Allows to export a tailored integrator for fast model predictive control. More...

#include <integrator_export.hpp>

Inheritance diagram for IntegratorExport:

[legend]

Public Member Functions
virtual bool	equidistantControlGrid () const

virtual returnValue	getCode (ExportStatementBlock &code)=0

virtual returnValue	getDataDeclarations (ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const =0

uint	getDimOUTPUT (uint index) const

virtual returnValue	getFunctionDeclarations (ExportStatementBlock &declarations) const =0

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	setDifferentialEquation (const Expression &rhs)=0

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	setModel (const std::string &_name_ODE, const std::string &_name_diffs_ODE)

virtual returnValue	setModelData (const ModelData &data)

virtual returnValue	setNARXmodel (const uint delay, const DMatrix &parms)=0

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

virtual returnValue	setup ()=0

virtual returnValue	setupOutput (const std::vector< Grid > outputGrids_, const std::vector< Expression > rhs)=0

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)=0

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)=0

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	clear ()

virtual returnValue	copy (const IntegratorExport &arg)

DMatrix	expandOutputMatrix (const DMatrix &A3)

virtual ExportVariable	getAuxVariable () const =0

uint	getIntegrationInterval (double time)

Protected Attributes
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 integrator for fast model predictive control.

The class IntegratorExport allows to export a tailored integrator for fast model predictive control.

Author: Hans Joachim Ferreau, Boris Houska, Rien Quirynen

Definition at line 57 of file integrator_export.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO IntegratorExport::IntegratorExport	(	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 45 of file integrator_export.cpp.

IntegratorExport::IntegratorExport ( const IntegratorExport & arg )

Copy constructor (deep copy).

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

Definition at line 66 of file integrator_export.cpp.

IntegratorExport::~IntegratorExport ( )

virtual

Destructor.

Definition at line 83 of file integrator_export.cpp.

Member Function Documentation

returnValue IntegratorExport::clear ( )

protectedvirtual

Frees internal dynamic memory to yield an empty function.

\return SUCCESSFUL_RETURN

Definition at line 656 of file integrator_export.cpp.

returnValue IntegratorExport::copy ( const IntegratorExport & arg )

protectedvirtual

Copies all class members from given object.

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

\return SUCCESSFUL_RETURN

Definition at line 641 of file integrator_export.cpp.

bool IntegratorExport::equidistantControlGrid ( ) const

virtual

Returns whether the grid is equidistant.

Returns: true iff the grid is equidistant, false otherwise.

Definition at line 699 of file integrator_export.cpp.

DMatrix IntegratorExport::expandOutputMatrix ( const DMatrix & A3 )

protected

@param[in] A3                       .

\return SUCCESSFUL_RETURN

Definition at line 628 of file integrator_export.cpp.

virtual ExportVariable IntegratorExport::getAuxVariable ( ) const

protectedpure virtual

Returns the largest global export variable.

\return SUCCESSFUL_RETURN

Implemented in ImplicitRungeKuttaExport, ForwardLiftedIRKExport, ForwardIRKExport, SymmetricIRKExport, ExplicitRungeKuttaExport, ForwardBackwardLiftedIRKExport, DiscreteTimeExport, FeedbackLiftedIRKExport, AdjointLiftedIRKExport, SymmetricLiftedIRKExport, ThreeSweepsERKExport, and LiftedERKExport.

virtual returnValue IntegratorExport::getCode ( ExportStatementBlock & code )

pure 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 ExportAlgorithm.

Implemented in ImplicitRungeKuttaExport, DiscreteTimeExport, ExplicitRungeKuttaExport, RungeKuttaExport, AdjointLiftedIRKExport, FeedbackLiftedIRKExport, ForwardBackwardLiftedIRKExport, ForwardLiftedIRKExport, SymmetricLiftedIRKExport, SymmetricIRKExport, ForwardIRKExport, LiftedERKExport, ThreeSweepsERKExport, and AdjointERKExport.

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

pure 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 ExportAlgorithm.

Implemented in ImplicitRungeKuttaExport, DiscreteTimeExport, ExplicitRungeKuttaExport, RungeKuttaExport, NARXExport, AdjointLiftedIRKExport, FeedbackLiftedIRKExport, ForwardBackwardLiftedIRKExport, ForwardLiftedIRKExport, SymmetricLiftedIRKExport, SymmetricIRKExport, LiftedERKExport, ThreeSweepsERKExport, AdjointERKExport, and ForwardIRKExport.

uint IntegratorExport::getDimOUTPUT ( uint index ) const

Definition at line 729 of file integrator_export.cpp.

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

pure 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 ExportAlgorithm.

Implemented in ImplicitRungeKuttaExport, DiscreteTimeExport, ExplicitRungeKuttaExport, RungeKuttaExport, AdjointLiftedIRKExport, FeedbackLiftedIRKExport, ForwardBackwardLiftedIRKExport, ForwardLiftedIRKExport, SymmetricLiftedIRKExport, SymmetricIRKExport, and ForwardIRKExport.

returnValue IntegratorExport::getGrid ( Grid & grid_ ) const

virtual

Returns the grid of the integrator.

Returns: SUCCESSFUL_RETURN

Definition at line 672 of file integrator_export.cpp.

uint IntegratorExport::getIntegrationInterval ( double time )

protected

Get the index of the integration interval, corresponding a certain time.

Parameters

[in] time The time.

Returns: The index of the integration interval.

Definition at line 662 of file integrator_export.cpp.

const std::string IntegratorExport::getNameDiffsOUTPUT ( uint index ) const

Definition at line 743 of file integrator_export.cpp.

const std::string IntegratorExport::getNameDiffsRHS ( ) const

Definition at line 739 of file integrator_export.cpp.

const std::string IntegratorExport::getNameFullRHS ( ) const

virtual

Definition at line 708 of file integrator_export.cpp.

const std::string IntegratorExport::getNameOUTPUT ( uint index ) const

Definition at line 725 of file integrator_export.cpp.

const std::string IntegratorExport::getNameOutputDiffs ( ) const

Definition at line 721 of file integrator_export.cpp.

const std::string IntegratorExport::getNameOutputRHS ( ) const

Definition at line 717 of file integrator_export.cpp.

const std::string IntegratorExport::getNameRHS ( ) const

Definition at line 704 of file integrator_export.cpp.

returnValue IntegratorExport::getNumSteps ( DVector & _numSteps ) const

virtual

Returns the number of integration steps along the prediction horizon.

Returns: SUCCESSFUL_RETURN

Definition at line 679 of file integrator_export.cpp.

returnValue IntegratorExport::getOutputExpressions ( std::vector< Expression > & outputExpressions_ ) const

virtual

Returns the output expressions.

Returns: SUCCESSFUL_RETURN

Definition at line 686 of file integrator_export.cpp.

returnValue IntegratorExport::getOutputGrids ( std::vector< Grid > & outputGrids_ ) const

virtual

Returns the output grids.

Returns: SUCCESSFUL_RETURN

Definition at line 693 of file integrator_export.cpp.

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

Assignment operator (deep copy).

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

Definition at line 89 of file integrator_export.cpp.

returnValue IntegratorExport::propagateImplicitSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	_index3,
		const ExportIndex &	tmp_index
	)

virtual

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

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

\return SUCCESSFUL_RETURN

Reimplemented in SymmetricIRKExport, and NARXExport.

Definition at line 495 of file integrator_export.cpp.

returnValue IntegratorExport::propagateInputSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	tmp_index
	)

virtual

Exports the code needed to propagate the sensitivities of the states, defined by the linear input system.

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

\return SUCCESSFUL_RETURN

Reimplemented in NARXExport.

Definition at line 429 of file integrator_export.cpp.

returnValue IntegratorExport::propagateOutputSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	tmp_index
	)

virtual

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

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

\return SUCCESSFUL_RETURN

Reimplemented in NARXExport.

Definition at line 564 of file integrator_export.cpp.

virtual returnValue IntegratorExport::setDifferentialEquation ( const Expression & rhs )

pure virtual

Assigns Differential Equation to be used by the integrator.

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

\return SUCCESSFUL_RETURN

Implemented in ImplicitRungeKuttaExport, RungeKuttaExport, DiscreteTimeExport, AdjointLiftedIRKExport, ForwardBackwardLiftedIRKExport, ForwardLiftedIRKExport, SymmetricLiftedIRKExport, SymmetricIRKExport, ExplicitRungeKuttaExport, NARXExport, LiftedERKExport, ThreeSweepsERKExport, AdjointERKExport, and ForwardOverBackwardERKExport.

returnValue IntegratorExport::setGrid ( const Grid & _grid )

virtual

Sets integration grid (this grid is expected to be non equidistant, otherwise use the other setGrid function).

@param[in] _grid            integration grid

\return SUCCESSFUL_RETURN

Definition at line 101 of file integrator_export.cpp.

returnValue IntegratorExport::setLinearInput	(	const DMatrix &	M1,
		const DMatrix &	A1,
		const DMatrix &	B1
	)

virtual

@param[in]          .

\return SUCCESSFUL_RETURN

Reimplemented in ExplicitRungeKuttaExport.

Definition at line 109 of file integrator_export.cpp.

returnValue IntegratorExport::setLinearOutput	(	const DMatrix &	M3,
		const DMatrix &	A3,
		const Expression &	rhs
	)

virtual

@param[in]          .

\return SUCCESSFUL_RETURN

Reimplemented in NARXExport, and ExplicitRungeKuttaExport.

Definition at line 176 of file integrator_export.cpp.

returnValue IntegratorExport::setLinearOutput	(	const DMatrix &	M3,
		const DMatrix &	A3,
		const std::string &	_rhs3,
		const std::string &	_diffs_rhs3
	)

virtual

@param[in]          .

\return SUCCESSFUL_RETURN

Reimplemented in NARXExport, and ExplicitRungeKuttaExport.

Definition at line 266 of file integrator_export.cpp.

returnValue IntegratorExport::setModel	(	const std::string &	_name_ODE,
		const std::string &	_name_diffs_ODE
	)

virtual

Assigns the model to be used by the integrator.

@param[in] _name_ODE                        Name of the function, evaluating the ODE right-hand side.
@param[in] _name_diffs_ODE          Name of the function, evaluating the derivatives of the ODE right-hand side.

\return SUCCESSFUL_RETURN

Reimplemented in ImplicitRungeKuttaExport, and NARXExport.

Definition at line 141 of file integrator_export.cpp.

returnValue IntegratorExport::setModelData ( const ModelData & data )

virtual

Passes all the necessary model data to the integrator.

@param[in] data                     The model data.

\return SUCCESSFUL_RETURN

Definition at line 302 of file integrator_export.cpp.

virtual returnValue IntegratorExport::setNARXmodel	(	const uint	delay,
		const DMatrix &	parms
	)

pure virtual

Sets a polynomial NARX model to be used by the integrator.

@param[in] delay            The delay for the states in the NARX model.
@param[in] parms            The parameters defining the polynomial NARX model.

\return SUCCESSFUL_RETURN

Implemented in NARXExport, RungeKuttaExport, and DiscreteTimeExport.

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

virtual

@param[in]          .

\return SUCCESSFUL_RETURN

Reimplemented in FeedbackLiftedIRKExport.

Definition at line 255 of file integrator_export.cpp.

virtual returnValue IntegratorExport::setup ( )

pure virtual

Initializes export of a tailored integrator.

\return SUCCESSFUL_RETURN

Reimplemented from ExportAlgorithm.

Implemented in DiagonallyImplicitRKExport, LiftedERKExport, ThreeSweepsERKExport, AdjointERKExport, ForwardOverBackwardERKExport, ImplicitRungeKuttaExport, ForwardIRKExport, DiscreteTimeExport, AdjointLiftedIRKExport, FeedbackLiftedIRKExport, ForwardBackwardLiftedIRKExport, ForwardLiftedIRKExport, SymmetricLiftedIRKExport, SymmetricIRKExport, RungeKuttaExport, ExplicitRungeKuttaExport, and NARXExport.

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

pure 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

Implemented in RungeKuttaExport, ExplicitRungeKuttaExport, ImplicitRungeKuttaExport, and DiscreteTimeExport.

virtual returnValue IntegratorExport::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
	)

pure 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

Implemented in ExplicitRungeKuttaExport, ImplicitRungeKuttaExport, and DiscreteTimeExport.

virtual returnValue IntegratorExport::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
	)

pure 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

Implemented in ExplicitRungeKuttaExport, ImplicitRungeKuttaExport, and DiscreteTimeExport.

returnValue IntegratorExport::updateImplicitSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	tmp_index
	)

virtual

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

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

\return SUCCESSFUL_RETURN

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

Definition at line 457 of file integrator_export.cpp.

returnValue IntegratorExport::updateInputSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	tmp_index
	)

virtual

Exports the code needed to update the sensitivities of the states, defined by the linear input system.

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

\return SUCCESSFUL_RETURN

Reimplemented in NARXExport.

Definition at line 407 of file integrator_export.cpp.

returnValue IntegratorExport::updateOutputSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	tmp_index
	)

virtual

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

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

\return SUCCESSFUL_RETURN

Reimplemented in NARXExport.

Definition at line 542 of file integrator_export.cpp.

Member Data Documentation

DMatrix IntegratorExport::A11

protected

Definition at line 443 of file integrator_export.hpp.

DMatrix IntegratorExport::A33

protected

Definition at line 444 of file integrator_export.hpp.

DMatrix IntegratorExport::B11

protected

Definition at line 443 of file integrator_export.hpp.

bool IntegratorExport::crsFormat

protected

True if the CRS format is used for the jacobian of output functions.

Definition at line 447 of file integrator_export.hpp.

std::vector<ExportAcadoFunction> IntegratorExport::diffs_outputs

protected

Module to export the evaluation of the derivatives of the output functions.

Definition at line 492 of file integrator_export.hpp.

ExportAcadoFunction IntegratorExport::diffs_rhs

protected

Module to export the evaluation of the derivatives of the ordinary differential equations.

Definition at line 458 of file integrator_export.hpp.

ExportAcadoFunction IntegratorExport::diffs_rhs3

protected

Definition at line 463 of file integrator_export.hpp.

uint IntegratorExport::diffsDim

protected

This is the total number of sensitivities needed.

Definition at line 438 of file integrator_export.hpp.

DifferentialStateDerivative IntegratorExport::dx

protected

The differential state derivatives in the model.

Definition at line 483 of file integrator_export.hpp.

ExportVariable IntegratorExport::error_code

protected

Variable containing the error code, returned by the integrator.

Definition at line 465 of file integrator_export.hpp.

bool IntegratorExport::exportRhs

protected

True if the right-hand side and their derivatives should be exported too.

Definition at line 446 of file integrator_export.hpp.

ExportFunction IntegratorExport::fullRhs

protected

Function that evaluates the full right-hand side.

Definition at line 452 of file integrator_export.hpp.

Grid IntegratorExport::grid

protected

Evaluation grid along the prediction horizon.

Definition at line 449 of file integrator_export.hpp.

uint IntegratorExport::inputDim

protected

This is the dimension of the input to the integrator.

Definition at line 439 of file integrator_export.hpp.

ExportFunction IntegratorExport::integrate

protected

Function that integrates the exported ODE.

Definition at line 456 of file integrator_export.hpp.

ExportAcadoFunction IntegratorExport::lin_input

protected

Definition at line 460 of file integrator_export.hpp.

DMatrix IntegratorExport::M11

protected

Definition at line 443 of file integrator_export.hpp.

DMatrix IntegratorExport::M33

protected

Definition at line 444 of file integrator_export.hpp.

uint IntegratorExport::NDX3

protected

Definition at line 435 of file integrator_export.hpp.

std::vector<uint> IntegratorExport::num_outputs

protected

A separate dimension for each output.

Definition at line 494 of file integrator_export.hpp.

DVector IntegratorExport::numSteps

protected

The number of integration steps per shooting interval.

Definition at line 450 of file integrator_export.hpp.

uint IntegratorExport::NX1

protected

Definition at line 432 of file integrator_export.hpp.

uint IntegratorExport::NX2

protected

Definition at line 433 of file integrator_export.hpp.

uint IntegratorExport::NX3

protected

Definition at line 434 of file integrator_export.hpp.

uint IntegratorExport::NXA3

protected

Definition at line 436 of file integrator_export.hpp.

OnlineData IntegratorExport::od

protected

The "online" data values in the model.

Definition at line 486 of file integrator_export.hpp.

std::vector<DMatrix> IntegratorExport::outputDependencies

protected

A separate dependency matrix for each output.

Definition at line 490 of file integrator_export.hpp.

std::vector<Expression> IntegratorExport::outputExpressions

protected

A separate expression for each output.

Definition at line 489 of file integrator_export.hpp.

std::vector<Grid> IntegratorExport::outputGrids

protected

A separate grid for each output.

Definition at line 488 of file integrator_export.hpp.

std::vector<ExportAcadoFunction> IntegratorExport::outputs

protected

Module to export output functions.

Definition at line 491 of file integrator_export.hpp.

ExportVariable IntegratorExport::reset_int

protected

Variable containing the number of the current integration step.

Definition at line 466 of file integrator_export.hpp.

ExportAcadoFunction IntegratorExport::rhs

protected

Module to export ODE.

Definition at line 457 of file integrator_export.hpp.

ExportAcadoFunction IntegratorExport::rhs3

protected

Definition at line 462 of file integrator_export.hpp.

ExportVariable IntegratorExport::rhs_in

protected

Definition at line 453 of file integrator_export.hpp.

ExportVariable IntegratorExport::rhs_out

protected

Definition at line 454 of file integrator_export.hpp.

ExportVariable IntegratorExport::rk_diffsNew1

protected

Definition at line 473 of file integrator_export.hpp.

ExportVariable IntegratorExport::rk_diffsNew2

protected

Variable containing the derivatives wrt the previous values.

Definition at line 476 of file integrator_export.hpp.

ExportVariable IntegratorExport::rk_diffsNew3

protected

Definition at line 479 of file integrator_export.hpp.

ExportVariable IntegratorExport::rk_diffsPrev1

protected

Definition at line 472 of file integrator_export.hpp.

ExportVariable IntegratorExport::rk_diffsPrev2

protected

Variable containing the sensitivities from the previous integration step.

Definition at line 475 of file integrator_export.hpp.

ExportVariable IntegratorExport::rk_diffsPrev3

protected

Definition at line 480 of file integrator_export.hpp.

ExportVariable IntegratorExport::rk_diffsTemp2

protected

Variable containing intermediate results of evaluations of the derivatives of the differential equations (ordinary and algebraic).

Definition at line 477 of file integrator_export.hpp.

ExportVariable IntegratorExport::rk_eta

protected

Variable containing the inputs or the results of the integrator.

Definition at line 470 of file integrator_export.hpp.

ExportVariable IntegratorExport::rk_index

protected

Variable containing the number of the current shooting interval.

Definition at line 467 of file integrator_export.hpp.

ExportVariable IntegratorExport::rk_ttt

protected

Variable containing the integration time.

Definition at line 468 of file integrator_export.hpp.

ExportVariable IntegratorExport::rk_xxx

protected

Variable containing the current integrator state.

Definition at line 469 of file integrator_export.hpp.

bool IntegratorExport::timeDependant

protected

Definition at line 441 of file integrator_export.hpp.

Control IntegratorExport::u

protected

The control inputs in the model.

Definition at line 485 of file integrator_export.hpp.

DifferentialState IntegratorExport::x

protected

The differential states in the model.

Definition at line 482 of file integrator_export.hpp.

AlgebraicState IntegratorExport::z

protected

The algebraic states in the model.

Definition at line 484 of file integrator_export.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