Public Member Functions | List of all members
DiagonallyImplicitRKExport Class Reference
Numerical Algorithms -- used internally or by developers to solve numerical problems

Allows to export a tailored diagonally implicit Runge-Kutta integrator for fast model predictive control. More...

#include <dirk_export.hpp>

Inheritance diagram for DiagonallyImplicitRKExport:
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Public Member Functions

 DiagonallyImplicitRKExport (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")
 
 DiagonallyImplicitRKExport (const DiagonallyImplicitRKExport &arg)
 
virtual returnValue evaluateMatrix (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &tmp_index, const ExportVariable &_rk_A, const ExportVariable &Ah, const ExportVariable &C, bool evaluateB, bool DERIVATIVES)
 
virtual returnValue evaluateRhsImplicitSystem (ExportStatementBlock *block, const ExportIndex &stage)
 
virtual returnValue evaluateStatesImplicitSystem (ExportStatementBlock *block, const ExportVariable &Ah, const ExportVariable &C, const ExportIndex &stage, const ExportIndex &i, const ExportIndex &j)
 
virtual DMatrix formMatrix (const DMatrix &mass, const DMatrix &jacobian)
 
DiagonallyImplicitRKExport & operator= (const DiagonallyImplicitRKExport &arg)
 
virtual returnValue prepareInputSystem (ExportStatementBlock &code)
 
virtual returnValue prepareOutputSystem (ExportStatementBlock &code)
 
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)
 
virtual returnValue setup ()
 
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 solveInputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index, const ExportVariable &Ah)
 
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 ~DiagonallyImplicitRKExport ()
 
- Public Member Functions inherited from ForwardIRKExport
 ForwardIRKExport (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")
 
 ForwardIRKExport (const ForwardIRKExport &arg)
 
virtual returnValue getCode (ExportStatementBlock &code)
 
virtual returnValue getDataDeclarations (ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const
 
virtual returnValue getFunctionDeclarations (ExportStatementBlock &declarations) const
 
ForwardIRKExport & operator= (const ForwardIRKExport &arg)
 
virtual ~ForwardIRKExport ()
 
- Public Member Functions inherited from ImplicitRungeKuttaExport
 ImplicitRungeKuttaExport (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")
 
 ImplicitRungeKuttaExport (const ImplicitRungeKuttaExport &arg)
 
ImplicitRungeKuttaExport & operator= (const ImplicitRungeKuttaExport &arg)
 
virtual returnValue setDifferentialEquation (const Expression &rhs)
 
returnValue setEigenvalues (const DMatrix &_eig)
 
returnValue setModel (const std::string &_rhs, const std::string &_diffs_rhs)
 
returnValue setSimplifiedTransformations (const DMatrix &_transf1, const DMatrix &_transf2)
 
returnValue setSimplifiedTransformations (const DMatrix &_transf1, const DMatrix &_transf2, const DMatrix &_transf1_T, const DMatrix &_transf2_T)
 
returnValue setSingleTransformations (const double _tau, const DVector &_low_tria, const DMatrix &_transf1, const DMatrix &_transf2)
 
returnValue setSingleTransformations (const double _tau, const DVector &_low_tria, const DMatrix &_transf1, const DMatrix &_transf2, const DMatrix &_transf1_T, const DMatrix &_transf2_T)
 
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 ~ImplicitRungeKuttaExport ()
 
- Public Member Functions inherited from RungeKuttaExport
BooleanType checkSymmetry (const DVector &_cc)
 
uint getNumStages ()
 
returnValue initializeButcherTableau (const DMatrix &_AA, const DVector &_bb, const DVector &_cc)
 
RungeKuttaExport & operator= (const RungeKuttaExport &arg)
 
 RungeKuttaExport (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")
 
 RungeKuttaExport (const RungeKuttaExport &arg)
 
returnValue setNARXmodel (const uint delay, const DMatrix &parms)
 
virtual ~RungeKuttaExport ()
 
- Public Member Functions inherited from IntegratorExport
virtual bool equidistantControlGrid () const
 
uint getDimOUTPUT (uint index) const
 
virtual returnValue getGrid (Grid &grid_) const
 
const std::string getNameDiffsOUTPUT (uint index) const
 
const std::string getNameDiffsRHS () const
 
virtual const std::string getNameFullRHS () const
 
const std::string getNameOUTPUT (uint index) const
 
const std::string getNameOutputDiffs () const
 
const std::string getNameOutputRHS () const
 
const std::string getNameRHS () const
 
virtual returnValue getNumSteps (DVector &_numSteps) const
 
virtual returnValue getOutputExpressions (std::vector< Expression > &outputExpressions_) const
 
virtual returnValue getOutputGrids (std::vector< Grid > &outputGrids_) const
 
 IntegratorExport (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")
 
 IntegratorExport (const IntegratorExport &arg)
 
IntegratorExport & operator= (const IntegratorExport &arg)
 
virtual returnValue propagateImplicitSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &_index3, const ExportIndex &tmp_index)
 
virtual returnValue propagateInputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index)
 
virtual returnValue propagateOutputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index)
 
virtual returnValue setGrid (const Grid &_grid)
 
virtual returnValue setLinearInput (const DMatrix &M1, const DMatrix &A1, const DMatrix &B1)
 
virtual returnValue setLinearOutput (const DMatrix &M3, const DMatrix &A3, const Expression &rhs)
 
virtual returnValue setLinearOutput (const DMatrix &M3, const DMatrix &A3, const std::string &_rhs3, const std::string &_diffs_rhs3)
 
virtual returnValue setModelData (const ModelData &data)
 
virtual returnValue setNonlinearFeedback (const DMatrix &C, const Expression &feedb)
 
virtual returnValue updateImplicitSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &tmp_index)
 
virtual returnValue updateInputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &tmp_index)
 
virtual returnValue updateOutputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &tmp_index)
 
virtual ~IntegratorExport ()
 
- Public Member Functions inherited from ExportAlgorithm
 ExportAlgorithm (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName=std::string())
 
uint getN () const
 
uint getNDX () const
 
uint getNOD () const
 
uint getNP () const
 
uint getNU () const
 
uint getNX () const
 
uint getNXA () const
 
uint getNY () const
 
uint getNYN () const
 
returnValue setDimensions (uint _NX=0, uint _NU=0, uint _NP=0, uint _NI=0, uint _NOD=0)
 
returnValue setDimensions (uint _NX, uint _NDX, uint _NXA, uint _NU, uint _NP, uint _NI, uint _NOD)
 
void setNY (uint NY_)
 
void setNYN (uint NYN_)
 
virtual ~ExportAlgorithm ()
 
- Public Member Functions inherited from AlgorithmicBase
int addLogRecord (LogRecord &_record)
 
returnValue addOption (OptionsName name, int value)
 
returnValue addOption (OptionsName name, double value)
 
returnValue addOption (uint idx, OptionsName name, int value)
 
returnValue addOption (uint idx, OptionsName name, double value)
 
returnValue addOptionsList ()
 
 AlgorithmicBase ()
 
 AlgorithmicBase (UserInteraction *_userInteraction)
 
 AlgorithmicBase (const AlgorithmicBase &rhs)
 
returnValue get (OptionsName name, int &value) const
 
returnValue get (OptionsName name, double &value) const
 
returnValue get (OptionsName name, std::string &value) const
 
returnValue get (uint idx, OptionsName name, int &value) const
 
returnValue get (uint idx, OptionsName name, double &value) const
 
returnValue getAll (LogName _name, MatrixVariablesGrid &values) const
 
returnValue getFirst (LogName _name, DMatrix &firstValue) const
 
returnValue getFirst (LogName _name, VariablesGrid &firstValue) const
 
returnValue getLast (LogName _name, DMatrix &lastValue) const
 
returnValue getLast (LogName _name, VariablesGrid &lastValue) const
 
Options getOptions (uint idx) const
 
BooleanType haveOptionsChanged () const
 
BooleanType haveOptionsChanged (uint idx) const
 
AlgorithmicBase & operator= (const AlgorithmicBase &rhs)
 
returnValue plot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)
 
returnValue printLogRecord (std::ostream &_stream, int idx, LogPrintMode _mode=PRINT_ITEM_BY_ITEM) const
 
returnValue replot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)
 
returnValue set (OptionsName name, int value)
 
returnValue set (OptionsName name, double value)
 
returnValue set (OptionsName name, const std::string &value)
 
returnValue set (uint idx, OptionsName name, int value)
 
returnValue set (uint idx, OptionsName name, double value)
 
returnValue setAll (LogName _name, const MatrixVariablesGrid &values)
 
returnValue setLast (LogName _name, int lastValue, double time=-INFTY)
 
returnValue setLast (LogName _name, double lastValue, double time=-INFTY)
 
returnValue setLast (LogName _name, const DVector &lastValue, double time=-INFTY)
 
returnValue setLast (LogName _name, const DMatrix &lastValue, double time=-INFTY)
 
returnValue setLast (LogName _name, const VariablesGrid &lastValue, double time=-INFTY)
 
returnValue setOptions (const Options &arg)
 
returnValue setOptions (uint idx, const Options &arg)
 
virtual ~AlgorithmicBase ()
 

Additional Inherited Members

- Protected Member Functions inherited from ForwardIRKExport
virtual ExportVariable getAuxVariable () const
 
returnValue getCRSIndex (uint output, ExportIndex row, ExportIndex col)
 
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)
 
virtual returnValue sensitivitiesInputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportVariable &Bh, bool STATES)
 
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)
 
- Protected Member Functions inherited from ImplicitRungeKuttaExport
DVector computeCombinations (const DVector &cVec, uint index, uint numEls)
 
virtual returnValue copy (const ImplicitRungeKuttaExport &arg)
 
DVector divideMeasurements (uint index)
 
DVector evaluateDerivedPolynomial (double time)
 
returnValue evaluateDerivedPolynomial (ExportStatementBlock &block, const ExportVariable &variable, const ExportVariable &grid)
 
DMatrix evaluateDerivedPolynomial (uint index)
 
virtual returnValue evaluateMatrix (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &tmp_index, const ExportIndex &k_index, const ExportVariable &_rk_A, const ExportVariable &Ah, const ExportVariable &C, bool evaluateB, bool DERIVATIVES)
 
DVector evaluatePolynomial (double time)
 
returnValue evaluatePolynomial (ExportStatementBlock &block, const ExportVariable &variable, const ExportVariable &grid, const std::string &h)
 
DMatrix evaluatePolynomial (uint index)
 
virtual returnValue evaluateRhsImplicitSystem (ExportStatementBlock *block, const ExportIndex &k_index, const ExportIndex &stage)
 
virtual returnValue evaluateStatesImplicitSystem (ExportStatementBlock *block, const ExportIndex &k_index, const ExportVariable &Ah, const ExportVariable &C, const ExportIndex &stage, const ExportIndex &i, const ExportIndex &tmp_index)
 
returnValue evaluateStatesOutputSystem (ExportStatementBlock *block, const ExportVariable &Ah, const ExportIndex &stage)
 
returnValue generateOutput (ExportStatementBlock *block, const ExportIndex &index0, const ExportIndex &index1, const ExportIndex &tmp_index1, const ExportIndex &tmp_index2, const ExportVariable &tmp_meas, const ExportVariable &time_tmp, const uint directions)
 
uint getNumIts () const
 
uint getNumItsInit () const
 
returnValue initializeCoefficients ()
 
returnValue initializeDDMatrix ()
 
returnValue prepareOutputEvaluation (ExportStatementBlock &code)
 
virtual returnValue solveImplicitSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index, const ExportIndex &k_index, const ExportVariable &Ah, const ExportVariable &C, const ExportVariable &det, bool DERIVATIVES=false)
 
- Protected Member Functions inherited from RungeKuttaExport
virtual returnValue copy (const RungeKuttaExport &arg)
 
- Protected Member Functions inherited from IntegratorExport
virtual returnValue clear ()
 
virtual returnValue copy (const IntegratorExport &arg)
 
DMatrix expandOutputMatrix (const DMatrix &A3)
 
uint getIntegrationInterval (double time)
 
- Protected Attributes inherited from ImplicitRungeKuttaExport
DMatrix coeffs
 
bool CONTINUOUS_OUTPUT
 
DMatrix DD
 
ExportVariable debug_mat
 
DMatrix eig
 
std::vector< ExportVariable > gridVariables
 
ExportAcadoFunction lin_output
 
DVector low_tria
 
uint NDX2
 
DVector numDX_output
 
uint numIts
 
uint numItsInit
 
std::vector< ExportIndex > numMeas
 
std::vector< ExportVariable > numMeasVariables
 
DVector numVARS_output
 
DVector numXA_output
 
uint NVARS2
 
uint NVARS3
 
std::vector< ExportVariable > polynDerVariables
 
ExportVariable polynEvalVar
 
std::vector< ExportVariable > polynVariables
 
bool REUSE
 
ExportVariable rk_A
 
ExportVariable rk_auxSolver
 
ExportVariable rk_b
 
ExportVariable rk_diffK
 
ExportVariable rk_diffsOutputTemp
 
ExportVariable rk_diffsTemp3
 
ExportVariable rk_dk1
 
ExportVariable rk_dk3
 
ExportVariable rk_mat1
 
ExportVariable rk_mat3
 
ExportVariable rk_out
 
ExportVariable rk_outH
 
std::vector< ExportVariable > rk_outputs
 
ExportVariable rk_rhsOutputTemp
 
ExportVariable rk_rhsTemp
 
DMatrix simplified_transf1
 
DMatrix simplified_transf1_T
 
DMatrix simplified_transf2
 
DMatrix simplified_transf2_T
 
DMatrix single_transf1
 
DMatrix single_transf1_T
 
DMatrix single_transf2
 
DMatrix single_transf2_T
 
ExportLinearSolver * solver
 
ExportVariable stepsH
 
double tau
 
std::vector< uint > totalMeas
 
- Protected Attributes inherited from RungeKuttaExport
DMatrix AA
 
DVector bb
 
DVector cc
 
BooleanType is_symmetric
 
uint numStages
 
ExportVariable rk_kkk
 
- Protected Attributes inherited from IntegratorExport
DMatrix A11
 
DMatrix A33
 
DMatrix B11
 
bool crsFormat
 
std::vector< ExportAcadoFunction > diffs_outputs
 
ExportAcadoFunction diffs_rhs
 
ExportAcadoFunction diffs_rhs3
 
uint diffsDim
 
DifferentialStateDerivative dx
 
ExportVariable error_code
 
bool exportRhs
 
ExportFunction fullRhs
 
Grid grid
 
uint inputDim
 
ExportFunction integrate
 
ExportAcadoFunction lin_input
 
DMatrix M11
 
DMatrix M33
 
uint NDX3
 
std::vector< uint > num_outputs
 
DVector numSteps
 
uint NX1
 
uint NX2
 
uint NX3
 
uint NXA3
 
OnlineData od
 
std::vector< DMatrix > outputDependencies
 
std::vector< Expression > outputExpressions
 
std::vector< Grid > outputGrids
 
std::vector< ExportAcadoFunction > outputs
 
ExportVariable reset_int
 
ExportAcadoFunction rhs
 
ExportAcadoFunction rhs3
 
ExportVariable rhs_in
 
ExportVariable rhs_out
 
ExportVariable rk_diffsNew1
 
ExportVariable rk_diffsNew2
 
ExportVariable rk_diffsNew3
 
ExportVariable rk_diffsPrev1
 
ExportVariable rk_diffsPrev2
 
ExportVariable rk_diffsPrev3
 
ExportVariable rk_diffsTemp2
 
ExportVariable rk_eta
 
ExportVariable rk_index
 
ExportVariable rk_ttt
 
ExportVariable rk_xxx
 
bool timeDependant
 
Control u
 
DifferentialState x
 
AlgebraicState z
 
- Protected Attributes inherited from ExportAlgorithm
std::string commonHeaderName
 
uint N
 
uint NDX
 
uint NOD
 
uint NP
 
uint NU
 
uint NX
 
uint NXA
 
uint NY
 
uint NYN
 
- Protected Attributes inherited from AlgorithmicBase
int outputLoggingIdx
 
BooleanType useModuleStandalone
 
UserInteraction * userInteraction
 

Detailed Description

Allows to export a tailored diagonally implicit Runge-Kutta integrator for fast model predictive control.

The class DiagonallyImplicitRKExport allows to export a tailored diagonally implicit Runge-Kutta integrator for fast model predictive control.

Author
Rien Quirynen

Definition at line 54 of file dirk_export.hpp.

Constructor & Destructor Documentation

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

Default constructor. 

@param[in] _userInteraction         Pointer to corresponding user interface.
@param[in] _commonHeaderName        Name of common header file to be included.

Definition at line 48 of file dirk_export.cpp.

DiagonallyImplicitRKExport::DiagonallyImplicitRKExport ( const DiagonallyImplicitRKExport &  arg)

Copy constructor (deep copy). 

@param[in] arg              Right-hand side object.

Definition at line 55 of file dirk_export.cpp.

DiagonallyImplicitRKExport::~DiagonallyImplicitRKExport ( )
virtual

Destructor.

Definition at line 61 of file dirk_export.cpp.

Member Function Documentation

returnValue DiagonallyImplicitRKExport::evaluateMatrix ( ExportStatementBlock *  block,
const ExportIndex &  index1,
const ExportIndex &  index2,
const ExportIndex &  tmp_index,
const ExportVariable &  _rk_A,
const ExportVariable &  Ah,
const ExportVariable &  C,
bool  evaluateB,
bool  DERIVATIVES 
)
virtual

Exports the evaluation of the matrix of the linear system. 

@param[in] block                    The block to which the code will be exported.
@param[in] index1                   The loop index of the outer loop.
@param[in] index2                   The loop index of the inner loop.
@param[in] tmp_index                A temporary index to be used.
@param[in] Ah                               The matrix A of the IRK method, multiplied by the step size h.
@param[in] evaluateB                True if the right-hand side of the linear system should also be evaluated, false otherwise.

\return SUCCESSFUL_RETURN

Definition at line 319 of file dirk_export.cpp.

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

Exports the evaluation of the right-hand side of the linear system at a specific stage. 

@param[in] block                    The block to which the code will be exported.
@param[in] index                    The loop index, defining the stage.

\return SUCCESSFUL_RETURN

Definition at line 375 of file dirk_export.cpp.

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

Exports the evaluation of the states at a specific stage. 

@param[in] block                    The block to which the code will be exported.
@param[in] Ah                               The matrix A of the IRK method, multiplied by the step size h.
@param[in] index                    The loop index, defining the stage.

\return SUCCESSFUL_RETURN

Definition at line 350 of file dirk_export.cpp.

DMatrix DiagonallyImplicitRKExport::formMatrix ( const DMatrix &  mass,
const DMatrix &  jacobian 
)
virtual

Forms a constant linear system matrix for the collocation equations, given a constant jacobian and mass matrix. 

@param[in] jacobian                 given constant Jacobian matrix
@param[in] mass                             given constant mass matrix

\return SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

Definition at line 163 of file dirk_export.cpp.

DiagonallyImplicitRKExport & DiagonallyImplicitRKExport::operator= ( const DiagonallyImplicitRKExport &  arg)

Assignment operator (deep copy). 

@param[in] arg              Right-hand side object.

Definition at line 71 of file dirk_export.cpp.

returnValue DiagonallyImplicitRKExport::prepareInputSystem ( ExportStatementBlock &  code)
virtual

Precompute as much as possible for the linear input system and export the resulting definitions. 

@param[in] code                     The block to which the code will be exported.

\return SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Definition at line 107 of file dirk_export.cpp.

returnValue DiagonallyImplicitRKExport::prepareOutputSystem ( ExportStatementBlock &  code)
virtual

Precompute as much as possible for the linear output system and export the resulting definitions. 

@param[in] code                     The block to which the code will be exported.

\return SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Definition at line 533 of file dirk_export.cpp.

returnValue DiagonallyImplicitRKExport::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

Exports the code needed to compute the sensitivities of the states defined by the nonlinear, fully implicit system. 

@param[in] block                    The block to which the code will be exported.
@param[in] Ah                               The variable containing the internal coefficients of the RK method, multiplied with the step size.
@param[in] Bh                               The variable containing the weights of the RK method, multiplied with the step size.
@param[in] det                              The variable that holds the determinant of the matrix in the linear system.
@param[in] STATES                   True if the sensitivities with respect to a state are needed, false otherwise.
@param[in] number                   This number defines the stage of the state with respect to which the sensitivities are computed.

\return SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Definition at line 236 of file dirk_export.cpp.

returnValue DiagonallyImplicitRKExport::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

Exports the code needed to compute the sensitivities of the states, defined by the linear output system. 

@param[in] block                    The block to which the code will be exported.
@param[in] Ah                               The variable containing the internal coefficients of the RK method, multiplied with the step size.
@param[in] Bh                               The variable containing the weights of the RK method, multiplied with the step size.
@param[in] STATES                   True if the sensitivities with respect to a state are needed, false otherwise.
@param[in] number                   This number defines the stage of the state with respect to which the sensitivities are computed.

\return SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Definition at line 421 of file dirk_export.cpp.

returnValue DiagonallyImplicitRKExport::setup ( )
virtual

Initializes export of a tailored integrator. 

\return SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Definition at line 572 of file dirk_export.cpp.

returnValue DiagonallyImplicitRKExport::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

Exports the code needed to solve the system of collocation equations for the nonlinear, fully implicit system. 

@param[in] block                    The block to which the code will be exported.
@param[in] Ah                               The variable containing the internal coefficients of the RK method, multiplied with the step size.
@param[in] det                              The variable that holds the determinant of the matrix in the linear system.

\return SUCCESSFUL_RETURN

Definition at line 190 of file dirk_export.cpp.

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

Exports the code needed to solve the system of collocation equations for the linear input system. 

@param[in] block                    The block to which the code will be exported.
@param[in] A1                               A constant matrix defining the equations of the linear input system.
@param[in] B1                               A constant matrix defining the equations of the linear input system.
@param[in] Ah                               The variable containing the internal coefficients of the RK method, multiplied with the step size.

\return SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

Definition at line 81 of file dirk_export.cpp.

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

Exports the code needed to solve the system of collocation equations for the linear output system. 

@param[in] block                    The block to which the code will be exported.
@param[in] Ah                               The variable containing the internal coefficients of the RK method, multiplied with the step size.
@param[in] A3                               A constant matrix defining the equations of the linear output system.

\return SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

Definition at line 394 of file dirk_export.cpp.

The documentation for this class was generated from the following files:

acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Mon Jun 10 2019 12:35:23