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

#include <rk_export.hpp>

Inheritance diagram for RungeKuttaExport:

Public Member Functions
BooleanType	checkSymmetry (const DVector &_cc)
virtual returnValue	getCode (ExportStatementBlock &code)=0
virtual returnValue	getDataDeclarations (ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const =0
virtual returnValue	getFunctionDeclarations (ExportStatementBlock &declarations) const =0
uint	getNumStages ()
returnValue	initializeButcherTableau (const DMatrix &_AA, const DVector &_bb, const DVector &_cc)
RungeKuttaExport &	operator= (const RungeKuttaExport &arg)
	RungeKuttaExport (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")
	RungeKuttaExport (const RungeKuttaExport &arg)
virtual returnValue	setDifferentialEquation (const Expression &rhs)=0
returnValue	setNARXmodel (const uint delay, const DMatrix &parms)
virtual returnValue	setup ()=0
virtual returnValue	setupOutput (const std::vector< Grid > outputGrids_, const std::vector< Expression > rhs)=0
virtual	~RungeKuttaExport ()
Protected Member Functions
virtual returnValue	copy (const RungeKuttaExport &arg)
Protected Attributes
DMatrix	AA
DVector	bb
DVector	cc
BooleanType	is_symmetric
uint	numStages
ExportVariable	rk_kkk

Detailed Description

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

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

Author:: Rien Quirynen

Definition at line 54 of file rk_export.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO RungeKuttaExport::RungeKuttaExport	(	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 rk_export.cpp.

RungeKuttaExport::RungeKuttaExport ( const RungeKuttaExport & arg )

Copy constructor (deep copy).

Parameters:

[in] arg Right-hand side object.

Definition at line 52 of file rk_export.cpp.

RungeKuttaExport::~RungeKuttaExport ( ) [virtual]

Destructor.

Definition at line 59 of file rk_export.cpp.

Member Function Documentation

BooleanType RungeKuttaExport::checkSymmetry ( const DVector & _cc )

This routine checks the symmetry of the cc vector from the Butcher Tableau.

Definition at line 93 of file rk_export.cpp.

returnValue RungeKuttaExport::copy ( const RungeKuttaExport & arg ) [protected, virtual]

Copies all class members from given object.

Parameters:

[in] arg Right-hand side object.

Returns:: SUCCESSFUL_RETURN

Definition at line 122 of file rk_export.cpp.

virtual returnValue RungeKuttaExport::getCode ( ExportStatementBlock & code ) [pure 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 IntegratorExport.

Implemented in ImplicitRungeKuttaExport, ExplicitRungeKuttaExport, ForwardIRKExport, ThreeSweepsERKExport, and AdjointERKExport.

virtual returnValue RungeKuttaExport::getDataDeclarations	(	ExportStatementBlock &	declarations,
		ExportStruct	dataStruct = `ACADO_ANY`
	)		const `[pure 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 IntegratorExport.

Implemented in ImplicitRungeKuttaExport, ExplicitRungeKuttaExport, ThreeSweepsERKExport, AdjointERKExport, and ForwardIRKExport.

virtual returnValue RungeKuttaExport::getFunctionDeclarations ( ExportStatementBlock & declarations ) const [pure 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 IntegratorExport.

Implemented in ImplicitRungeKuttaExport, ExplicitRungeKuttaExport, and ForwardIRKExport.

uint RungeKuttaExport::getNumStages ( )

This routine returns the number of stages of the Runge-Kutta integrator that will be exported.

Definition at line 106 of file rk_export.cpp.

returnValue RungeKuttaExport::initializeButcherTableau	(	const DMatrix &	_AA,
		const DVector &	_bb,
		const DVector &	_cc
	)

This routine initializes the matrices AA, bb and cc which form the Butcher Tableau.

Definition at line 78 of file rk_export.cpp.

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

Assignment operator (deep copy).

Parameters:

[in] arg Right-hand side object.

Definition at line 65 of file rk_export.cpp.

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

Assigns Differential Equation to be used by the integrator.

Parameters:

[in] rhs Right-hand side expression.

Returns:: SUCCESSFUL_RETURN

Implements IntegratorExport.

Implemented in ImplicitRungeKuttaExport, ExplicitRungeKuttaExport, ThreeSweepsERKExport, AdjointERKExport, and ForwardOverBackwardERKExport.

returnValue RungeKuttaExport::setNARXmodel	(	const uint	delay,
		const DMatrix &	parms
	)		`[virtual]`

Sets a polynomial NARX model to be used by the integrator.

Parameters:

[in]	delay	The delay for the states in the NARX model.
[in]	parms	The parameters defining the polynomial NARX model.

Returns:: SUCCESSFUL_RETURN

Implements IntegratorExport.

Definition at line 112 of file rk_export.cpp.

virtual returnValue RungeKuttaExport::setup ( ) [pure virtual]

Initializes export of a tailored integrator.

Returns:: SUCCESSFUL_RETURN

Implements IntegratorExport.

Implemented in DiagonallyImplicitRKExport, ThreeSweepsERKExport, AdjointERKExport, ForwardOverBackwardERKExport, ImplicitRungeKuttaExport, ForwardIRKExport, and ExplicitRungeKuttaExport.

virtual returnValue RungeKuttaExport::setupOutput	(	const std::vector< Grid >	outputGrids_,
		const std::vector< Expression >	rhs
	)		`[pure 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 IntegratorExport.

Implemented in ExplicitRungeKuttaExport, and ImplicitRungeKuttaExport.

Member Data Documentation

DMatrix RungeKuttaExport::AA [protected]

This matrix defines the Runge-Kutta method to be exported.

Definition at line 191 of file rk_export.hpp.

DVector RungeKuttaExport::bb [protected]

Definition at line 192 of file rk_export.hpp.

DVector RungeKuttaExport::cc [protected]

These vectors define the Runge-Kutta method to be exported.

Definition at line 192 of file rk_export.hpp.

BooleanType RungeKuttaExport::is_symmetric [protected]

Boolean defining whether a certain RK method is symmetric or not, which is important for backward sensitivity propagation.

Definition at line 194 of file rk_export.hpp.

uint RungeKuttaExport::numStages [protected]

This is the number of stages for the Runge-Kutta method.

Definition at line 196 of file rk_export.hpp.

ExportVariable RungeKuttaExport::rk_kkk [protected]

Variable containing intermediate results of the RK integrator.

Definition at line 189 of file rk_export.hpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation