ImplicitRungeKuttaExport Class Reference

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

#include <irk_export.hpp>

Inheritance diagram for ImplicitRungeKuttaExport:

Public Member Functions
virtual returnValue	getCode (ExportStatementBlock &code)
virtual returnValue	getDataDeclarations (ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const
virtual returnValue	getFunctionDeclarations (ExportStatementBlock &declarations) const
	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	setup ()
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 ()

Protected Member Functions
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)
virtual ExportVariable	getAuxVariable () const
uint	getNumIts () const
uint	getNumItsInit () const
returnValue	initializeCoefficients ()
returnValue	initializeDDMatrix ()
virtual returnValue	prepareInputSystem (ExportStatementBlock &code)
returnValue	prepareOutputEvaluation (ExportStatementBlock &code)
virtual returnValue	prepareOutputSystem (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	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)
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	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 implicit Runge-Kutta integrator for fast model predictive control.

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

Author

Rien Quirynen

Definition at line 55 of file irk_export.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO ImplicitRungeKuttaExport::ImplicitRungeKuttaExport	(	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 44 of file irk_export.cpp.

ImplicitRungeKuttaExport::ImplicitRungeKuttaExport

(

const ImplicitRungeKuttaExport &

arg

)

Copy constructor (deep copy).

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

Definition at line 67 of file irk_export.cpp.

ImplicitRungeKuttaExport::~ImplicitRungeKuttaExport ( )

virtual

Destructor.

Definition at line 91 of file irk_export.cpp.

Member Function Documentation

DVector ImplicitRungeKuttaExport::computeCombinations ( const DVector &  cVec, uint  index, uint  numEls  )

protected

Recursive function that helps with the computation of the coefficients of polynomials that are used to evaluate the continuous output (see initializeCoefficients), by computing the correct combinations of elements of the vector cc from the Butcher table.

Parameters

[in]	cVec	The vector with all the elements of the vector cc from the Butcher table, of which combinations are computed in a recursive way.
[in]	index	An index of the vector cVec which denotes the relevant part for this invocation.
[in]	numEls	The number of elements in the combination.

Returns

SUCCESSFUL_RETURN

Definition at line 923 of file irk_export.cpp.

returnValue ImplicitRungeKuttaExport::copy ( const ImplicitRungeKuttaExport &  arg )

protectedvirtual

Copies all class members from given object.

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

\return SUCCESSFUL_RETURN

Definition at line 1581 of file irk_export.cpp.

DVector ImplicitRungeKuttaExport::divideMeasurements ( uint  index )

protected

Divide the total number of measurements over the different integration steps.

@param[in] index    The index of the continuous output for which the division of measurements is returned.

\return The division of measurements over the integration steps, corresponding the given continuous output.

Definition at line 1064 of file irk_export.cpp.

DVector ImplicitRungeKuttaExport::evaluateDerivedPolynomial ( double  time )

protected

Returns the coefficients of the derived polynomial, representing the derivative of the continuous output with respect to time.

@param[in] time                             The point in the interval (0,1] for which the coefficients are returned.

\return Coefficients of the polynomial, corresponding the given grid point

Definition at line 1025 of file irk_export.cpp.

returnValue ImplicitRungeKuttaExport::evaluateDerivedPolynomial ( ExportStatementBlock &  block, const ExportVariable &  variable, const ExportVariable &  grid  )

protected

Exports the evaluation of the coefficients of the derived polynomial, representing the derivative of the continuous output with respect to time.

@param[in] block                    The block to which the code will be exported.
@param[in] variable                 The variable containing the coefficients of the polynomial.
@param[in] grid                             The variable containing the grid point for the specific output.

\return SUCCESSFUL_RETURN

Definition at line 1044 of file irk_export.cpp.

DMatrix ImplicitRungeKuttaExport::evaluateDerivedPolynomial ( uint  index )

protected

Returns the coefficients of the derived polynomial for the complete grid of the output, corresponding a certain index.

@param[in] index    The index of the continuous output for which the coefficients are returned.

\return Coefficients of the derived polynomial, corresponding the given continuous output

Definition at line 1005 of file irk_export.cpp.

returnValue ImplicitRungeKuttaExport::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  )

protectedvirtual

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 747 of file irk_export.cpp.

DVector ImplicitRungeKuttaExport::evaluatePolynomial ( double  time )

protected

Returns the coefficients of the polynomial, representing the continuous output of the integrator.

@param[in] time                             The point in the interval (0,1] for which the coefficients are returned.

\return Coefficients of the polynomial, corresponding the given grid point

Definition at line 965 of file irk_export.cpp.

returnValue ImplicitRungeKuttaExport::evaluatePolynomial ( ExportStatementBlock &  block, const ExportVariable &  variable, const ExportVariable &  grid, const std::string &  h  )

protected

Exports the evaluation of the coefficients of the polynomial, representing the continuous output of the integrator.

@param[in] block                    The block to which the code will be exported.
@param[in] variable                 The variable containing the coefficients of the polynomial.
@param[in] grid                             The variable containing the grid point for the specific output.
@param[in] h                                The integration step size.

\return SUCCESSFUL_RETURN

Definition at line 981 of file irk_export.cpp.

DMatrix ImplicitRungeKuttaExport::evaluatePolynomial ( uint  index )

protected

Returns the coefficients of the polynomial for the complete grid of the output, corresponding a certain index.

@param[in] index    The index of the continuous output for which the coefficients are returned.

\return Coefficients of the polynomial, corresponding the given continuous output

Definition at line 945 of file irk_export.cpp.

returnValue ImplicitRungeKuttaExport::evaluateRhsImplicitSystem ( ExportStatementBlock *  block, const ExportIndex &  k_index, const ExportIndex &  stage  )

protectedvirtual

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

Reimplemented in ForwardLiftedIRKExport.

Definition at line 728 of file irk_export.cpp.

returnValue ImplicitRungeKuttaExport::evaluateStatesImplicitSystem ( 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 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

Reimplemented in ForwardLiftedIRKExport.

Definition at line 677 of file irk_export.cpp.

returnValue ImplicitRungeKuttaExport::evaluateStatesOutputSystem ( ExportStatementBlock *  block, const ExportVariable &  Ah, const ExportIndex &  stage  )

protected

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 705 of file irk_export.cpp.

DMatrix ImplicitRungeKuttaExport::formMatrix ( const DMatrix &  mass, const DMatrix &  jacobian  )

protectedvirtual

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 in DiagonallyImplicitRKExport.

Definition at line 549 of file irk_export.cpp.

returnValue ImplicitRungeKuttaExport::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  )

protected

Exports the necessary code for the computation of the continuous output.

@param[in] block                    The block to which the code will be exported.
@param[in] tmp_meas                 The number of measurements in the current integration step (in case of an online grid).
@param[in] rk_tPrev                 The time point, defining the beginning of the current integration step (in case of an online grid).
@param[in] time_tmp                 A variable used for time transformations (in case of an online grid).

\return SUCCESSFUL_RETURN

Definition at line 791 of file irk_export.cpp.

ExportVariable ImplicitRungeKuttaExport::getAuxVariable ( ) const

protectedvirtual

Returns the largest global export variable.

\return SUCCESSFUL_RETURN

Implements IntegratorExport.

Reimplemented in ForwardLiftedIRKExport, ForwardIRKExport, SymmetricIRKExport, ForwardBackwardLiftedIRKExport, FeedbackLiftedIRKExport, AdjointLiftedIRKExport, and SymmetricLiftedIRKExport.

Definition at line 171 of file irk_export.cpp.

returnValue ImplicitRungeKuttaExport::getCode ( ExportStatementBlock &  code )

virtual

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

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

\return SUCCESSFUL_RETURN

Implements RungeKuttaExport.

Reimplemented in AdjointLiftedIRKExport, FeedbackLiftedIRKExport, ForwardBackwardLiftedIRKExport, ForwardLiftedIRKExport, SymmetricLiftedIRKExport, SymmetricIRKExport, and ForwardIRKExport.

Definition at line 257 of file irk_export.cpp.

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

virtual

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

@param[in] declarations             List of declarations.

\return SUCCESSFUL_RETURN

Implements RungeKuttaExport.

Reimplemented in AdjointLiftedIRKExport, FeedbackLiftedIRKExport, ForwardBackwardLiftedIRKExport, ForwardLiftedIRKExport, SymmetricLiftedIRKExport, SymmetricIRKExport, and ForwardIRKExport.

Definition at line 200 of file irk_export.cpp.

returnValue ImplicitRungeKuttaExport::getFunctionDeclarations ( ExportStatementBlock &  declarations ) const

virtual

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

@param[in] declarations             List of declarations.

\return SUCCESSFUL_RETURN

Implements RungeKuttaExport.

Reimplemented in AdjointLiftedIRKExport, FeedbackLiftedIRKExport, ForwardBackwardLiftedIRKExport, ForwardLiftedIRKExport, SymmetricLiftedIRKExport, SymmetricIRKExport, and ForwardIRKExport.

Definition at line 244 of file irk_export.cpp.

uint ImplicitRungeKuttaExport::getNumIts ( ) const

protected

Returns the performed number of Newton iterations.

\return The performed number of Newton iterations.

Definition at line 1654 of file irk_export.cpp.

uint ImplicitRungeKuttaExport::getNumItsInit ( ) const

protected

Returns the performed number of Newton iterations for the initialization of the first step.

\return The performed number of Newton iterations for the initialization of the first step.

Definition at line 1660 of file irk_export.cpp.

returnValue ImplicitRungeKuttaExport::initializeCoefficients ( )

protected

Initializes the matrix coeffs, containing coefficients of polynomials that are used to evaluate the continuous output (see evaluatePolynomial).

Returns

SUCCESSFUL_RETURN

Definition at line 883 of file irk_export.cpp.

returnValue ImplicitRungeKuttaExport::initializeDDMatrix ( )

protected

Initializes the matrix DD, which is used to extrapolate the variables of the IRK method to the next step.

\return SUCCESSFUL_RETURN

Definition at line 864 of file irk_export.cpp.

ImplicitRungeKuttaExport & ImplicitRungeKuttaExport::operator=

(

const ImplicitRungeKuttaExport &

arg

)

Assignment operator (deep copy).

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

Definition at line 101 of file irk_export.cpp.

returnValue ImplicitRungeKuttaExport::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 in ForwardIRKExport, FeedbackLiftedIRKExport, ForwardLiftedIRKExport, and DiagonallyImplicitRKExport.

Definition at line 521 of file irk_export.cpp.

returnValue ImplicitRungeKuttaExport::prepareOutputEvaluation ( ExportStatementBlock &  code )

protected

Prepares the structures to evaluate the continuous output and exports the resulting definitions.

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

\return SUCCESSFUL_RETURN

Definition at line 1544 of file irk_export.cpp.

returnValue ImplicitRungeKuttaExport::prepareOutputSystem ( ExportStatementBlock &  code )

protectedvirtual

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 in DiagonallyImplicitRKExport, ForwardIRKExport, and ForwardLiftedIRKExport.

Definition at line 535 of file irk_export.cpp.

returnValue ImplicitRungeKuttaExport::setDifferentialEquation ( const Expression &  rhs )

virtual

Assigns Differential Equation to be used by the integrator.

@param[in] rhs              Right-hand side expression.

\return SUCCESSFUL_RETURN

Implements RungeKuttaExport.

Reimplemented in AdjointLiftedIRKExport, ForwardBackwardLiftedIRKExport, ForwardLiftedIRKExport, SymmetricLiftedIRKExport, and SymmetricIRKExport.

Definition at line 112 of file irk_export.cpp.

returnValue ImplicitRungeKuttaExport::setEigenvalues

(

const DMatrix &

_eig

)

This routine sets the eigenvalues of the inverse of the AA matrix.

Definition at line 1306 of file irk_export.cpp.

returnValue ImplicitRungeKuttaExport::setModel ( const std::string &  _rhs, const std::string &  _diffs_rhs  )

virtual

Assigns the model to be used by the integrator.

@param[in] _rhs                             Name of the function, evaluating the right-hand side.
@param[in] _diffs_rhs               Name of the function, evaluating the derivatives of the right-hand side.

\return SUCCESSFUL_RETURN

Reimplemented from IntegratorExport.

Definition at line 159 of file irk_export.cpp.

returnValue ImplicitRungeKuttaExport::setSimplifiedTransformations	(	const DMatrix &	_transf1,
		const DMatrix &	_transf2
	)

This routine sets the transformation matrices, defined by the inverse of the AA matrix.

Definition at line 1323 of file irk_export.cpp.

returnValue ImplicitRungeKuttaExport::setSimplifiedTransformations	(	const DMatrix &	_transf1,
		const DMatrix &	_transf2,
		const DMatrix &	_transf1_T,
		const DMatrix &	_transf2_T
	)

Definition at line 1313 of file irk_export.cpp.

returnValue ImplicitRungeKuttaExport::setSingleTransformations	(	const double	_tau,
		const DVector &	_low_tria,
		const DMatrix &	_transf1,
		const DMatrix &	_transf2
	)

This routine sets the transformation matrices, defined by the inverse of the AA matrix.

Definition at line 1331 of file irk_export.cpp.

returnValue ImplicitRungeKuttaExport::setSingleTransformations	(	const double	_tau,
		const DVector &	_low_tria,
		const DMatrix &	_transf1,
		const DMatrix &	_transf2,
		const DMatrix &	_transf1_T,
		const DMatrix &	_transf2_T
	)

Definition at line 1341 of file irk_export.cpp.

returnValue ImplicitRungeKuttaExport::setup ( )

virtual

Initializes export of a tailored integrator.

\return SUCCESSFUL_RETURN

Implements RungeKuttaExport.

Reimplemented in DiagonallyImplicitRKExport, ForwardIRKExport, AdjointLiftedIRKExport, FeedbackLiftedIRKExport, ForwardBackwardLiftedIRKExport, ForwardLiftedIRKExport, SymmetricLiftedIRKExport, and SymmetricIRKExport.

Definition at line 1078 of file irk_export.cpp.

returnValue ImplicitRungeKuttaExport::setupOutput ( const std::vector< Grid >  outputGrids_, const std::vector< Expression >  rhs  )

virtual

Sets up the output with the grids for the different output functions.

Parameters

outputGrids_	The vector containing a grid for each output function.
rhs	The expressions corresponding the output functions.

Returns

SUCCESSFUL_RETURN

Implements RungeKuttaExport.

Definition at line 1353 of file irk_export.cpp.

returnValue ImplicitRungeKuttaExport::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

Sets up the output with the grids for the different output functions.

Parameters

outputGrids_	The vector containing a grid for each output function.
_outputNames	The names of the output functions.
_diffs_outputNames	The names of the functions, evaluating the derivatives of the outputs.
_dims_output	The dimensions of the output functions.

Returns

SUCCESSFUL_RETURN

Implements IntegratorExport.

Definition at line 1447 of file irk_export.cpp.

returnValue ImplicitRungeKuttaExport::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

Sets up the output with the grids for the different output functions.

Parameters

outputGrids_	The vector containing a grid for each output function.
_outputNames	The names of the output functions.
_diffs_outputNames	The names of the functions, evaluating the derivatives of the outputs.
_dims_output	The dimensions of the output functions.
_outputDependencies	A separate dependency matrix for each output.

Returns

SUCCESSFUL_RETURN

Implements IntegratorExport.

Definition at line 1527 of file irk_export.cpp.

returnValue ImplicitRungeKuttaExport::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  )

protectedvirtual

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

Reimplemented in ForwardLiftedIRKExport.

Definition at line 603 of file irk_export.cpp.

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

protectedvirtual

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 in FeedbackLiftedIRKExport, and DiagonallyImplicitRKExport.

Definition at line 576 of file irk_export.cpp.

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

protectedvirtual

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 in DiagonallyImplicitRKExport.

Definition at line 653 of file irk_export.cpp.

Member Data Documentation

DMatrix ImplicitRungeKuttaExport::coeffs

protected

This matrix contains coefficients of polynomials that are used to evaluate the continuous output (see evaluatePolynomial).

Definition at line 533 of file irk_export.hpp.

bool ImplicitRungeKuttaExport::CONTINUOUS_OUTPUT

protected

This boolean is true when continuous output needs to be provided.

Definition at line 520 of file irk_export.hpp.

DMatrix ImplicitRungeKuttaExport::DD

protected

This matrix is used for the initialization of the variables for the next integration step.

Definition at line 532 of file irk_export.hpp.

ExportVariable ImplicitRungeKuttaExport::debug_mat

protected

Definition at line 572 of file irk_export.hpp.

DMatrix ImplicitRungeKuttaExport::eig

protected

Definition at line 574 of file irk_export.hpp.

std::vector<ExportVariable> ImplicitRungeKuttaExport::gridVariables

protected

This vector contains an ExportVariable for the grid of each continuous output.

Definition at line 549 of file irk_export.hpp.

ExportAcadoFunction ImplicitRungeKuttaExport::lin_output

protected

Definition at line 566 of file irk_export.hpp.

DVector ImplicitRungeKuttaExport::low_tria

protected

Definition at line 581 of file irk_export.hpp.

uint ImplicitRungeKuttaExport::NDX2

protected

Definition at line 525 of file irk_export.hpp.

DVector ImplicitRungeKuttaExport::numDX_output

protected

Definition at line 535 of file irk_export.hpp.

uint ImplicitRungeKuttaExport::numIts

protected

This is the performed number of Newton iterations.

Definition at line 522 of file irk_export.hpp.

uint ImplicitRungeKuttaExport::numItsInit

protected

This is the performed number of Newton iterations for the initialization of the first step.

Definition at line 523 of file irk_export.hpp.

std::vector<ExportIndex> ImplicitRungeKuttaExport::numMeas

protected

Indices containing the number of measurements that are already computed.

Definition at line 556 of file irk_export.hpp.

std::vector<ExportVariable> ImplicitRungeKuttaExport::numMeasVariables

protected

Variables containing the number of measurements per integration interval.

Definition at line 555 of file irk_export.hpp.

DVector ImplicitRungeKuttaExport::numVARS_output

protected

Definition at line 537 of file irk_export.hpp.

DVector ImplicitRungeKuttaExport::numXA_output

protected

Definition at line 536 of file irk_export.hpp.

uint ImplicitRungeKuttaExport::NVARS2

protected

Definition at line 526 of file irk_export.hpp.

uint ImplicitRungeKuttaExport::NVARS3

protected

Definition at line 528 of file irk_export.hpp.

std::vector<ExportVariable> ImplicitRungeKuttaExport::polynDerVariables

protected

Variables containing the coefficients for the derived polynomial.

Definition at line 554 of file irk_export.hpp.

ExportVariable ImplicitRungeKuttaExport::polynEvalVar

protected

Local variable that is used for the evaluations of the continuous output.

Definition at line 545 of file irk_export.hpp.

std::vector<ExportVariable> ImplicitRungeKuttaExport::polynVariables

protected

Variables containing the coefficients for the polynomial.

Definition at line 553 of file irk_export.hpp.

bool ImplicitRungeKuttaExport::REUSE

protected

This boolean is true when the IFTR method is used instead of the IFT method.

Definition at line 519 of file irk_export.hpp.

ExportVariable ImplicitRungeKuttaExport::rk_A

protected

Variable containing the matrix of the linear system.

Definition at line 561 of file irk_export.hpp.

ExportVariable ImplicitRungeKuttaExport::rk_auxSolver

protected

Variable containing auxiliary values for the exported linear solver.

Definition at line 563 of file irk_export.hpp.

ExportVariable ImplicitRungeKuttaExport::rk_b

protected

Variable containing the right-hand side of the linear system.

Definition at line 562 of file irk_export.hpp.

ExportVariable ImplicitRungeKuttaExport::rk_diffK

protected

Definition at line 571 of file irk_export.hpp.

ExportVariable ImplicitRungeKuttaExport::rk_diffsOutputTemp

protected

Variable containing intermediate results of evaluations of the derivatives of an output function.

Definition at line 542 of file irk_export.hpp.

ExportVariable ImplicitRungeKuttaExport::rk_diffsTemp3

protected

Definition at line 569 of file irk_export.hpp.

ExportVariable ImplicitRungeKuttaExport::rk_dk1

protected

Definition at line 559 of file irk_export.hpp.

ExportVariable ImplicitRungeKuttaExport::rk_dk3

protected

Definition at line 568 of file irk_export.hpp.

ExportVariable ImplicitRungeKuttaExport::rk_mat1

protected

Definition at line 558 of file irk_export.hpp.

ExportVariable ImplicitRungeKuttaExport::rk_mat3

protected

Definition at line 567 of file irk_export.hpp.

ExportVariable ImplicitRungeKuttaExport::rk_out

protected

Variable that is used for the evaluations of the continuous output.

Definition at line 544 of file irk_export.hpp.

ExportVariable ImplicitRungeKuttaExport::rk_outH

protected

Variable that is used for the evaluations of the continuous output.

Definition at line 543 of file irk_export.hpp.

std::vector<ExportVariable> ImplicitRungeKuttaExport::rk_outputs

protected

Variables containing the evaluations of the continuous output from the integrator.

Definition at line 552 of file irk_export.hpp.

ExportVariable ImplicitRungeKuttaExport::rk_rhsOutputTemp

protected

Variable containing intermediate results of evaluations of the right-hand side expression of an output function.

Definition at line 541 of file irk_export.hpp.

ExportVariable ImplicitRungeKuttaExport::rk_rhsTemp

protected

Variable containing intermediate results of evaluations of the right-hand side expression.

Definition at line 564 of file irk_export.hpp.

DMatrix ImplicitRungeKuttaExport::simplified_transf1

protected

Definition at line 575 of file irk_export.hpp.

DMatrix ImplicitRungeKuttaExport::simplified_transf1_T

protected

Definition at line 577 of file irk_export.hpp.

DMatrix ImplicitRungeKuttaExport::simplified_transf2

protected

Definition at line 576 of file irk_export.hpp.

DMatrix ImplicitRungeKuttaExport::simplified_transf2_T

protected

Definition at line 578 of file irk_export.hpp.

DMatrix ImplicitRungeKuttaExport::single_transf1

protected

Definition at line 582 of file irk_export.hpp.

DMatrix ImplicitRungeKuttaExport::single_transf1_T

protected

Definition at line 585 of file irk_export.hpp.

DMatrix ImplicitRungeKuttaExport::single_transf2

protected

Definition at line 583 of file irk_export.hpp.

DMatrix ImplicitRungeKuttaExport::single_transf2_T

protected

Definition at line 586 of file irk_export.hpp.

ExportLinearSolver* ImplicitRungeKuttaExport::solver

protected

This is the exported linear solver that is used by the implicit Runge-Kutta method.

Definition at line 530 of file irk_export.hpp.

ExportVariable ImplicitRungeKuttaExport::stepsH

protected

Variable defining the different integration step sizes in case of a non equidistant grid.

Definition at line 547 of file irk_export.hpp.

double ImplicitRungeKuttaExport::tau

protected

Definition at line 580 of file irk_export.hpp.

std::vector<uint> ImplicitRungeKuttaExport::totalMeas

protected

This vector contains the total number of measurements per output (per shooting or integration interval, depending on grid type).

Definition at line 550 of file irk_export.hpp.

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

• irk_export.hpp
• irk_export.cpp