dirk4_export.cpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */



#include <acado/code_generation/integrators/dirk4_export.hpp>

#include <acado/code_generation/export_algorithm_factory.hpp>

BEGIN_NAMESPACE_ACADO


//
// PUBLIC MEMBER FUNCTIONS:
//

DiagonallyIRK4Export::DiagonallyIRK4Export(     UserInteraction* _userInteraction,
                                                                        const std::string& _commonHeaderName
                                                                        ) : DiagonallyImplicitRKExport( _userInteraction,_commonHeaderName )
{
        numStages = 3;
}


DiagonallyIRK4Export::DiagonallyIRK4Export(     const DiagonallyIRK4Export& arg
                                                                        ) : DiagonallyImplicitRKExport( arg )
{
        numStages = 3;
        copy( arg );
}


DiagonallyIRK4Export::~DiagonallyIRK4Export( )
{
        clear( );
}


// PROTECTED:

//
// Register the integrator
//

IntegratorExport* createDiagonallyIRK4Export(   UserInteraction* _userInteraction,
                                                                                                const std::string &_commonHeaderName)
{
        const double alpha = 1.137158042603258;

        DMatrix AA(3,3);
        DVector bb(3);
        DVector cc(3);

        AA(0,0) = (1.0+alpha)/2.0;      AA(0,1) = 0.0;                                  AA(0,2) = 0.0;
        AA(1,0) = -alpha/2.0;           AA(1,1) = (1.0+alpha)/2.0;              AA(1,2) = 0.0;
        AA(2,0) = 1.0+alpha;            AA(2,1) = -(1.0+2.0*alpha);             AA(2,2) = (1.0+alpha)/2.0;

        bb(0) = 1.0/(6.0*alpha*alpha);
        bb(1) = 1.0-1.0/(3.0*alpha*alpha);
        bb(2) = 1.0/(6.0*alpha*alpha);

        cc(0) = (1.0+alpha)/2.0;
        cc(1) = 1.0/2.0;
        cc(2) = (1.0-alpha)/2.0;

        DiagonallyImplicitRKExport* integrator = createDiagonallyImplicitRKExport(_userInteraction, _commonHeaderName);
        integrator->initializeButcherTableau(AA, bb, cc);

        return integrator;
}

CLOSE_NAMESPACE_ACADO

// end of file.