Public Member Functions | Protected Member Functions | Protected Attributes | Friends

Abstract base class for all kinds of algorithms for integrating differential equations (ODEs or DAEs). More...

#include <integrator.hpp>

Inheritance diagram for Integrator:
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List of all members.

Public Member Functions

virtual BooleanType canHandleImplicitSwitches () const
virtual Integratorclone () const =0
virtual returnValue deleteAllSeeds ()
virtual returnValue evaluateSensitivities ()=0
virtual returnValue freezeAll ()=0
virtual returnValue freezeMesh ()=0
returnValue getBackwardSensitivities (DVector &Dx_x0, DVector &Dx_p, DVector &Dx_u, DVector &Dx_w, int order) const
virtual double getDifferentialEquationSampleTime () const
returnValue getForwardSensitivities (DVector &Dx, int order) const
returnValue getForwardSensitivities (VariablesGrid &Dx, int order) const
returnValue getI (VariablesGrid &I) const
virtual int getNumberOfRejectedSteps () const =0
virtual int getNumberOfSteps () const =0
virtual double getStepSize () const =0
returnValue getX (DVector &xEnd) const
returnValue getX (VariablesGrid &X) const
returnValue getXA (DVector &xaEnd) const
returnValue getXA (VariablesGrid &XA) const
virtual returnValue init (const DifferentialEquation &rhs)=0
returnValue init (const DifferentialEquation &rhs, const Transition &trs)
returnValue integrate (double t0, double tend, double *x0, double *xa=0, double *p=0, double *u=0, double *w=0)
returnValue integrate (const Grid &t, double *x0, double *xa=0, double *p=0, double *u=0, double *w=0)
returnValue integrate (double t0, double tend, const DVector &x0, const DVector &xa=emptyVector, const DVector &p=emptyVector, const DVector &u=emptyVector, const DVector &w=emptyVector)
returnValue integrate (const Grid &t, const DVector &x0, const DVector &xa=emptyVector, const DVector &p=emptyVector, const DVector &u=emptyVector, const DVector &w=emptyVector)
returnValue integrateSensitivities ()
 Integrator ()
 Integrator (const Integrator &arg)
virtual BooleanType isDifferentialEquationAffine () const
virtual BooleanType isDifferentialEquationDefined () const
virtual returnValue printRunTimeProfile () const
returnValue setBackwardSeed (const int &order, const DVector &seed)
virtual returnValue setDxInitialization (double *dx0)=0
returnValue setForwardSeed (const int &order, const DVector &xSeed, const DVector &pSeed=emptyVector, const DVector &uSeed=emptyVector, const DVector &wSeed=emptyVector)
returnValue setTransition (const Transition &trs)
virtual returnValue unfreeze ()=0
virtual ~Integrator ()

Protected Member Functions

virtual returnValue diffTransitionBackward (DVector &DX, DVector &DP, DVector &DU, DVector &DW, int &order)
virtual returnValue diffTransitionForward (DVector &DX, const DVector &DP, const DVector &DU, const DVector &DW, const int &order)
virtual returnValue evaluate (const DVector &x0, const DVector &xa, const DVector &p, const DVector &u, const DVector &w, const Grid &t_)=0
virtual returnValue evaluateTransition (const double time, DVector &xd, const DVector &xa, const DVector &p, const DVector &u, const DVector &w)
virtual int getDim () const =0
virtual int getDimX () const
virtual returnValue getProtectedBackwardSensitivities (DVector &Dx_x0, DVector &Dx_p, DVector &Dx_u, DVector &Dx_w, int order) const =0
virtual returnValue getProtectedForwardSensitivities (DMatrix *Dx, int order) const =0
virtual returnValue getProtectedX (DVector *xEnd) const =0
void initializeOptions ()
virtual returnValue setProtectedBackwardSeed (const DVector &seed, const int &order)=0
virtual returnValue setProtectedForwardSeed (const DVector &xSeed, const DVector &pSeed, const DVector &uSeed, const DVector &wSeed, const int &order)=0
virtual returnValue setupLogging ()
virtual returnValue setupOptions ()

Protected Attributes

int * alg_index
int * control_index
int count
int count2
int count3
int * ddiff_index
VariablesGrid ddxStore
int * diff_index
DVector diff_scale
int * disturbance_index
DVector dP
DVector dPb
DVector dU
DVector dUb
DVector dW
DVector dWb
DVector dX
DVector dXb
VariablesGrid dxStore
RealClock functionEvaluation
double * h
double hini
double hmax
double hmin
int * int_control_index
int * int_parameter_index
VariablesGrid iStore
int las
short int m
short int ma
int maxNumberOfSteps
short int md
short int mdx
short int mn
short int mp
short int mpi
short int mu
short int mui
short int mw
int nBDirs
int nBDirs2
int nFcnEvaluations
int nFDirs
int nFDirs2
int * parameter_index
int PrintLevel
DifferentialEquationrhs
StateOfAggregation soa
int time_index
Grid timeInterval
double TOL
RealClock totalTime
Transitiontransition
double tune
DVector xE
VariablesGrid xStore

Friends

class ShootingMethod
class SimulationByIntegration

Detailed Description

Abstract base class for all kinds of algorithms for integrating differential equations (ODEs or DAEs).

The class Integrator serves as an abstract base class for all kinds of algorithms for integrating differential equations (ODEs or DAEs).

Author:
Boris Houska, Hans Joachim Ferreau

Definition at line 61 of file integrator.hpp.


Constructor & Destructor Documentation

Default constructor.

Definition at line 56 of file integrator.cpp.

Copy constructor.

Definition at line 131 of file integrator.cpp.

Integrator::~Integrator ( ) [virtual]

Default destructor.

Definition at line 139 of file integrator.cpp.


Member Function Documentation

Returns if integrator is able to handle implicit switches.

Returns:
BT_TRUE: if integrator can handle implicit switches.
BT_FALSE: otherwise

Definition at line 459 of file integrator.cpp.

virtual Integrator* Integrator::clone ( ) const [pure virtual]

Deletes all seeds that have been set with the methods above.
This function will also give the corresponding memory free.

Returns:
SUCCESSFUL_RETURN
RET_NO_SEED_ALLOCATED

Definition at line 488 of file integrator.cpp.

returnValue Integrator::diffTransitionBackward ( DVector DX,
DVector DP,
DVector DU,
DVector DW,
int &  order 
) [protected, virtual]

Definition at line 542 of file integrator.cpp.

returnValue Integrator::diffTransitionForward ( DVector DX,
const DVector DP,
const DVector DU,
const DVector DW,
const int &  order 
) [protected, virtual]

Definition at line 521 of file integrator.cpp.

virtual returnValue Integrator::evaluate ( const DVector x0,
const DVector xa,
const DVector p,
const DVector u,
const DVector w,
const Grid t_ 
) [protected, pure virtual]

Starts integration: cf. integrate(...) for
more details.

Parameters:
x0the initial state
xathe initial algebraic state
pthe parameters
uthe controls
wthe disturbance
t_the time interval

Implemented in IntegratorLYAPUNOV, IntegratorRK, and IntegratorBDF.

virtual returnValue Integrator::evaluateSensitivities ( ) [pure virtual]
returnValue Integrator::evaluateTransition ( const double  time,
DVector xd,
const DVector xa,
const DVector p,
const DVector u,
const DVector w 
) [protected, virtual]

Evaluates the transtion (protected, only for internal use).

Parameters:
timethe time
xdthe state
xathe algebraic state
pthe parameters
uthe controls
wthe disturbance

Definition at line 505 of file integrator.cpp.

virtual returnValue Integrator::freezeAll ( ) [pure virtual]

Freezes the mesh as well as all intermediate values. This function
is necessary for the case that automatic differentiation in backward
mode should is used. (Note: This function might for large right hand
sides lead to memory problems as all intemediate values will be
stored!)

Returns:
SUCCESSFUL_RETURN
RET_ALREADY_FROZEN

Implemented in IntegratorRK, IntegratorLYAPUNOV, and IntegratorBDF.

virtual returnValue Integrator::freezeMesh ( ) [pure virtual]

Freezes the mesh: Storage of the step sizes. If the integrator is
freezed, the mesh will be stored when calling the function integrate
for the first time. If the function integrate is called more than
once the same mesh will be reused (i.e. the step size control will
be turned off). Note that the mesh should be frozen if any kind of
sensitivity generation is used.

Returns:
SUCCESSFUL_RETURN
RET_ALREADY_FROZEN

Implemented in IntegratorRK, IntegratorLYAPUNOV, and IntegratorBDF.

returnValue Integrator::getBackwardSensitivities ( DVector Dx_x0,
DVector Dx_p,
DVector Dx_u,
DVector Dx_w,
int  order 
) const

Returns the result for the backward sensitivities at the time tend.

Parameters:
Dx_x0backward sensitivities w.r.t. the initial states
Dx_pbackward sensitivities w.r.t. the parameters
Dx_ubackward sensitivities w.r.t. the controls
Dx_wbackward sensitivities w.r.t. the disturbance

Returns:
SUCCESSFUL_RETURN
RET_INPUT_OUT_OF_RANGE

Definition at line 424 of file integrator.cpp.

Returns the

Definition at line 478 of file integrator.cpp.

virtual int Integrator::getDim ( ) const [protected, pure virtual]

Returns the dimension of the Differential Equation

Implemented in IntegratorBDF, IntegratorLYAPUNOV, and IntegratorRK.

int Integrator::getDimX ( ) const [protected, virtual]

Returns the number of Dynamic Equations in the Differential Equation

Reimplemented in IntegratorBDF.

Definition at line 618 of file integrator.cpp.

returnValue Integrator::getForwardSensitivities ( DVector Dx,
int  order 
) const

Returns the result for the forward sensitivities at the time tend.

Parameters:
Dxthe result for the forward sensitivities.
orderthe order.

Returns:
SUCCESSFUL_RETURN
RET_INPUT_OUT_OF_RANGE

Definition at line 406 of file integrator.cpp.

Returns the result for the forward sensitivities on the grid.

Parameters:
Dxthe result for the forward sensitivities.
orderthe order.

Returns:
SUCCESSFUL_RETURN
RET_INPUT_OUT_OF_RANGE

Definition at line 414 of file integrator.cpp.

returnValue Integrator::getI ( VariablesGrid I) const [inline]

Returns the requested output on the specified grid.
The intermediate states constructed based on linear
interpolation.

Parameters:
Ithe intermediates states on the grid.

Returns:
SUCCESSFUL_RETURN
RET_TRAJECTORY_NOT_FROZEN
virtual int Integrator::getNumberOfRejectedSteps ( ) const [pure virtual]

Returns the number of rejected Steps.

Returns:
The requested number of rejected steps.

Implemented in IntegratorBDF, IntegratorRK, and IntegratorLYAPUNOV.

virtual int Integrator::getNumberOfSteps ( ) const [pure virtual]

Returns the number of accepted Steps.

Returns:
The requested number of accepted steps.

Implemented in IntegratorBDF, IntegratorRK, and IntegratorLYAPUNOV.

virtual returnValue Integrator::getProtectedBackwardSensitivities ( DVector Dx_x0,
DVector Dx_p,
DVector Dx_u,
DVector Dx_w,
int  order 
) const [protected, pure virtual]

Returns the result for the backward sensitivities at the time tend.

Parameters:
Dx_x0backward sensitivities w.r.t. the initial states
Dx_pbackward sensitivities w.r.t. the parameters
Dx_ubackward sensitivities w.r.t. the controls
Dx_wbackward sensitivities w.r.t. the disturbance
orderthe order of the derivative

Returns:
SUCCESSFUL_RETURN
RET_INPUT_OUT_OF_RANGE

Implemented in IntegratorLYAPUNOV, IntegratorRK, and IntegratorBDF.

virtual returnValue Integrator::getProtectedForwardSensitivities ( DMatrix Dx,
int  order 
) const [protected, pure virtual]

Returns the result for the forward sensitivities at the time tend.

Returns:
SUCCESSFUL_RETURN
RET_INPUT_OUT_OF_RANGE
Parameters:
Dxthe result for the forward sensitivi- ties
orderthe order

Implemented in IntegratorLYAPUNOV, and IntegratorRK.

virtual returnValue Integrator::getProtectedX ( DVector xEnd) const [protected, pure virtual]

Returns the result for the state at the time tend.

Returns:
SUCCESSFUL_RETURN
Parameters:
xEndthe result for the states at the time tend.

Implemented in IntegratorLYAPUNOV, IntegratorRK, and IntegratorBDF.

virtual double Integrator::getStepSize ( ) const [pure virtual]

Returns the current step size

Implemented in IntegratorBDF, IntegratorRK, and IntegratorLYAPUNOV.

returnValue Integrator::getX ( DVector xEnd) const [inline]

Returns the result for the differential states at the
time tend.

Parameters:
xEndthe result for the states at the time tend.

Returns:
SUCCESSFUL_RETURN
returnValue Integrator::getX ( VariablesGrid X) const [inline]

Returns the requested output on the specified grid. Note
that the output X will be evaluated based on polynomial
interpolation depending on the order of the integrator.

Parameters:
Xthe differential states on the grid.

Returns:
SUCCESSFUL_RETURN
RET_TRAJECTORY_NOT_FROZEN
returnValue Integrator::getXA ( DVector xaEnd) const [inline]

Returns the result for the algebraic states at the
time tend.

Parameters:
xaEndthe result for the algebraic states at the time tend.

Returns:
SUCCESSFUL_RETURN
returnValue Integrator::getXA ( VariablesGrid XA) const [inline]

Returns the requested output on the specified grid. Note
that the output X will be evaluated based on polynomial
interpolation depending on the order of the integrator.

Parameters:
XAthe algebraic states on the grid.

Returns:
SUCCESSFUL_RETURN
RET_TRAJECTORY_NOT_FROZEN
virtual returnValue Integrator::init ( const DifferentialEquation rhs) [pure virtual]

The initialization routine which takes the right-hand side of
the differential equation to be integrated.

Parameters:
rhsthe right-hand side of the ODE/DAE.

Returns:
SUCCESSFUL_RETURN if all dimension checks succeed.
otherwise: integrator dependent error message.

Implemented in IntegratorLYAPUNOV, IntegratorRK, IntegratorBDF, IntegratorDiscretizedODE, and IntegratorRK12.

returnValue Integrator::init ( const DifferentialEquation rhs,
const Transition trs 
)

The initialization routine which takes the right-hand side of
the differential equation to be integrated. In addition a
transition function can be set which is evaluated at the end
of the integration interval.

Parameters:
rhsthe right-hand side of the ODE/DAE.
trsthe transition to be evaluated at the end.

Returns:
SUCCESSFUL_RETURN if all dimension checks succeed.
otherwise: integrator dependent error message.

Reimplemented in IntegratorRK, IntegratorLYAPUNOV, and IntegratorBDF.

Definition at line 185 of file integrator.cpp.

void Integrator::initializeOptions ( ) [protected]

Initializes the options. This routine should be called by the
integrators derived from this class in order to initialize
the following members based on the user options:

maxNumberOfSteps hmin hmax tune TOL las (cf. SETTINGS for more details)

Definition at line 587 of file integrator.cpp.

returnValue Integrator::integrate ( double  t0,
double  tend,
double *  x0,
double *  xa = 0,
double *  p = 0,
double *  u = 0,
double *  w = 0 
)

Starts the integration of the right hand side at time t0.
If neither the maximum number of allowed iteration is
exceeded nor any other error occurs the functions stops the
integration at time tend.

Returns:
SUCCESFUL_RETURN or
a error message that depends on the specific
integration routine. (cf. the corresponding header
file that implements the integration routine)
Parameters:
t0the start time
tendthe end time
x0the initial state
xathe initial algebraic state
pthe parameters
uthe controls
wthe disturbance

Definition at line 207 of file integrator.cpp.

returnValue Integrator::integrate ( const Grid t,
double *  x0,
double *  xa = 0,
double *  p = 0,
double *  u = 0,
double *  w = 0 
)

Starts the integration of the right hand side at time t0.
If neither the maximum number of allowed iteration is
exceeded nor any other error occurs the functions stops the
integration at time tend.
In addition, results at intermediate grid points can be
stored. Note that these grid points are for storage only and
have nothing to do the integrator steps.

Returns:
SUCCESFUL_RETURN or
a error message that depends on the specific
integration routine. (cf. the corresponding header
file that implements the integration routine)
Parameters:
tthe grid [t0,tend]
x0the initial state
xathe initial algebraic state
pthe parameters
uthe controls
wthe disturbance

Definition at line 220 of file integrator.cpp.

returnValue Integrator::integrate ( double  t0,
double  tend,
const DVector x0,
const DVector xa = emptyVector,
const DVector p = emptyVector,
const DVector u = emptyVector,
const DVector w = emptyVector 
)

Starts the integration of the right hand side at time t0.
If neither the maximum number of allowed iteration is
exceeded nor any other error occurs the functions stops the
integration at time tend.

Returns:
SUCCESFUL_RETURN or
a error message that depends on the specific
integration routine. (cf. the corresponding header
file that implements the integration routine)
Parameters:
t0the start time
tendthe end time
x0the initial state
xathe initial algebraic state
pthe parameters
uthe controls
wthe disturbance

Definition at line 241 of file integrator.cpp.

returnValue Integrator::integrate ( const Grid t,
const DVector x0,
const DVector xa = emptyVector,
const DVector p = emptyVector,
const DVector u = emptyVector,
const DVector w = emptyVector 
)

Starts the integration of the right hand side at time t0.
If neither the maximum number of allowed iteration is
exceeded nor any other error occurs the functions stops the
integration at time tend.
In addition, results at intermediate grid points can be
stored. Note that these grid points are for storage only and
have nothing to do the integrator steps.

Returns:
SUCCESFUL_RETURN or
a error message that depends on the specific
integration routine. (cf. the corresponding header
file that implements the integration routine)
Parameters:
tthe grid [t0,tend]
x0the initial state
xathe initial algebraic state
pthe parameters
uthe controls
wthe disturbance

Definition at line 255 of file integrator.cpp.

< Integrates forward and/or backward depending on the specified seeds.

Returns:
SUCCESSFUL_RETURN
RET_NO_SEED_ALLOCATED

Definition at line 357 of file integrator.cpp.

Returns if the differential equation of the integrator is affine.

Returns:
BT_TRUE: if differential equation is affine.
BT_FALSE: otherwise

Definition at line 471 of file integrator.cpp.

Returns if the differential equation of the integrator is defined.

Returns:
BT_TRUE: if differential equation is defined.
BT_FALSE: otherwise

Definition at line 465 of file integrator.cpp.

Prints the run-time profile. This routine
can be used after an integration run in
order to assess the performance.
Integrates forward and/or backward depending on the specified seeds.

Returns:
SUCCESSFUL_RETURN
RET_NO_SEED_ALLOCATED

Definition at line 624 of file integrator.cpp.

returnValue Integrator::setBackwardSeed ( const int &  order,
const DVector seed 
)

Define a backward seed

Returns:
SUCCESFUL_RETURN
RET_INPUT_OUT_OF_RANGE
Parameters:
orderthe order of the seed.
seedthe backward seed

Definition at line 338 of file integrator.cpp.

virtual returnValue Integrator::setDxInitialization ( double *  dx0) [pure virtual]

Sets an initial guess for the differential state derivatives
(consistency condition)

Returns:
SUCCESSFUL_RETURN
Parameters:
dx0initial guess for the differential state derivatives

Implemented in IntegratorRK, IntegratorLYAPUNOV, and IntegratorBDF.

returnValue Integrator::setForwardSeed ( const int &  order,
const DVector xSeed,
const DVector pSeed = emptyVector,
const DVector uSeed = emptyVector,
const DVector wSeed = emptyVector 
)

Define a forward seed matrix.

Returns:
SUCCESFUL RETURN
RET_INPUT_OUT_OF_RANGE
Parameters:
orderthe order of the seed.
xSeedthe seed w.r.t states
pSeedthe seed w.r.t parameters
uSeedthe seed w.r.t controls
wSeedthe seed w.r.t disturbances

Definition at line 308 of file integrator.cpp.

virtual returnValue Integrator::setProtectedBackwardSeed ( const DVector seed,
const int &  order 
) [protected, pure virtual]

Define a backward seed

Returns:
SUCCESFUL_RETURN
RET_INPUT_OUT_OF_RANGE
Parameters:
seedthe seed matrix
orderthe order of the seed.

Implemented in IntegratorLYAPUNOV, IntegratorRK, and IntegratorBDF.

virtual returnValue Integrator::setProtectedForwardSeed ( const DVector xSeed,
const DVector pSeed,
const DVector uSeed,
const DVector wSeed,
const int &  order 
) [protected, pure virtual]

Define a forward seed.

Returns:
SUCCESFUL RETURN
RET_INPUT_OUT_OF_RANGE
Parameters:
xSeedthe seed w.r.t the initial states
pSeedthe seed w.r.t the parameters
uSeedthe seed w.r.t the controls
wSeedthe seed w.r.t the disturbances
orderthe order of the seed.

Implemented in IntegratorLYAPUNOV, IntegratorRK, and IntegratorBDF.

Definition at line 198 of file integrator.cpp.

returnValue Integrator::setupLogging ( ) [protected, virtual]

Definition at line 599 of file integrator.cpp.

returnValue Integrator::setupOptions ( ) [protected, virtual]

Definition at line 566 of file integrator.cpp.

virtual returnValue Integrator::unfreeze ( ) [pure virtual]

Unfreezes the mesh: Gives the memory free that has previously
been allocated by "freeze". If you use the function
integrate after unfreezing the usual step size control will be
switched on.

Returns:
SUCCESSFUL_RETURN
RET_MESH_ALREADY_UNFREEZED

Implemented in IntegratorRK, IntegratorLYAPUNOV, and IntegratorBDF.


Friends And Related Function Documentation

friend class ShootingMethod [friend]

Reimplemented in IntegratorDiscretizedODE, and IntegratorBDF.

Definition at line 65 of file integrator.hpp.

friend class SimulationByIntegration [friend]

Reimplemented in IntegratorBDF.

Definition at line 64 of file integrator.hpp.


Member Data Documentation

int* Integrator::alg_index [protected]

the index list for the algebraic states

Definition at line 655 of file integrator.hpp.

int* Integrator::control_index [protected]

the index list for the controls

Definition at line 656 of file integrator.hpp.

int Integrator::count [protected]

a counter of the (accepted) steps

Definition at line 667 of file integrator.hpp.

int Integrator::count2 [protected]

number of steps after integration

Definition at line 668 of file integrator.hpp.

int Integrator::count3 [protected]

number of steps after integration

Definition at line 669 of file integrator.hpp.

int* Integrator::ddiff_index [protected]

the index list for the differential state derivatives

Definition at line 654 of file integrator.hpp.

Definition at line 713 of file integrator.hpp.

int* Integrator::diff_index [protected]

the index list for the differential states

Definition at line 653 of file integrator.hpp.

the scale of the differential states

Definition at line 670 of file integrator.hpp.

the index list for the disturbances

Definition at line 660 of file integrator.hpp.

DVector Integrator::dP [protected]

Definition at line 702 of file integrator.hpp.

DVector Integrator::dPb [protected]

Definition at line 707 of file integrator.hpp.

DVector Integrator::dU [protected]

Definition at line 703 of file integrator.hpp.

DVector Integrator::dUb [protected]

Definition at line 708 of file integrator.hpp.

DVector Integrator::dW [protected]

Definition at line 704 of file integrator.hpp.

DVector Integrator::dWb [protected]

Definition at line 709 of file integrator.hpp.

DVector Integrator::dX [protected]

Definition at line 701 of file integrator.hpp.

DVector Integrator::dXb [protected]

Definition at line 706 of file integrator.hpp.

Definition at line 712 of file integrator.hpp.

Definition at line 695 of file integrator.hpp.

double* Integrator::h [protected]

the initial step size = h[0]

Definition at line 640 of file integrator.hpp.

double Integrator::hini [protected]

storage of the initial step size

Definition at line 641 of file integrator.hpp.

double Integrator::hmax [protected]

the maximum step size

Definition at line 643 of file integrator.hpp.

double Integrator::hmin [protected]

the minimum step size

Definition at line 642 of file integrator.hpp.

the index list for the integer controls

Definition at line 658 of file integrator.hpp.

the index list for the integer parameters

Definition at line 659 of file integrator.hpp.

Definition at line 714 of file integrator.hpp.

int Integrator::las [protected]

Definition at line 646 of file integrator.hpp.

short int Integrator::m [protected]

the dimension of the right-hand side

Definition at line 620 of file integrator.hpp.

short int Integrator::ma [protected]

the number of algebraic states

Definition at line 621 of file integrator.hpp.

the maximum number of integrator steps.

Definition at line 666 of file integrator.hpp.

short int Integrator::md [protected]

number of differential states

Definition at line 629 of file integrator.hpp.

short int Integrator::mdx [protected]

the dimension of differential state derivatives

Definition at line 622 of file integrator.hpp.

short int Integrator::mn [protected]

the number of intermediate states in the rhs

Definition at line 623 of file integrator.hpp.

short int Integrator::mp [protected]

the number of parameters

Definition at line 626 of file integrator.hpp.

short int Integrator::mpi [protected]

the number of integer parameters

Definition at line 627 of file integrator.hpp.

short int Integrator::mu [protected]

the number of controls

Definition at line 624 of file integrator.hpp.

short int Integrator::mui [protected]

the number of integer controls

Definition at line 625 of file integrator.hpp.

short int Integrator::mw [protected]

the number of disturbances

Definition at line 628 of file integrator.hpp.

int Integrator::nBDirs [protected]

The number of backward directions

Definition at line 681 of file integrator.hpp.

int Integrator::nBDirs2 [protected]

The number of second order backward directions

Definition at line 683 of file integrator.hpp.

int Integrator::nFcnEvaluations [protected]

Definition at line 696 of file integrator.hpp.

int Integrator::nFDirs [protected]

The number of forward directions

Definition at line 680 of file integrator.hpp.

int Integrator::nFDirs2 [protected]

The number of second order forward directions

Definition at line 682 of file integrator.hpp.

int* Integrator::parameter_index [protected]

the index list for the parameters

Definition at line 657 of file integrator.hpp.

int Integrator::PrintLevel [protected]

The PrintLevel (default: LOW)

Definition at line 675 of file integrator.hpp.

the right-hand side to be integrated

Definition at line 619 of file integrator.hpp.

the state of aggregation

Definition at line 688 of file integrator.hpp.

int Integrator::time_index [protected]

the time index

Definition at line 661 of file integrator.hpp.

the type of linear algebra solver to be used the time interval

Definition at line 648 of file integrator.hpp.

double Integrator::TOL [protected]

the integration tolerance

Definition at line 645 of file integrator.hpp.

Definition at line 694 of file integrator.hpp.

the transition to be evaluated at switches

Definition at line 634 of file integrator.hpp.

double Integrator::tune [protected]

tuning parameter for the step size control.

Definition at line 644 of file integrator.hpp.

DVector Integrator::xE [protected]

Definition at line 699 of file integrator.hpp.

Definition at line 711 of file integrator.hpp.


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


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:40:24