irk_forward_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_IRK_FORWARD_EXPORT_HPP
#define ACADO_TOOLKIT_IRK_FORWARD_EXPORT_HPP

#include <acado/code_generation/integrators/irk_export.hpp>
#include <acado/code_generation/integrators/rk_sensitivities_export.hpp>
#include <acado/code_generation/linear_solvers/linear_solver_generation.hpp>


BEGIN_NAMESPACE_ACADO

class ForwardIRKExport : public ImplicitRungeKuttaExport, public RKSensitivitiesExport
{
    //
    // PUBLIC MEMBER FUNCTIONS:
    //

    public:

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

        ForwardIRKExport(       const ForwardIRKExport& arg
                                                        );

        virtual ~ForwardIRKExport( );


                ForwardIRKExport& operator=(    const ForwardIRKExport& arg
                                                                                );


                virtual returnValue setup( );
        

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


                virtual returnValue getFunctionDeclarations(    ExportStatementBlock& declarations
                                                                                                                ) const;



                virtual returnValue getCode(    ExportStatementBlock& code
                                                                                );


        protected:
                
                
                returnValue getCRSIndex( uint output, ExportIndex row, ExportIndex col );


                virtual returnValue prepareInputSystem( ExportStatementBlock& code );


                virtual returnValue prepareOutputSystem( ExportStatementBlock& code );


                virtual returnValue sensitivitiesInputSystem(   ExportStatementBlock* block,
                                                                                                                const ExportIndex& index1,
                                                                                                                const ExportIndex& index2,
                                                                                                                const ExportVariable& Bh,
                                                                                                                bool STATES     );


                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 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             );


                returnValue sensitivitiesOutputs(       ExportStatementBlock* block,
                                                                                        const ExportIndex& index0,
                                                                                        const ExportIndex& index1,
                                                                                        const ExportIndex& index2,
                                                                                        const ExportIndex& tmp_index1,
                                                                                        const ExportIndex& tmp_index2,
                                                                                        const ExportIndex& tmp_index3,
                                                                                        const ExportVariable& tmp_meas,
                                                                                        const ExportVariable& time_tmp,
                                                                                        bool STATES,
                                                                                        uint base                       );


                virtual returnValue propagateOutputs(   ExportStatementBlock* block,
                                                                                                const ExportIndex& index,
                                                                                                const ExportIndex& index0,
                                                                                                const ExportIndex& index1,
                                                                                                const ExportIndex& index2,
                                                                                                const ExportIndex& index3,
                                                                                                const ExportIndex& tmp_index1,
                                                                                                const ExportIndex& tmp_index2,
                                                                                                const ExportIndex& tmp_index3,
                                                                                                const ExportIndex& tmp_index4,
                                                                                                const ExportVariable& tmp_meas );


                ExportVariable getAuxVariable() const;


    protected:
                

};


CLOSE_NAMESPACE_ACADO


#endif  // ACADO_TOOLKIT_IRK_FORWARD_EXPORT_HPP

// end of file.