValue	sensitivitiesOutputs (ExportStatementBlock *block, const ExportIndex &index0, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &tmp_index1, const ExportIndex &tmp_index2, const ExportIndex &tmp_index3, const ExportVariable &tmp_meas, const ExportVariable &time_tmp, bool STATES, uint base)
virtual returnValue	sensitivitiesOutputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &index4, const ExportIndex &tmp_index1, const ExportIndex &tmp_index2, const ExportVariable &Ah, const ExportVariable &Bh, bool STATES, uint number)

Detailed Description

Allows to export a tailored implicit Runge-Kutta integrator with forward sensitivity generation for fast model predictive control.

The class ForwardIRKExport allows to export a tailored implicit Runge-Kutta integrator with forward sensitivity generation for fast model predictive control.

Author:: Rien Quirynen

Definition at line 55 of file irk_forward_export.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO ForwardIRKExport::ForwardIRKExport	(	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 45 of file irk_forward_export.cpp.

ForwardIRKExport::ForwardIRKExport ( const ForwardIRKExport & arg )

Copy constructor (deep copy).

Parameters:

[in] arg Right-hand side object.

Definition at line 51 of file irk_forward_export.cpp.

ForwardIRKExport::~ForwardIRKExport ( ) [virtual]

Destructor.

Definition at line 56 of file irk_forward_export.cpp.

Member Function Documentation

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

Returns the largest global export variable.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

Definition at line 77 of file irk_forward_export.cpp.

returnValue ForwardIRKExport::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

Reimplemented from ImplicitRungeKuttaExport.

Definition at line 149 of file irk_forward_export.cpp.

returnValue ForwardIRKExport::getCRSIndex	(	uint	output,
		ExportIndex	row,
		ExportIndex	col
	)		`[protected]`

Returns the index corresponding Compressed Row Storage (CRS) for the dependency matrix of a specific output function.

Parameters:

[in]	output	The number of the output function.
[in]	row	The number of the row, corresponding the element of interest.
[in]	col	The number of the column, corresponding the element of interest.

Returns:: The CRS index.

Reimplemented from ImplicitRungeKuttaExport.

returnValue ForwardIRKExport::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

Reimplemented from ImplicitRungeKuttaExport.

Definition at line 112 of file irk_forward_export.cpp.

returnValue ForwardIRKExport::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

Reimplemented from ImplicitRungeKuttaExport.

Definition at line 140 of file irk_forward_export.cpp.

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

Assignment operator (deep copy).

Parameters:

[in] arg Right-hand side object.

Definition at line 66 of file irk_forward_export.cpp.

returnValue ForwardIRKExport::prepareInputSystem ( ExportStatementBlock & code ) [protected, virtual]

Precompute as much as possible for the linear input system and export the resulting definitions.

Parameters:

[in] code The block to which the code will be exported.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

Reimplemented in DiagonallyImplicitRKExport.

Definition at line 633 of file irk_forward_export.cpp.

returnValue ForwardIRKExport::prepareOutputSystem ( ExportStatementBlock & code ) [protected, virtual]

Precompute as much as possible for the linear output system and export the resulting definitions.

Parameters:

[in] code The block to which the code will be exported.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

Reimplemented in DiagonallyImplicitRKExport.

Definition at line 682 of file irk_forward_export.cpp.

returnValue ForwardIRKExport::propagateOutputs	(	ExportStatementBlock *	block,
		const ExportIndex &	index,
		const ExportIndex &	index0,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	tmp_index1,
		const ExportIndex &	tmp_index2,
		const ExportIndex &	tmp_index3,
		const ExportIndex &	tmp_index4,
		const ExportVariable &	tmp_meas
	)		`[protected, virtual]`

Exports the propagation of the sensitivities for the continuous output.

Parameters:

[in]	block	The block to which the code will be exported.
[in]	tmp_meas	The number of measurements in the current integration step (in case of an online grid).

Returns:: SUCCESSFUL_RETURN

Definition at line 533 of file irk_forward_export.cpp.

returnValue ForwardIRKExport::sensitivitiesImplicitSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	tmp_index1,
		const ExportIndex &	tmp_index2,
		const ExportVariable &	Ah,
		const ExportVariable &	Bh,
		const ExportVariable &	det,
		bool	STATES,
		uint	number
	)		`[protected, virtual]`

Exports the code needed to compute the sensitivities of the states defined by the nonlinear, fully implicit system.

Parameters:

[in]	block	The block to which the code will be exported.
[in]	Ah	The variable containing the internal coefficients of the RK method, multiplied with the step size.
[in]	Bh	The variable containing the weights of the RK method, multiplied with the step size.
[in]	det	The variable that holds the determinant of the matrix in the linear system.
[in]	STATES	True if the sensitivities with respect to a state are needed, false otherwise.
[in]	number	This number defines the stage of the state with respect to which the sensitivities are computed.

Returns:: SUCCESSFUL_RETURN

Implements RKSensitivitiesExport.

Reimplemented in DiagonallyImplicitRKExport.

Definition at line 738 of file irk_forward_export.cpp.

returnValue ForwardIRKExport::sensitivitiesInputSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportVariable &	Bh,
		bool	STATES
	)		`[protected, virtual]`

Exports the code needed to compute the sensitivities of the states, defined by the linear input system.

Parameters:

[in]	block	The block to which the code will be exported.
[in]	Bh	The variable containing the weights of the RK method, multiplied with the step size.
[in]	STATES	True if the sensitivities with respect to a state are needed, false otherwise.

Returns:: SUCCESSFUL_RETURN

Implements RKSensitivitiesExport.

Definition at line 717 of file irk_forward_export.cpp.

returnValue ForwardIRKExport::sensitivitiesOutputs	(	ExportStatementBlock *	block,
		const ExportIndex &	index0,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	tmp_index1,
		const ExportIndex &	tmp_index2,
		const ExportIndex &	tmp_index3,
		const ExportVariable &	tmp_meas,
		const ExportVariable &	time_tmp,
		bool	STATES,
		uint	base
	)		`[protected, virtual]`

Exports the computation of the sensitivities for the continuous output.

Parameters:

[in]	block	The block to which the code will be exported.
[in]	tmp_meas	The number of measurements in the current integration step (in case of an online grid).
[in]	rk_tPrev	The time point, defining the beginning of the current integration step (in case of an online grid).
[in]	time_tmp	A variable used for time transformations (in case of an online grid).
[in]	STATES	True if the sensitivities with respect to a state are needed, false otherwise.
[in]	base	The number of states in stages with respect to which the sensitivities have already been computed.

Returns:: SUCCESSFUL_RETURN

Implements RKSensitivitiesExport.

Definition at line 924 of file irk_forward_export.cpp.

returnValue ForwardIRKExport::sensitivitiesOutputSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	index4,
		const ExportIndex &	tmp_index1,
		const ExportIndex &	tmp_index2,
		const ExportVariable &	Ah,
		const ExportVariable &	Bh,
		bool	STATES,
		uint	number
	)		`[protected, virtual]`

Exports the code needed to compute the sensitivities of the states, defined by the linear output system.

Parameters:

[in]	block	The block to which the code will be exported.
[in]	Ah	The variable containing the internal coefficients of the RK method, multiplied with the step size.
[in]	Bh	The variable containing the weights of the RK method, multiplied with the step size.
[in]	STATES	True if the sensitivities with respect to a state are needed, false otherwise.
[in]	number	This number defines the stage of the state with respect to which the sensitivities are computed.

Returns:: SUCCESSFUL_RETURN

Implements RKSensitivitiesExport.

Reimplemented in DiagonallyImplicitRKExport.

Definition at line 818 of file irk_forward_export.cpp.

returnValue ForwardIRKExport::setup ( ) [virtual]

Initializes export of a tailored integrator.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

Reimplemented in DiagonallyImplicitRKExport.

Definition at line 1040 of file irk_forward_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