ExportAlgorithm Class Reference

Allows to export automatically generated algorithms for fast model predictive control. More...

#include <export_algorithm.hpp>

Inheritance diagram for ExportAlgorithm:

Public Member Functions
	ExportAlgorithm (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName=std::string())
virtual returnValue	getCode (ExportStatementBlock &code)=0
virtual returnValue	getDataDeclarations (ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const =0
virtual returnValue	getFunctionDeclarations (ExportStatementBlock &declarations) const =0
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 returnValue	setup ()
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 ()

Protected Attributes
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 automatically generated algorithms for fast model predictive control.

The class ExportAlgorithm allows to export automatically generated algorithms for fast model predictive control.

Author

Hans Joachim Ferreau, Milan Vukov, Boris Houska

Definition at line 61 of file export_algorithm.hpp.

Constructor & Destructor Documentation

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

Default constructor.

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

Definition at line 45 of file export_algorithm.cpp.

ExportAlgorithm::~ExportAlgorithm ( )

virtual

Destructor.

Definition at line 54 of file export_algorithm.cpp.

Member Function Documentation

virtual returnValue ExportAlgorithm::getCode ( ExportStatementBlock &  code )

pure virtual

Exports source code of the auto-generated algorithm into the given directory.

@param[in] code                             Code block containing the auto-generated algorithm.

\return SUCCESSFUL_RETURN

Implemented in IntegratorExport, ImplicitRungeKuttaExport, DiscreteTimeExport, ExportLinearSolver, ExplicitRungeKuttaExport, RungeKuttaExport, ExportIRK3StageSimplifiedNewton, ExportIRK4StageSimplifiedNewton, ExportNLPSolver, AdjointLiftedIRKExport, FeedbackLiftedIRKExport, ForwardBackwardLiftedIRKExport, ForwardLiftedIRKExport, SymmetricLiftedIRKExport, SymmetricIRKExport, ForwardIRKExport, ExportIRK3StageSingleNewton, ExportIRK4StageSingleNewton, ExportCholeskySolver, LiftedERKExport, ThreeSweepsERKExport, AdjointERKExport, ExportGaussElim, ExportHouseholderQR, ExportCholeskyDecomposition, ExportGaussNewtonForces, ExportGaussNewtonQpDunes, ExportGaussNewtonCondensed, ExportGaussNewtonHpmpc, ExportGaussNewtonBlockCN2, ExportGaussNewtonCn2Factorization, ExportGaussNewtonGeneric, ExportGaussNewtonCN2, ExportExactHessianQpDunes, ExportGaussNewtonBlockForces, and ExportGaussNewtonBlockQpDunes.

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

pure virtual

Adds all data declarations of the auto-generated algorithm to given list of declarations.

@param[in] declarations             List of declarations.

\return SUCCESSFUL_RETURN

Implemented in IntegratorExport, ImplicitRungeKuttaExport, DiscreteTimeExport, ExportLinearSolver, ExplicitRungeKuttaExport, RungeKuttaExport, NARXExport, ExportIRK3StageSimplifiedNewton, ExportIRK4StageSimplifiedNewton, ExportNLPSolver, AdjointLiftedIRKExport, FeedbackLiftedIRKExport, ForwardBackwardLiftedIRKExport, ForwardLiftedIRKExport, SymmetricLiftedIRKExport, SymmetricIRKExport, LiftedERKExport, ThreeSweepsERKExport, AdjointERKExport, ForwardIRKExport, ExportIRK3StageSingleNewton, ExportIRK4StageSingleNewton, ExportCholeskySolver, ExportCholeskyDecomposition, ExportGaussElim, ExportHouseholderQR, ExportGaussNewtonForces, ExportGaussNewtonQpDunes, ExportGaussNewtonCondensed, ExportGaussNewtonHpmpc, ExportGaussNewtonBlockCN2, ExportGaussNewtonCn2Factorization, ExportGaussNewtonGeneric, and ExportGaussNewtonCN2.

virtual returnValue ExportAlgorithm::getFunctionDeclarations ( ExportStatementBlock &  declarations ) const

pure virtual

Adds all function (forward) declarations of the auto-generated algorithm to given list of declarations.

@param[in] declarations             List of declarations.

\return SUCCESSFUL_RETURN

Implemented in IntegratorExport, ImplicitRungeKuttaExport, DiscreteTimeExport, ExportLinearSolver, ExplicitRungeKuttaExport, RungeKuttaExport, ExportIRK3StageSimplifiedNewton, ExportIRK4StageSimplifiedNewton, ExportNLPSolver, AdjointLiftedIRKExport, FeedbackLiftedIRKExport, ForwardBackwardLiftedIRKExport, ForwardLiftedIRKExport, SymmetricLiftedIRKExport, SymmetricIRKExport, ForwardIRKExport, ExportIRK3StageSingleNewton, ExportIRK4StageSingleNewton, ExportCholeskySolver, ExportCholeskyDecomposition, ExportGaussElim, ExportHouseholderQR, ExportGaussNewtonForces, ExportGaussNewtonQpDunes, ExportGaussNewtonCondensed, ExportGaussNewtonHpmpc, ExportGaussNewtonBlockCN2, ExportGaussNewtonCn2Factorization, ExportGaussNewtonGeneric, ExportGaussNewtonCN2, ExportExactHessianQpDunes, and ExportExactHessianCN2.

uint ExportAlgorithm::getN

(

)

const

Returns number of control intervals.

Returns

Number of control intervals

Definition at line 128 of file export_algorithm.cpp.

uint ExportAlgorithm::getNDX

(

)

const

Returns the number of differential states derivatives.

Returns

The requested number of differential state derivatives

uint ExportAlgorithm::getNOD

(

)

const

Returns number of parameters.

Returns

Number of parameters

Definition at line 122 of file export_algorithm.cpp.

uint ExportAlgorithm::getNP

(

)

const

Returns number of parameters.

Returns

Number of parameters

Definition at line 117 of file export_algorithm.cpp.

uint ExportAlgorithm::getNU

(

)

const

Returns number of control inputs.

Returns

Number of control inputs

Definition at line 111 of file export_algorithm.cpp.

uint ExportAlgorithm::getNX

(

)

const

Returns number of differential states.

Returns

Number of differential states

Definition at line 99 of file export_algorithm.cpp.

uint ExportAlgorithm::getNXA

(

)

const

Returns number of algebraic states.

Returns

Number of algebraic states

Definition at line 105 of file export_algorithm.cpp.

uint ExportAlgorithm::getNY

(

)

const

Definition at line 138 of file export_algorithm.cpp.

uint ExportAlgorithm::getNYN

(

)

const

Definition at line 148 of file export_algorithm.cpp.

returnValue ExportAlgorithm::setDimensions	(	uint	_NX = 0,
		uint	_NU = 0,
		uint	_NP = 0,
		uint	_NI = 0,
		uint	_NOD = 0
	)

Sets the variables dimensions (ODE).

@param[in] _NX              New number of differential states.
@param[in] _NU              New number of control inputs.
@param[in] _NP              New number of parameters.
@param[in] _NI              New number of control intervals. (using _N resulted in a strange error when compiling with cygwin!)

Returns

SUCCESSFUL_RETURN

Definition at line 65 of file export_algorithm.cpp.

returnValue ExportAlgorithm::setDimensions	(	uint	_NX,
		uint	_NDX,
		uint	_NXA,
		uint	_NU,
		uint	_NP,
		uint	_NI,
		uint	_NOD
	)

Sets the variables dimensions (DAE).

@param[in] _NX              New number of differential states.
@param[in] _NDX             New number of differential states derivatives.
@param[in] _NXA             New number of algebraic states.
@param[in] _NU              New number of control inputs.
@param[in] _NP              New number of parameters.
@param[in] _NI              New number of control intervals.

Returns

SUCCESSFUL_RETURN

Definition at line 77 of file export_algorithm.cpp.

void ExportAlgorithm::setNY

(

uint

NY_

)

Definition at line 133 of file export_algorithm.cpp.

void ExportAlgorithm::setNYN

(

uint

NYN_

)

Definition at line 143 of file export_algorithm.cpp.

returnValue ExportAlgorithm::setup ( )

virtual

Initializes code export into given file.

\return SUCCESSFUL_RETURN

Reimplemented in DiagonallyImplicitRKExport, LiftedERKExport, ThreeSweepsERKExport, AdjointERKExport, ForwardOverBackwardERKExport, IntegratorExport, ImplicitRungeKuttaExport, ForwardIRKExport, DiscreteTimeExport, AdjointLiftedIRKExport, FeedbackLiftedIRKExport, ForwardBackwardLiftedIRKExport, ForwardLiftedIRKExport, SymmetricLiftedIRKExport, SymmetricIRKExport, RungeKuttaExport, ExportCholeskySolver, ExplicitRungeKuttaExport, NARXExport, ExportLinearSolver, ExportNLPSolver, ExportCholeskyDecomposition, ExportGaussElim, ExportHouseholderQR, ExportIRK3StageSimplifiedNewton, ExportIRK3StageSingleNewton, ExportIRK4StageSimplifiedNewton, ExportIRK4StageSingleNewton, ExportGaussNewtonForces, ExportGaussNewtonQpDunes, ExportExactHessianQpDunes, ExportGaussNewtonBlockForces, ExportGaussNewtonCondensed, ExportGaussNewtonBlockQpDunes, ExportGaussNewtonHpmpc, ExportGaussNewtonBlockCN2, ExportExactHessianCN2, ExportGaussNewtonCn2Factorization, ExportGaussNewtonGeneric, and ExportGaussNewtonCN2.

Definition at line 58 of file export_algorithm.cpp.

Member Data Documentation

std::string ExportAlgorithm::commonHeaderName

protected

Name of common header file.

Definition at line 217 of file export_algorithm.hpp.

uint ExportAlgorithm::N

protected

Number of control intervals.

Definition at line 212 of file export_algorithm.hpp.

uint ExportAlgorithm::NDX

protected

Number of differential states derivatives.

Definition at line 207 of file export_algorithm.hpp.

uint ExportAlgorithm::NOD

protected

Number of "online data" values.

Definition at line 211 of file export_algorithm.hpp.

uint ExportAlgorithm::NP

protected

Number of parameters.

Definition at line 210 of file export_algorithm.hpp.

uint ExportAlgorithm::NU

protected

Number of control inputs.

Definition at line 209 of file export_algorithm.hpp.

uint ExportAlgorithm::NX

protected

Number of differential states.

Definition at line 206 of file export_algorithm.hpp.

uint ExportAlgorithm::NXA

protected

Number of algebraic states.

Definition at line 208 of file export_algorithm.hpp.

uint ExportAlgorithm::NY

protected

Number of references/measurements, nodes 0,..., N - 1.

Definition at line 214 of file export_algorithm.hpp.

uint ExportAlgorithm::NYN

protected

Number of references/measurements, node N.

Definition at line 215 of file export_algorithm.hpp.

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

• export_algorithm.hpp
• export_algorithm.cpp