export_qpdunes_interface.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/export_qpdunes_interface.hpp>
#include <acado/code_generation/templates/templates.hpp>

using namespace std;

BEGIN_NAMESPACE_ACADO

ExportQpDunesInterface::ExportQpDunesInterface( const std::string& _fileName,
                                                                                                const std::string& _commonHeaderName,
                                                                                                const std::string& _realString,
                                                                                                const std::string& _intString,
                                                                                                int _precision,
                                                                                                const std::string& _commentString
                                                ) : ExportTemplatedFile(QPDUNES_TEMPLATE, _fileName, _commonHeaderName, _realString, _intString, _precision, _commentString)
{}

returnValue ExportQpDunesInterface::configure(  const unsigned _maxIter,
                                                                                                const unsigned _printLevel,
                                                                                                const std::string& _HH,
                                                                                                const std::string& _g,
                                                                                                const std::string& _gN,
                                                                                                const std::string& _CC,
                                                                                                const std::string& _c,
                                                                                                const std::string& _DD,
                                                                                                const std::string& _lb0,
                                                                                                const std::string& _ub0,
                                                                                                const std::string& _lb,
                                                                                                const std::string& _ub,
                                                                                                const std::string& _lbA,
                                                                                                const std::string& _ubA,
                                                                                                const std::string& _primal,
                                                                                                const std::string& _lambda,
                                                                                                const std::string& _mu,
                                                                                                const std::vector< unsigned >& conDim,
                                                                                                const std::string& _initialStateFixed,
                                                                                                const std::string& _diagH,
                                                                                                const std::string& _diagHN
)
{
        stringstream ss;

        // Configure the dictionary

        ss << _maxIter;
        dictionary[ "@MAX_ITER@" ] =  ss.str();

        ss.str( string() );
        ss << _printLevel;
        dictionary[ "@PRINT_LEVEL@" ] =  ss.str();

        dictionary[ "@QP_H@" ] =  _HH;
        dictionary[ "@QP_G@" ] =  _g;
        dictionary[ "@QP_G_N@" ] =  _gN;
        dictionary[ "@QP_C@" ] =  _CC;
        dictionary[ "@QP_c@" ] =  _c;

        dictionary[ "@QP_LB@" ] =  _lb;
        dictionary[ "@QP_UB@" ] =  _ub;

        dictionary[ "@QP_LB_0@" ] =  _lb0;
        dictionary[ "@QP_UB_0@" ] =  _ub0;

        if (conDim.size() > 0)
        {
                dictionary[ "@QP_D@" ]   =  _DD;
                dictionary[ "@QP_LBA@" ] =  _lbA;
                dictionary[ "@QP_UBA@" ] =  _ubA;

                ss.str( string() );
                ss << "const unsigned int nD[ACADO_N + 1] = {";
                for (unsigned i = 0; i < conDim.size(); ++i)
                {
                        ss << conDim[ i ];
                        if (i < conDim.size() - 1)
                                ss << ", ";
                }
                ss << "};";
                dictionary[ "@QP_ND_ARRAY@" ] = ss.str();
        }
        else
        {
                dictionary[ "@QP_D@" ] = dictionary[ "@QP_LBA@" ] = dictionary[ "@QP_UBA@" ] = "0";
                dictionary[ "@QP_ND_ARRAY@" ] = "unsigned int nD[ACADO_N + 1]; for (kk = 0; kk < ACADO_N + 1; nD[ kk++ ] = 0);";
        }

        dictionary[ "@QP_PRIMAL@" ] =  _primal;
        dictionary[ "@QP_LAMBDA@" ] =  _lambda;
        dictionary[ "@QP_MU@" ] =  _mu;

        dictionary[ "@INITIAL_STATE_FIXED@" ] = _initialStateFixed;

        dictionary[ "@DIAG_H@" ] = _diagH;
        dictionary[ "@DIAG_HN@" ] = _diagHN;

        // And then fill a template file
        fillTemplate();

        return SUCCESSFUL_RETURN;
}

CLOSE_NAMESPACE_ACADO