Allows to setup and evaluate differential equations (ODEs and DAEs) based on SymbolicExpressions. More...

#include <differential_equation.hpp>

Inheritance diagram for DifferentialEquation:

Public Member Functions
DifferentialEquation &	addAlgebraic (const Expression &arg)

DifferentialEquation &	addAlgebraic (const double &arg)

DifferentialEquation &	addAlgebraic (const DVector &arg)

DifferentialEquation &	addAlgebraic (const DMatrix &arg)

DifferentialEquation &	addDifferential (const Expression &arg)

DifferentialEquation &	addDifferential (const double &arg)

DifferentialEquation &	addDifferential (const DVector &arg)

DifferentialEquation &	addDifferential (const DMatrix &arg)

virtual DifferentialEquation *	clone () const

	DifferentialEquation ()

	DifferentialEquation (const double &tStart, const double &tEnd)

	DifferentialEquation (const double &tStart, const Parameter &tEnd)

	DifferentialEquation (const Parameter &tStart, const double &tEnd)

	DifferentialEquation (const Parameter &tStart, const Parameter &tEnd)

	DifferentialEquation (const DifferentialEquation &arg)

int *	getComponents () const

DVector	getDifferentialStateComponents () const

double	getEndTime () const

int	getEndTimeIdx () const

Lyapunov	getLyapunovObject () const

int	getNumAlgebraicEquations () const

int	getNumDynamicEquations () const

Expression	getODEexpansion (const int &order) const

double	getStartTime () const

int	getStartTimeIdx () const

int	getStateEnumerationIndex (int index_)

virtual double	getStepLength () const

BooleanType	hasLyapunovEquation () const

BooleanType	isDAE () const

virtual BooleanType	isDiscretized () const

BooleanType	isImplicit () const

BooleanType	isODE () const

virtual BooleanType	makeImplicit ()

DifferentialEquation &	operator<< (const Expression &arg)

DifferentialEquation &	operator<< (const int &arg)

DifferentialEquation &	operator= (const DifferentialEquation &arg)

DifferentialEquation &	operator== (const Expression &arg)

DifferentialEquation &	operator== (const double &arg)

DifferentialEquation &	operator== (const DVector &arg)

DifferentialEquation &	operator== (const DMatrix &arg)

DifferentialEquation &	operator== (const Lyapunov &arg)

virtual	~DifferentialEquation ()

Public Member Functions inherited from Function
returnValue	AD_backward (const DVector &seed, EvaluationPoint &df, const int &number=0)

returnValue	AD_backward (int number, double seed, double df)

returnValue	AD_backward2 (int number, double seed1, double seed2, double df, double ddf)

DVector	AD_forward (const EvaluationPoint &x, const int &number=0)

returnValue	AD_forward (int number, double seed, double df)

returnValue	AD_forward2 (int number, double seed1, double seed2, double df, double ddf)

BooleanType	ADisSupported () const

returnValue	clearBuffer ()

DVector	evaluate (const EvaluationPoint &x, const int &number=0)

template<typename T >
Tmatrix< T >	evaluate (const TevaluationPoint< T > &x)

returnValue	evaluate (int number, double x, double _result)

returnValue	exportCode (std::ostream &stream, const char fcnName="ACADOfcn", const char realString="double", uint _numX=0, uint _numXA=0, uint _numU=0, uint _numP=0, uint _numDX=0, uint _numOD=0, bool allocateMemory=true, bool staticMemory=false) const

returnValue	exportForwardDeclarations (std::ostream &stream, const char fcnName="ACADOfcn", const char realString="double") const

	Function ()

	Function (const Function &rhs)

int	getDim () const

returnValue	getExpression (Expression &expression) const

Operator *	getExpression (uint componentIdx) const

std::string	getGlobalExportVariableName () const

unsigned	getGlobalExportVariableSize () const

int	getN () const

int	getN (VariableType &variableType_) const

int	getNDX () const

int	getNOD () const

int	getNP () const

int	getNPI () const

int	getNT () const

int	getNU () const

int	getNUI () const

int	getNumberOfVariables () const

int	getNW () const

int	getNX () const

int	getNXA () const

int	index (VariableType variableType_, int index_) const

BooleanType	isAffine ()

BooleanType	isConcave ()

BooleanType	isConstant ()

BooleanType	isConvex ()

BooleanType	isDependingOn (const Expression &variable)

BooleanType	isLinearIn (const Expression &variable)

BooleanType	isNondecreasing ()

BooleanType	isNonincreasing ()

NeutralElement	isOneOrZero ()

BooleanType	isPolynomialIn (const Expression &variable)

BooleanType	isRationalIn (const Expression &variable)

BooleanType	isSymbolic () const

returnValue	jacobian (DMatrix &x)
	calculate the jacobian of an evaluated function More...

Function	operator() (uint idx) const

DVector	operator() (const EvaluationPoint &x, const int &number=0)

Function &	operator<< (const Expression &arg)

Function &	operator<< (const double &arg)

Function &	operator<< (const DVector &arg)

Function &	operator<< (const DMatrix &arg)

Function &	operator= (const Function &rhs)

returnValue	print (std::ostream &stream, const char fcnName="ACADOfcn", const char realString="double") const

returnValue	reset ()

double	scale (VariableType variableType_, int index_) const

returnValue	setGlobalExportVariableName (const std::string &var)

returnValue	setMemoryOffset (int memoryOffset_)

returnValue	setScale (double *scale_)

returnValue	substitute (VariableType variableType_, int index_, double sub_)

virtual	~Function ()

Protected Member Functions
void	copy (const DifferentialEquation &arg)

void	setup ()

Protected Attributes
int *	component

int	counter

DifferentialEquationType	det

BooleanType	is_discretized

BooleanType	is_implicit

Lyapunov	lyap

double	stepLength

Parameter *	T1

double	t1

Parameter *	T2

double	t2

Protected Attributes inherited from Function
FunctionEvaluationTree	evaluationTree

int	memoryOffset

double *	result

Detailed Description

Allows to setup and evaluate differential equations (ODEs and DAEs) based on SymbolicExpressions.

The class DifferentialEquation allows to setup and evaluate differential equations (ODEs and DAEs) based on SymbolicExpressions.

Author: Boris Houska, Hans Joachim Ferreau

Definition at line 55 of file differential_equation.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO DifferentialEquation::DifferentialEquation ( )

Default constructor.

Definition at line 50 of file differential_equation.cpp.

DifferentialEquation::DifferentialEquation	(	const double &	tStart,
		const double &	tEnd
	)

Default constructor.

Definition at line 60 of file differential_equation.cpp.

DifferentialEquation::DifferentialEquation	(	const double &	tStart,
		const Parameter &	tEnd
	)

Default constructor.

Definition at line 70 of file differential_equation.cpp.

DifferentialEquation::DifferentialEquation	(	const Parameter &	tStart,
		const double &	tEnd
	)

Default constructor.

Definition at line 82 of file differential_equation.cpp.

DifferentialEquation::DifferentialEquation	(	const Parameter &	tStart,
		const Parameter &	tEnd
	)

Default constructor.

Definition at line 94 of file differential_equation.cpp.

DifferentialEquation::DifferentialEquation ( const DifferentialEquation & arg )

Copy constructor (deep copy).

Definition at line 154 of file differential_equation.cpp.

DifferentialEquation::~DifferentialEquation ( )

virtual

Destructor.

Definition at line 162 of file differential_equation.cpp.

Member Function Documentation

DifferentialEquation & DifferentialEquation::addAlgebraic ( const Expression & arg )

Loading Expressions (deep copy).

Definition at line 274 of file differential_equation.cpp.

DifferentialEquation & DifferentialEquation::addAlgebraic ( const double & arg )

Loading Expressions (deep copy).

Definition at line 282 of file differential_equation.cpp.

DifferentialEquation & DifferentialEquation::addAlgebraic ( const DVector & arg )

Loading Symbolic DVector (deep copy).

Definition at line 302 of file differential_equation.cpp.

DifferentialEquation & DifferentialEquation::addAlgebraic ( const DMatrix & arg )

Loading Symbolic DMatrix (deep copy).

Definition at line 325 of file differential_equation.cpp.

DifferentialEquation & DifferentialEquation::addDifferential ( const Expression & arg )

Loading Expressions (deep copy).

Definition at line 237 of file differential_equation.cpp.

DifferentialEquation & DifferentialEquation::addDifferential ( const double & arg )

Loading Expressions (deep copy).

Definition at line 266 of file differential_equation.cpp.

DifferentialEquation & DifferentialEquation::addDifferential ( const DVector & arg )

Loading Symbolic DVector (deep copy).

Definition at line 291 of file differential_equation.cpp.

DifferentialEquation & DifferentialEquation::addDifferential ( const DMatrix & arg )

Loading Symbolic DMatrix (deep copy).

Definition at line 313 of file differential_equation.cpp.

DifferentialEquation * DifferentialEquation::clone ( ) const

virtual

Clone constructor (deep copy).

Reimplemented in DiscretizedDifferentialEquation.

Definition at line 191 of file differential_equation.cpp.

void DifferentialEquation::copy ( const DifferentialEquation & arg )

protected

Protected version of the copy constructor.

Definition at line 120 of file differential_equation.cpp.

int* DifferentialEquation::getComponents ( ) const

inline

DVector DifferentialEquation::getDifferentialStateComponents ( ) const

inline

double DifferentialEquation::getEndTime ( ) const

inline

Returns the end time of the horizon of the differential equation
or +INFTY for the case that the start time is not defined.

Returns: the end time.

int DifferentialEquation::getEndTimeIdx ( ) const

inline

Returns the index of the parameter associated with the start time
of the time horizon of the differential equation or -1 for the
that the start time is constant

Returns: the start time.

Lyapunov DifferentialEquation::getLyapunovObject ( ) const

Definition at line 346 of file differential_equation.cpp.

int DifferentialEquation::getNumAlgebraicEquations ( ) const

inline

Returns the number of algebraic equations

int DifferentialEquation::getNumDynamicEquations ( ) const

inline

Returns the number of dynamic equations

Expression DifferentialEquation::getODEexpansion ( const int & order ) const

Returning an Expression that contains a Taylor expansion
of the ODE-solution trajectory.

Parameters

order the order of Taylor expansion.

Returns: A matrix valued expression C of dimension
n_x times (order+2) ,
whose rows contain the Taylor coefficients.
C = [ x,f(x),f'(x)f(x),f''(x)f(x)f(x)+f'(x)f'(x)f(x), ... ].

Definition at line 402 of file differential_equation.cpp.

double DifferentialEquation::getStartTime ( ) const

inline

Returns the start time of the horizon of the differential equation
or -INFTY for the case that the start time is not defined.

Returns: the start time.

int DifferentialEquation::getStartTimeIdx ( ) const

inline

Returns the index of the parameter associated with the start time
of the time horizon of the differential equation or -1 for the
that the start time is constant

Returns: the start time.

int DifferentialEquation::getStateEnumerationIndex ( int index_ )

inline

double DifferentialEquation::getStepLength ( ) const

virtual

Always returns -INFTY in the time-continuous case.

Definition at line 433 of file differential_equation.cpp.

BooleanType DifferentialEquation::hasLyapunovEquation ( ) const

Definition at line 351 of file differential_equation.cpp.

BooleanType DifferentialEquation::isDAE ( ) const

Ask whether the differential equation is a DAE.

Definition at line 388 of file differential_equation.cpp.

BooleanType DifferentialEquation::isDiscretized ( ) const

virtual

Ask whether the differential equation is discretized (in time).

Definition at line 427 of file differential_equation.cpp.

BooleanType DifferentialEquation::isImplicit ( ) const

inline

Ask whether the differential equation is given in implicit form.

BooleanType DifferentialEquation::isODE ( ) const

Ask whether the differential equation is a ODE.

Definition at line 395 of file differential_equation.cpp.

BooleanType DifferentialEquation::makeImplicit ( )

virtual

Adds DifferentialStateDerivative if the differential
equation is an ODE.

Returns: BT_TRUE if the ODE is made implicit
BT_FALSE if the differential equation is no
ODE.

Definition at line 414 of file differential_equation.cpp.

DifferentialEquation & DifferentialEquation::operator<< ( const Expression & arg )

Loading Expressions (deep copy).

Definition at line 198 of file differential_equation.cpp.

DifferentialEquation & DifferentialEquation::operator<< ( const int & arg )

Loading Expressions (deep copy).

Definition at line 225 of file differential_equation.cpp.

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

Assignment operator (deep copy).

Definition at line 173 of file differential_equation.cpp.

DifferentialEquation & DifferentialEquation::operator== ( const Expression & arg )

Loading Expressions (deep copy).

Definition at line 359 of file differential_equation.cpp.

DifferentialEquation & DifferentialEquation::operator== ( const double & arg )

Loading Expressions (deep copy).

Definition at line 366 of file differential_equation.cpp.

DifferentialEquation & DifferentialEquation::operator== ( const DVector & arg )

Loading Symbolic DVector (deep copy).

Definition at line 373 of file differential_equation.cpp.

DifferentialEquation & DifferentialEquation::operator== ( const DMatrix & arg )

Loading Symbolic DMatrix (deep copy).

Definition at line 380 of file differential_equation.cpp.

DifferentialEquation & DifferentialEquation::operator== ( const Lyapunov & arg )

Definition at line 337 of file differential_equation.cpp.

void DifferentialEquation::setup ( )

protected

Setup routine (for internal use only)

Definition at line 107 of file differential_equation.cpp.

Member Data Documentation

int* DifferentialEquation::component

protected

Definition at line 267 of file differential_equation.hpp.

int DifferentialEquation::counter

protected

Definition at line 266 of file differential_equation.hpp.

DifferentialEquationType DifferentialEquation::det

protected

Definition at line 262 of file differential_equation.hpp.

BooleanType DifferentialEquation::is_discretized

protected

Definition at line 264 of file differential_equation.hpp.

BooleanType DifferentialEquation::is_implicit

protected

Definition at line 263 of file differential_equation.hpp.

Lyapunov DifferentialEquation::lyap

protected

Definition at line 273 of file differential_equation.hpp.

double DifferentialEquation::stepLength

protected

Definition at line 272 of file differential_equation.hpp.

Parameter* DifferentialEquation::T1

protected

Definition at line 269 of file differential_equation.hpp.

double DifferentialEquation::t1

protected

Definition at line 270 of file differential_equation.hpp.

Parameter * DifferentialEquation::T2

protected

Definition at line 269 of file differential_equation.hpp.

double DifferentialEquation::t2

protected

Definition at line 270 of file differential_equation.hpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation