Allows to export a tailored lifted implicit Runge-Kutta integrator with forward sensitivity generation for extra fast model predictive control. More...

#include <irk_lifted_feedback_export.hpp>

Inheritance diagram for FeedbackLiftedIRKExport:

[legend]

Public Member Functions
	FeedbackLiftedIRKExport (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")

	FeedbackLiftedIRKExport (const FeedbackLiftedIRKExport &arg)

virtual returnValue	getCode (ExportStatementBlock &code)

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

virtual returnValue	getFunctionDeclarations (ExportStatementBlock &declarations) const

FeedbackLiftedIRKExport &	operator= (const FeedbackLiftedIRKExport &arg)

virtual returnValue	setNonlinearFeedback (const DMatrix &C, const Expression &feedb)

virtual returnValue	setup ()

virtual	~FeedbackLiftedIRKExport ()

Public Member Functions inherited from ForwardIRKExport
	ForwardIRKExport (UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")

	ForwardIRKExport (const ForwardIRKExport &arg)

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	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 ()

Protected Member Functions
virtual returnValue	evaluateAllStatesImplicitSystem (ExportStatementBlock *block, const ExportIndex &k_index, const ExportVariable &Ah, const ExportVariable &C, const ExportIndex &stage, const ExportIndex &i, const ExportIndex &tmp_index)

virtual ExportVariable	getAuxVariable () const

returnValue	prepareInputSystem (ExportStatementBlock &code)

returnValue	setInputSystem ()

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

Protected Member Functions inherited from ForwardIRKExport
returnValue	getCRSIndex (uint output, ExportIndex row, ExportIndex col)

virtual returnValue	prepareOutputSystem (ExportStatementBlock &code)

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	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	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)

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)

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)

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

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)

virtual returnValue	solveOutputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index, const ExportVariable &Ah, 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
DMatrix	C11

ExportAcadoFunction	feedb

DMatrix	mat1

uint	NF

ExportVariable	rk_delta

ExportVariable	rk_dk1_tmp

ExportVariable	rk_dk2_tmp

ExportVariable	rk_Khat_traj

ExportVariable	rk_kTemp

ExportVariable	rk_seed

ExportVariable	rk_sensF

ExportVariable	rk_stageValues

ExportVariable	rk_Uprev

ExportVariable	rk_Xhat_traj

ExportVariable	rk_Xprev

ExportVariable	rk_xxx_lin

ExportAcadoFunction	sens_fdb

ExportAcadoFunction	sens_input

DMatrix	sensMat

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 lifted implicit Runge-Kutta integrator with forward sensitivity generation for extra fast model predictive control.

The class FeedbackLiftedIRKExport allows to export a tailored lifted implicit Runge-Kutta integrator with forward sensitivity generation for extra fast model predictive control.

Author: Rien Quirynen

Definition at line 53 of file irk_lifted_feedback_export.hpp.

Constructor & Destructor Documentation

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

Default constructor.

Parameters

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

Definition at line 46 of file irk_lifted_feedback_export.cpp.

FeedbackLiftedIRKExport::FeedbackLiftedIRKExport ( const FeedbackLiftedIRKExport & arg )

Copy constructor (deep copy).

Parameters

[in] arg Right-hand side object.

Definition at line 53 of file irk_lifted_feedback_export.cpp.

FeedbackLiftedIRKExport::~FeedbackLiftedIRKExport ( )

virtual

Destructor.

Definition at line 59 of file irk_lifted_feedback_export.cpp.

Member Function Documentation

returnValue FeedbackLiftedIRKExport::evaluateAllStatesImplicitSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	k_index,
		const ExportVariable &	Ah,
		const ExportVariable &	C,
		const ExportIndex &	stage,
		const ExportIndex &	i,
		const ExportIndex &	tmp_index
	)

protectedvirtual

Exports the evaluation of the states at all stages.

Parameters

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

Returns: SUCCESSFUL_RETURN

Definition at line 704 of file irk_lifted_feedback_export.cpp.

ExportVariable FeedbackLiftedIRKExport::getAuxVariable ( ) const

protectedvirtual

Returns the largest global export variable.

Returns: SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Definition at line 80 of file irk_lifted_feedback_export.cpp.

returnValue FeedbackLiftedIRKExport::getCode ( ExportStatementBlock & code )

virtual

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

Parameters

[in] code Code block containing the auto-generated integrator.

Returns: SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Definition at line 340 of file irk_lifted_feedback_export.cpp.

returnValue FeedbackLiftedIRKExport::getDataDeclarations	(	ExportStatementBlock &	declarations,
		ExportStruct	dataStruct = `ACADO_ANY`
	)		const

virtual

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

Parameters

[in] declarations List of declarations.

Returns: SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Definition at line 101 of file irk_lifted_feedback_export.cpp.

returnValue FeedbackLiftedIRKExport::getFunctionDeclarations ( ExportStatementBlock & declarations ) const

virtual

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

Parameters

[in] declarations List of declarations.

Returns: SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Definition at line 125 of file irk_lifted_feedback_export.cpp.

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

Assignment operator (deep copy).

Parameters

[in] arg Right-hand side object.

Definition at line 69 of file irk_lifted_feedback_export.cpp.

returnValue FeedbackLiftedIRKExport::prepareInputSystem ( ExportStatementBlock & code )

protectedvirtual

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 298 of file irk_lifted_feedback_export.cpp.

returnValue FeedbackLiftedIRKExport::setInputSystem ( )

protected

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

Parameters

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

Returns: SUCCESSFUL_RETURN

Definition at line 232 of file irk_lifted_feedback_export.cpp.

returnValue FeedbackLiftedIRKExport::setNonlinearFeedback	(	const DMatrix &	C,
		const Expression &	feedb
	)

virtual

Parameters

[in] .

Returns: SUCCESSFUL_RETURN

Reimplemented from IntegratorExport.

Definition at line 138 of file irk_lifted_feedback_export.cpp.

returnValue FeedbackLiftedIRKExport::setup ( )

virtual

Initializes export of a tailored integrator.

Returns: SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

Definition at line 724 of file irk_lifted_feedback_export.cpp.

returnValue FeedbackLiftedIRKExport::solveInputSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	k_index,
		const ExportVariable &	Ah
	)

protectedvirtual

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

Parameters

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