export_arithmetic_statement.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_EXPORT_ARITHMETIC_STATEMENT_HPP
#define ACADO_TOOLKIT_EXPORT_ARITHMETIC_STATEMENT_HPP

#include <acado/code_generation/export_statement.hpp>
#include <acado/code_generation/export_variable.hpp>
#include <acado/code_generation/memory_allocator.hpp>

BEGIN_NAMESPACE_ACADO

class ExportArithmeticStatement : public ExportStatement
{
        friend class ExportVariable;

    //
    // PUBLIC MEMBER FUNCTIONS:
    //
    public:

        ExportArithmeticStatement( );

                ExportArithmeticStatement(      const ExportVariable& _lhs,
                                                                        ExportStatementOperator _op0,
                                                                        const ExportVariable& _rhs1,
                                                                        ExportStatementOperator _op1,
                                                                        const ExportVariable& _rhs2,
                                                                        ExportStatementOperator _op2 = ESO_UNDEFINED,
                                                                        const ExportVariable& _rhs3 = 0
                                                                        );

                virtual ~ExportArithmeticStatement( );

                virtual ExportStatement* clone( ) const;

                virtual returnValue exportDataDeclaration(      std::ostream& stream,
                                                                                                        const std::string& _realString = "real_t",
                                                                                                        const std::string& _intString = "int",
                                                                                                        int _precision = 16
                                                                                                        ) const;

                virtual returnValue exportCode( std::ostream& stream,
                                                                                const std::string& _realString = "real_t",
                                                                                const std::string& _intString = "int",
                                                                                int _precision = 16
                                                                                ) const;

                ExportArithmeticStatement& allocate( MemoryAllocatorPtr allocator );

        //
    // PROTECTED MEMBER FUNCTIONS:
    //
    protected:

                returnValue exportCodeAddSubtract(      std::ostream& stream,
                                                                                        const std::string& _sign = "+",
                                                                                        const std::string& _realString = "real_t",
                                                                                        const std::string& _intString = "int"
                                                                                        ) const;

                returnValue exportCodeMultiply( std::ostream& stream,
                                                                                bool transposeRhs1 = false,
                                                                                const std::string& _realString = "real_t",
                                                                                const std::string& _intString = "int"
                                                                                ) const;

                returnValue exportCodeAssign(   std::ostream& stream,
                                                                                const std::string& _op = "=",
                                                                                const std::string& _realString = "real_t",
                                                                                const std::string& _intString = "int"
                                                                                ) const;


    protected:

                // Refactor this guys as shared pointers
                ExportVariable lhs;                                             
                ExportVariable rhs1;                                    
                ExportVariable rhs2;                                    
                ExportVariable rhs3;                                    
                ExportStatementOperator op0;                    
                ExportStatementOperator op1;                    
                ExportStatementOperator op2;                    
                MemoryAllocatorPtr memAllocator;

    private:
                std::string getAssignString( ) const;

                uint getNumRows( ) const;
                uint getNumCols( ) const;
};


CLOSE_NAMESPACE_ACADO


#endif  // ACADO_TOOLKIT_EXPORT_ARITHMETIC_STATEMENT_HPP

// end of file.