discrete_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_DT_EXPORT_HPP
#define ACADO_TOOLKIT_DT_EXPORT_HPP

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

#include <acado/code_generation/export_algorithm_factory.hpp>


BEGIN_NAMESPACE_ACADO


class DiscreteTimeExport : public IntegratorExport
{
    //
    // PUBLIC MEMBER FUNCTIONS:
    //
    public:

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

        DiscreteTimeExport(     const DiscreteTimeExport& arg
                                                        );

        virtual ~DiscreteTimeExport( );

                DiscreteTimeExport& operator=(  const DiscreteTimeExport& arg
                                                                                );


                virtual returnValue setup( );


                virtual returnValue setDifferentialEquation( const Expression& rhs );


                virtual returnValue setNARXmodel( const uint delay, const DMatrix& parms );


                virtual returnValue setupOutput(  const std::vector<Grid> outputGrids_,
                                                                                  const std::vector<Expression> rhs );


                virtual returnValue setupOutput(  const std::vector<Grid> outputGrids_,
                                                                                  const std::vector<std::string> _outputNames,
                                                                                  const std::vector<std::string> _diffs_outputNames,
                                                                                  const std::vector<uint> _dims_output );


                virtual returnValue setupOutput(  const std::vector<Grid> outputGrids_,
                                                                                  const std::vector<std::string> _outputNames,
                                                                                  const std::vector<std::string> _diffs_outputNames,
                                                                                  const std::vector<uint> _dims_output,
                                                                                  const std::vector<DMatrix> _outputDependencies );


                virtual returnValue getDataDeclarations(        ExportStatementBlock& declarations,
                                                                                                        ExportStruct dataStruct = ACADO_ANY
                                                                                                        ) const;


                virtual returnValue getFunctionDeclarations(    ExportStatementBlock& declarations
                                                                                                                ) const;



                virtual returnValue getCode(    ExportStatementBlock& code
                                                                                );



        protected:


                ExportVariable getAuxVariable() const;


                virtual returnValue copy(       const DiscreteTimeExport& arg
                                                        );


    protected:

                ExportVariable  rk_diffsTemp3;

};

IntegratorExport* createDiscreteTimeExport(     UserInteraction* _userInteraction,
                                                                                        const std::string &_commonHeaderName );


CLOSE_NAMESPACE_ACADO


#endif  // ACADO_TOOLKIT_DT_EXPORT_HPP

// end of file.