Protected Member Functions

Allows to export a tailored Runge-Kutta sensitivity propagation for fast model predictive control. More...

#include <rk_sensitivities_export.hpp>

Inheritance diagram for RKSensitivitiesExport:
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List of all members.

Protected Member Functions

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)=0
virtual returnValue sensitivitiesInputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportVariable &Bh, bool STATES)=0
virtual 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)=0
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)=0

Detailed Description

Allows to export a tailored Runge-Kutta sensitivity propagation for fast model predictive control.

The class RKSensitivitiesExport allows to export a tailored Runge-Kutta sensitivity propagation for fast model predictive control.

Author:
Rien Quirynen

Definition at line 53 of file rk_sensitivities_export.hpp.


Member Function Documentation

virtual returnValue RKSensitivitiesExport::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, pure virtual]

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

Parameters:
[in]blockThe block to which the code will be exported.
[in]AhThe variable containing the internal coefficients of the RK method, multiplied with the step size.
[in]BhThe variable containing the weights of the RK method, multiplied with the step size.
[in]detThe variable that holds the determinant of the matrix in the linear system.
[in]STATESTrue if the sensitivities with respect to a state are needed, false otherwise.
[in]numberThis number defines the stage of the state with respect to which the sensitivities are computed.
Returns:
SUCCESSFUL_RETURN

Implemented in DiagonallyImplicitRKExport, and ForwardIRKExport.

virtual returnValue RKSensitivitiesExport::sensitivitiesInputSystem ( ExportStatementBlock block,
const ExportIndex index1,
const ExportIndex index2,
const ExportVariable Bh,
bool  STATES 
) [protected, pure virtual]

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

Parameters:
[in]blockThe block to which the code will be exported.
[in]BhThe variable containing the weights of the RK method, multiplied with the step size.
[in]STATESTrue if the sensitivities with respect to a state are needed, false otherwise.
Returns:
SUCCESSFUL_RETURN

Implemented in ForwardIRKExport.

virtual returnValue RKSensitivitiesExport::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, pure virtual]

Exports the computation of the sensitivities for the continuous output.

Parameters:
[in]blockThe block to which the code will be exported.
[in]tmp_measThe number of measurements in the current integration step (in case of an online grid).
[in]rk_tPrevThe time point, defining the beginning of the current integration step (in case of an online grid).
[in]time_tmpA variable used for time transformations (in case of an online grid).
[in]STATESTrue if the sensitivities with respect to a state are needed, false otherwise.
[in]baseThe number of states in stages with respect to which the sensitivities have already been computed.
Returns:
SUCCESSFUL_RETURN

Implemented in ForwardIRKExport.

virtual returnValue RKSensitivitiesExport::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, pure virtual]

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

Parameters:
[in]blockThe block to which the code will be exported.
[in]AhThe variable containing the internal coefficients of the RK method, multiplied with the step size.
[in]BhThe variable containing the weights of the RK method, multiplied with the step size.
[in]STATESTrue if the sensitivities with respect to a state are needed, false otherwise.
[in]numberThis number defines the stage of the state with respect to which the sensitivities are computed.
Returns:
SUCCESSFUL_RETURN

Implemented in ForwardIRKExport, and DiagonallyImplicitRKExport.


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


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:40:25