dirk_export.hpp

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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
 *
 */



#ifndef ACADO_TOOLKIT_DIRK_EXPORT_HPP
#define ACADO_TOOLKIT_DIRK_EXPORT_HPP

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


BEGIN_NAMESPACE_ACADO


class DiagonallyImplicitRKExport : public ForwardIRKExport
{
    //
    // PUBLIC MEMBER FUNCTIONS:
    //

    public:

        DiagonallyImplicitRKExport(     UserInteraction* _userInteraction = 0,
                                                        const std::string& _commonHeaderName = ""
                                                        );

        DiagonallyImplicitRKExport(     const DiagonallyImplicitRKExport& arg
                                                        );

        virtual ~DiagonallyImplicitRKExport( );


                DiagonallyImplicitRKExport& operator=(  const DiagonallyImplicitRKExport& arg
                                                                                );


                virtual returnValue solveInputSystem(   ExportStatementBlock* block,
                                                                                const ExportIndex& index1,
                                                                                const ExportIndex& index2,
                                                                                const ExportIndex& index3,
                                                                                const ExportIndex& tmp_index,
                                                                                const ExportVariable& Ah );


                virtual returnValue prepareInputSystem( ExportStatementBlock& code );


                virtual returnValue solveOutputSystem(  ExportStatementBlock* block,
                                                                                const ExportIndex& index1,
                                                                                const ExportIndex& index2,
                                                                                const ExportIndex& index3,
                                                                                const ExportIndex& tmp_index,
                                                                                const ExportVariable& Ah,
                                                                                bool DERIVATIVES = false );


                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             );


                virtual returnValue prepareOutputSystem( ExportStatementBlock& code );


                virtual DMatrix formMatrix( const DMatrix& mass, const DMatrix& jacobian );


                virtual returnValue solveImplicitSystem(        ExportStatementBlock* block,
                                                                                        const ExportIndex& index1,
                                                                                        const ExportIndex& index2,
                                                                                        const ExportIndex& index3,
                                                                                        const ExportIndex& tmp_index,
                                                                                        const ExportVariable& Ah,
                                                                                        const ExportVariable& C,
                                                                                        const ExportVariable& det,
                                                                                        bool DERIVATIVES = false        );


                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 evaluateMatrix(     ExportStatementBlock* block,
                                                                                const ExportIndex& index1,
                                                                                const ExportIndex& index2,
                                                                                const ExportIndex& tmp_index,
                                                                                const ExportVariable& Ah,
                                                                                const ExportVariable& C,
                                                                                bool evaluateB,
                                                                                bool DERIVATIVES );


                virtual returnValue evaluateStatesImplicitSystem(       ExportStatementBlock* block,
                                                                                        const ExportVariable& Ah,
                                                                                        const ExportVariable& C,
                                                                                        const ExportIndex& stage,
                                                                                        const ExportIndex& i,
                                                                                        const ExportIndex& j );


                virtual returnValue evaluateRhsImplicitSystem(  ExportStatementBlock* block,
                                                                                                                const ExportIndex& stage );


                virtual returnValue setup( );


        protected:
                


    protected:
    

};


//
// Create the integrator
//
inline DiagonallyImplicitRKExport* createDiagonallyImplicitRKExport(    UserInteraction* _userInteraction,
                const std::string &_commonHeaderName    )
{
        int sensGen;
        _userInteraction->get( DYNAMIC_SENSITIVITY, sensGen );
        if ( (ExportSensitivityType)sensGen == FORWARD ) {
                return new DiagonallyImplicitRKExport(_userInteraction, _commonHeaderName);
        }
        else {
                ACADOERROR( RET_INVALID_OPTION );
                return new DiagonallyImplicitRKExport(_userInteraction, _commonHeaderName);
        }
}


CLOSE_NAMESPACE_ACADO


#endif  // ACADO_TOOLKIT_DIRK_EXPORT_HPP

// end of file.