Public Member Functions | Protected Member Functions | Protected Attributes | List of all members

Base class for all kinds of Runge-Kutta schemes for integrating ODEs. More...

#include <integrator_lyapunov.hpp>

Inheritance diagram for IntegratorLYAPUNOV:
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Public Member Functions

virtual Integratorclone () const =0
 
virtual returnValue freezeAll ()
 
virtual returnValue freezeMesh ()
 
virtual int getNumberOfRejectedSteps () const
 
virtual int getNumberOfSteps () const
 
virtual double getStepSize () const
 
virtual returnValue init (const DifferentialEquation &rhs_)
 
returnValue init (const DifferentialEquation &rhs_, const Transition &trs_)
 
 IntegratorLYAPUNOV ()
 
 IntegratorLYAPUNOV (int dim_, double power_)
 
 IntegratorLYAPUNOV (const DifferentialEquation &rhs_, int dim_, double power_)
 
 IntegratorLYAPUNOV (const IntegratorLYAPUNOV &arg)
 
virtual IntegratorLYAPUNOVoperator= (const IntegratorLYAPUNOV &arg)
 
virtual returnValue setDxInitialization (double *dx0)
 
virtual returnValue step (int number)
 
virtual returnValue stop ()
 
virtual returnValue unfreeze ()
 
virtual ~IntegratorLYAPUNOV ()
 
- Public Member Functions inherited from Integrator
virtual BooleanType canHandleImplicitSwitches () const
 
virtual returnValue deleteAllSeeds ()
 
returnValue getBackwardSensitivities (DVector &Dx_x0, DVector &Dx_p, DVector &Dx_u, DVector &Dx_w, int order) const
 
virtual double getDifferentialEquationSampleTime () const
 
returnValue getForwardSensitivities (DVector &Dx, int order) const
 
returnValue getForwardSensitivities (VariablesGrid &Dx, int order) const
 
returnValue getI (VariablesGrid &I) const
 
returnValue getX (DVector &xEnd) const
 
returnValue getX (VariablesGrid &X) const
 
returnValue getXA (DVector &xaEnd) const
 
returnValue getXA (VariablesGrid &XA) const
 
returnValue init (const DifferentialEquation &rhs, const Transition &trs)
 
returnValue integrate (double t0, double tend, double *x0, double *xa=0, double *p=0, double *u=0, double *w=0)
 
returnValue integrate (const Grid &t, double *x0, double *xa=0, double *p=0, double *u=0, double *w=0)
 
returnValue integrate (double t0, double tend, const DVector &x0, const DVector &xa=emptyVector, const DVector &p=emptyVector, const DVector &u=emptyVector, const DVector &w=emptyVector)
 
returnValue integrate (const Grid &t, const DVector &x0, const DVector &xa=emptyVector, const DVector &p=emptyVector, const DVector &u=emptyVector, const DVector &w=emptyVector)
 
returnValue integrateSensitivities ()
 
 Integrator ()
 
 Integrator (const Integrator &arg)
 
virtual BooleanType isDifferentialEquationAffine () const
 
virtual BooleanType isDifferentialEquationDefined () const
 
virtual returnValue printRunTimeProfile () const
 
returnValue setBackwardSeed (const int &order, const DVector &seed)
 
returnValue setForwardSeed (const int &order, const DVector &xSeed, const DVector &pSeed=emptyVector, const DVector &uSeed=emptyVector, const DVector &wSeed=emptyVector)
 
returnValue setTransition (const Transition &trs)
 
virtual ~Integrator ()
 
- 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
 
AlgorithmicBaseoperator= (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

void allocateMemory ()
 
void constructAll (const IntegratorLYAPUNOV &arg)
 
void deleteAll ()
 
double determineEta45 ()
 
double determineEta45 (int number)
 
void determineEtaGForward (int number)
 
void determineEtaGForward2 (int number)
 
void determineEtaHBackward (int number)
 
void determineEtaHBackward2 (int number)
 
virtual returnValue evaluate (const DVector &x0, const DVector &xa, const DVector &p, const DVector &u, const DVector &w, const Grid &t_)
 
virtual returnValue evaluateSensitivities ()
 
virtual int getDim () const
 
virtual returnValue getProtectedBackwardSensitivities (DVector &Dx_x0, DVector &Dx_p, DVector &Dx_u, DVector &Dx_w, int order) const
 
virtual returnValue getProtectedForwardSensitivities (DMatrix *Dx, int order) const
 
virtual returnValue getProtectedX (DVector *xEnd) const
 
virtual void initializeButcherTableau ()=0
 
void initializeVariables ()
 
void interpolate (int jj, double *e1, double *d1, double *e2, VariablesGrid &poly)
 
void logCurrentIntegratorStep (const DVector &currentX=emptyConstVector)
 
void printIntermediateResults ()
 
virtual returnValue setBackwardSeed2 (const DVector &seed)
 
returnValue setForwardSeed2 (const DVector &xSeed, const DVector &pSeed, const DVector &uSeed, const DVector &wSeed)
 
virtual returnValue setProtectedBackwardSeed (const DVector &seed, const int &order)
 
virtual returnValue setProtectedForwardSeed (const DVector &xSeed, const DVector &pSeed, const DVector &uSeed, const DVector &wSeed, const int &order)
 
- Protected Member Functions inherited from Integrator
virtual returnValue diffTransitionBackward (DVector &DX, DVector &DP, DVector &DU, DVector &DW, int &order)
 
virtual returnValue diffTransitionForward (DVector &DX, const DVector &DP, const DVector &DU, const DVector &DW, const int &order)
 
virtual returnValue evaluateTransition (const double time, DVector &xd, const DVector &xa, const DVector &p, const DVector &u, const DVector &w)
 
virtual int getDimX () const
 
void initializeOptions ()
 
virtual returnValue setupLogging ()
 
virtual returnValue setupOptions ()
 

Protected Attributes

double ** A
 
double * b4
 
double * b5
 
DVector bseed
 
DVector bseed2
 
double * c
 
int dim
 
int dimp
 
int dimu
 
int dimw
 
int dimxmy
 
double err_power
 
double * eta4
 
double * eta4_
 
double * eta5
 
double * eta5_
 
double * etaG
 
double * etaG2
 
double * etaG3
 
double * etaH
 
double * etaH2
 
double * etaH3
 
DVector fseed
 
DVector fseed2
 
double * G
 
double * G2
 
double * G3
 
double * H
 
double * H2
 
double * H3
 
double ** k
 
double ** k2
 
double ** l
 
double ** l2
 
Lyapunov lyap
 
int maxAlloc
 
double * seedmy
 
double t
 
double * x
 
double ** Y
 
- Protected Attributes inherited from Integrator
int * alg_index
 
int * control_index
 
int count
 
int count2
 
int count3
 
int * ddiff_index
 
VariablesGrid ddxStore
 
int * diff_index
 
DVector diff_scale
 
int * disturbance_index
 
DVector dP
 
DVector dPb
 
DVector dU
 
DVector dUb
 
DVector dW
 
DVector dWb
 
DVector dX
 
DVector dXb
 
VariablesGrid dxStore
 
RealClock functionEvaluation
 
double * h
 
double hini
 
double hmax
 
double hmin
 
int * int_control_index
 
int * int_parameter_index
 
VariablesGrid iStore
 
int las
 
short int m
 
short int ma
 
int maxNumberOfSteps
 
short int md
 
short int mdx
 
short int mn
 
short int mp
 
short int mpi
 
short int mu
 
short int mui
 
short int mw
 
int nBDirs
 
int nBDirs2
 
int nFcnEvaluations
 
int nFDirs
 
int nFDirs2
 
int * parameter_index
 
int PrintLevel
 
DifferentialEquationrhs
 
StateOfAggregation soa
 
int time_index
 
Grid timeInterval
 
double TOL
 
RealClock totalTime
 
Transitiontransition
 
double tune
 
DVector xE
 
VariablesGrid xStore
 
- Protected Attributes inherited from AlgorithmicBase
int outputLoggingIdx
 
BooleanType useModuleStandalone
 
UserInteractionuserInteraction
 

Detailed Description

Base class for all kinds of Runge-Kutta schemes for integrating ODEs.

The class IntegratorRK serves as a base class for all kinds of Runge-Kutta schemes for integrating ordinary differential equations (ODEs).

Author
Boris Houska, Hans Joachim Ferreau

Definition at line 54 of file integrator_lyapunov.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO IntegratorLYAPUNOV::IntegratorLYAPUNOV ( )

Default constructor.

Definition at line 52 of file integrator_lyapunov.cpp.

IntegratorLYAPUNOV::IntegratorLYAPUNOV ( int  dim_,
double  power_ 
)

Default constructor.

Definition at line 59 of file integrator_lyapunov.cpp.

IntegratorLYAPUNOV::IntegratorLYAPUNOV ( const DifferentialEquation rhs_,
int  dim_,
double  power_ 
)

Default constructor.

Definition at line 81 of file integrator_lyapunov.cpp.

IntegratorLYAPUNOV::IntegratorLYAPUNOV ( const IntegratorLYAPUNOV arg)

Copy constructor (deep copy).

Definition at line 104 of file integrator_lyapunov.cpp.

IntegratorLYAPUNOV::~IntegratorLYAPUNOV ( )
virtual

Destructor.

Definition at line 111 of file integrator_lyapunov.cpp.

Member Function Documentation

void IntegratorLYAPUNOV::allocateMemory ( )
protected

This routine is protected and sets up all
variables (i.e. allocates memory etc.).
Note that this routine assumes that the
dimensions are already set correctly and is
thus for internal use only.

Definition at line 168 of file integrator_lyapunov.cpp.

virtual Integrator* IntegratorLYAPUNOV::clone ( ) const
pure virtual

The (virtual) copy constructor

Implements Integrator.

Implemented in IntegratorLYAPUNOV45.

void IntegratorLYAPUNOV::constructAll ( const IntegratorLYAPUNOV arg)
protected

Implementation of the copy constructor.

Definition at line 451 of file integrator_lyapunov.cpp.

void IntegratorLYAPUNOV::deleteAll ( )
protected

Implementation of the delete operator.

Definition at line 322 of file integrator_lyapunov.cpp.

double IntegratorLYAPUNOV::determineEta45 ( )
protected

computes eta4 and eta5 (only for internal use)

Returns
The error estimate.

Definition at line 1754 of file integrator_lyapunov.cpp.

double IntegratorLYAPUNOV::determineEta45 ( int  number)
protected

computes eta4 and eta5 (only for internal use)

Returns
The error estimate.

Definition at line 1818 of file integrator_lyapunov.cpp.

void IntegratorLYAPUNOV::determineEtaGForward ( int  number)
protected

computes etaG in forward direction (only for internal use)

Definition at line 1877 of file integrator_lyapunov.cpp.

void IntegratorLYAPUNOV::determineEtaGForward2 ( int  number)
protected

computes etaG and etaG2 in forward direction
(only for internal use)

Definition at line 1908 of file integrator_lyapunov.cpp.

void IntegratorLYAPUNOV::determineEtaHBackward ( int  number)
protected

computes etaH in backward direction (only for internal use)

Definition at line 1946 of file integrator_lyapunov.cpp.

void IntegratorLYAPUNOV::determineEtaHBackward2 ( int  number)
protected

computes etaH2 in backward direction (only for internal use)

Definition at line 1980 of file integrator_lyapunov.cpp.

returnValue IntegratorLYAPUNOV::evaluate ( const DVector x0,
const DVector xa,
const DVector p,
const DVector u,
const DVector w,
const Grid t_ 
)
protectedvirtual

Starts integration: cf. integrate(...) for
more details.

Parameters
x0the initial state
xathe initial algebraic state
pthe parameters
uthe controls
wthe disturbance
t_the time interval

Implements Integrator.

Definition at line 712 of file integrator_lyapunov.cpp.

returnValue IntegratorLYAPUNOV::evaluateSensitivities ( )
protectedvirtual

< Integrates forward and/or backward depending on the specified seeds.

Returns
SUCCESSFUL_RETURN
RET_NO_SEED_ALLOCATED

Implements Integrator.

Definition at line 1152 of file integrator_lyapunov.cpp.

returnValue IntegratorLYAPUNOV::freezeAll ( )
virtual

Freezes the mesh as well as all intermediate values. This function
is necessary for the case that automatic differentiation in backward
mode should is used. (Note: This function might for large right hand
sides lead to memory problems as all intemediate values will be
stored!)

Returns
SUCCESSFUL_RETURN
RET_ALREADY_FROZEN

Implements Integrator.

Definition at line 688 of file integrator_lyapunov.cpp.

returnValue IntegratorLYAPUNOV::freezeMesh ( )
virtual

Freezes the mesh: Storage of the step sizes. If the integrator is
freezed the mesh will be stored when calling the function integrate
for the first time. If the function integrate is called more than
once the same mesh will be reused (i.e. the step size control will
be turned off). Note that the mesh should be frozen if any kind of
sensitivity generation is used.

Returns
SUCCESSFUL_RETURN
RET_ALREADY_FROZEN

Implements Integrator.

Definition at line 672 of file integrator_lyapunov.cpp.

int IntegratorLYAPUNOV::getDim ( ) const
protectedvirtual

Returns the dimension of the Differential Equation

Implements Integrator.

Definition at line 2186 of file integrator_lyapunov.cpp.

int IntegratorLYAPUNOV::getNumberOfRejectedSteps ( ) const
virtual

Returns the number of rejected Steps.

Returns
The requested number of rejected steps.

Implements Integrator.

Definition at line 1732 of file integrator_lyapunov.cpp.

int IntegratorLYAPUNOV::getNumberOfSteps ( ) const
virtual

Returns the number of accepted Steps.

Returns
The requested number of accepted steps.

Implements Integrator.

Definition at line 1727 of file integrator_lyapunov.cpp.

returnValue IntegratorLYAPUNOV::getProtectedBackwardSensitivities ( DVector Dx_x0,
DVector Dx_p,
DVector Dx_u,
DVector Dx_w,
int  order 
) const
protectedvirtual

Returns the result for the backward sensitivities at the time tend.

Parameters
Dx_x0backward sensitivities w.r.t. the initial states
Dx_pbackward sensitivities w.r.t. the parameters
Dx_ubackward sensitivities w.r.t. the controls
Dx_wbackward sensitivities w.r.t. the disturbance
orderthe order of the derivative

Returns
SUCCESSFUL_RETURN
RET_INPUT_OUT_OF_RANGE

Implements Integrator.

Definition at line 1638 of file integrator_lyapunov.cpp.

returnValue IntegratorLYAPUNOV::getProtectedForwardSensitivities ( DMatrix Dx,
int  order 
) const
protectedvirtual

Returns the result for the forward sensitivities at the time tend.

Returns
SUCCESSFUL_RETURN
RET_INPUT_OUT_OF_RANGE
Parameters
Dxthe result for the forward sensitivi- ties
orderthe order

Implements Integrator.

Definition at line 1601 of file integrator_lyapunov.cpp.

returnValue IntegratorLYAPUNOV::getProtectedX ( DVector xEnd) const
protectedvirtual

Returns the result for the state at the time tend.

Returns
SUCCESSFUL_RETURN
Parameters
xEndthe result for the states at the time tend.

Implements Integrator.

Definition at line 1587 of file integrator_lyapunov.cpp.

double IntegratorLYAPUNOV::getStepSize ( ) const
virtual

Returns the current step size

Implements Integrator.

Definition at line 1738 of file integrator_lyapunov.cpp.

returnValue IntegratorLYAPUNOV::init ( const DifferentialEquation rhs_)
virtual

The initialization routine which takes the right-hand side of
the differential equation to be integrated.

Parameters
rhsthe right-hand side of the ODE/DAE.

Returns
SUCCESSFUL_RETURN if all dimension checks succeed.
otherwise: integrator dependent error message.

Implements Integrator.

Definition at line 117 of file integrator_lyapunov.cpp.

returnValue IntegratorLYAPUNOV::init ( const DifferentialEquation rhs_,
const Transition trs_ 
)
inline

The initialization routine which takes the right-hand side of
the differential equation to be integrated. In addition a
transition function can be set which is evaluated at the end
of the integration interval.

Parameters
rhsthe right-hand side of the ODE/DAE.
trsthe transition to be evaluated at the end.

Returns
SUCCESSFUL_RETURN if all dimension checks succeed.
otherwise: integrator dependent error message.
virtual void IntegratorLYAPUNOV::initializeButcherTableau ( )
protectedpure virtual

This routine initializes the coefficients of the Butcher Tableau.

Implemented in IntegratorLYAPUNOV45.

void IntegratorLYAPUNOV::initializeVariables ( )
protected

This routine is protected and is basically used
to set all pointer-valued member to the NULL pointer.
In addition some dimensions are initialized with 0 as
a default value.

Definition at line 144 of file integrator_lyapunov.cpp.

void IntegratorLYAPUNOV::interpolate ( int  jj,
double *  e1,
double *  d1,
double *  e2,
VariablesGrid poly 
)
protected

Definition at line 2169 of file integrator_lyapunov.cpp.

void IntegratorLYAPUNOV::logCurrentIntegratorStep ( const DVector currentX = emptyConstVector)
protected
IntegratorLYAPUNOV & IntegratorLYAPUNOV::operator= ( const IntegratorLYAPUNOV arg)
virtual

Assignment operator (deep copy).

Definition at line 439 of file integrator_lyapunov.cpp.

void IntegratorLYAPUNOV::printIntermediateResults ( )
protected

prints intermediate results for the case that the PrintLevel is
HIGH.

Definition at line 2020 of file integrator_lyapunov.cpp.

returnValue IntegratorLYAPUNOV::setBackwardSeed2 ( const DVector seed)
protectedvirtual

Initializes a second backward seed. (only for internal use)

Parameters
seedthe seed matrix

Definition at line 1106 of file integrator_lyapunov.cpp.

returnValue IntegratorLYAPUNOV::setDxInitialization ( double *  dx0)
virtual

Sets an initial guess for the differential state derivatives
(consistency condition)

Returns
SUCCESSFUL_RETURN
Parameters
dx0initial guess for the differential state derivatives

Implements Integrator.

Definition at line 1744 of file integrator_lyapunov.cpp.

returnValue IntegratorLYAPUNOV::setForwardSeed2 ( const DVector xSeed,
const DVector pSeed,
const DVector uSeed,
const DVector wSeed 
)
protected

Initializes a second forward seed. (only for internal use)

Parameters
xSeedthe seed w.r.t the initial states
pSeedthe seed w.r.t the parameters
uSeedthe seed w.r.t the controls
wSeedthe seed w.r.t the disturbances

Definition at line 986 of file integrator_lyapunov.cpp.

returnValue IntegratorLYAPUNOV::setProtectedBackwardSeed ( const DVector seed,
const int &  order 
)
protectedvirtual

Define a backward seed

Returns
SUCCESFUL_RETURN
RET_INPUT_OUT_OF_RANGE
Parameters
seedthe seed matrix
orderthe order of the seed.

Implements Integrator.

Definition at line 1058 of file integrator_lyapunov.cpp.

returnValue IntegratorLYAPUNOV::setProtectedForwardSeed ( const DVector xSeed,
const DVector pSeed,
const DVector uSeed,
const DVector wSeed,
const int &  order 
)
protectedvirtual

Define a forward seed.

Returns
SUCCESFUL RETURN
RET_INPUT_OUT_OF_RANGE
Parameters
xSeedthe seed w.r.t the initial states
pSeedthe seed w.r.t the parameters
uSeedthe seed w.r.t the controls
wSeedthe seed w.r.t the disturbances
orderthe order of the seed.

Implements Integrator.

Definition at line 906 of file integrator_lyapunov.cpp.

returnValue IntegratorLYAPUNOV::step ( int  number)
virtual

Executes the next single step. This function can be used to
call the integrator step wise. Note that this function is e.g.
useful in real-time simulations where after each step a time
out limit has to be checked. This function will usually return

Returns
RET_FINAL_STEP_NOT_PERFORMED_YET
for the case that the final step has not been
performed yet, i.e. the integration routine is not yet
at the time tend.
Otherwise it will either return
SUCCESSFUL_RETURN
or any other error message that might occur during
an integration step.
In most real situations you can define the maximum number of
step sizes to be 1 before calling the function integrate
Then the function integrate should return after one step with
the message
RET_MAXIMUM_NUMBER_OF_STEPS_EXCEEDED. After that you can call
step() until the final time is reached.
(You can use the PrintLevel NONE to avoid that the message
RET_MAXIMUM_NUMBER_OF_STEPS_EXCEEDED is printed.)
Parameters
numberthe step number

Definition at line 1324 of file integrator_lyapunov.cpp.

returnValue IntegratorLYAPUNOV::stop ( )
virtual

Stops the integration even if the final time has not been
reached yet. This function will also give all memory free.
In particular, the function unfreeze() will be called.
(This function is designed for the usage in real-time
contexts in order to deal with error messages without
deleting and re-initializing the integrator.)

Returns
SUCCESSFUL_RETURN

Definition at line 1581 of file integrator_lyapunov.cpp.

returnValue IntegratorLYAPUNOV::unfreeze ( )
virtual

Unfreezes the mesh: Gives the memory free that has previously
been allocated by "freeze". If you use the function
integrate after unfreezing the usual step size control will be
switched on.

Returns
SUCCESSFUL_RETURN
RET_MESH_ALREADY_UNFROZED

Implements Integrator.

Definition at line 702 of file integrator_lyapunov.cpp.

Member Data Documentation

double** IntegratorLYAPUNOV::A
protected

the coefficient A of the Butcher Tableau.

Definition at line 436 of file integrator_lyapunov.hpp.

double* IntegratorLYAPUNOV::b4
protected

the 4th order coefficients of the Butcher Tableau.

Definition at line 437 of file integrator_lyapunov.hpp.

double* IntegratorLYAPUNOV::b5
protected

the 5th order coefficients of the Butcher Tableau.

Definition at line 438 of file integrator_lyapunov.hpp.

DVector IntegratorLYAPUNOV::bseed
protected

The backward seed (only internal use)

Definition at line 460 of file integrator_lyapunov.hpp.

DVector IntegratorLYAPUNOV::bseed2
protected

The backward seed 2 (only internal use)

Definition at line 463 of file integrator_lyapunov.hpp.

double* IntegratorLYAPUNOV::c
protected

the time coefficients of the Butcher Tableau.

Definition at line 439 of file integrator_lyapunov.hpp.

int IntegratorLYAPUNOV::dim
protected

the dimension of the Butcher Tableau.

Definition at line 435 of file integrator_lyapunov.hpp.

int IntegratorLYAPUNOV::dimp
protected

Definition at line 489 of file integrator_lyapunov.hpp.

int IntegratorLYAPUNOV::dimu
protected

Definition at line 488 of file integrator_lyapunov.hpp.

int IntegratorLYAPUNOV::dimw
protected

Definition at line 490 of file integrator_lyapunov.hpp.

int IntegratorLYAPUNOV::dimxmy
protected

Definition at line 487 of file integrator_lyapunov.hpp.

double IntegratorLYAPUNOV::err_power
protected

root order of the step size control

Definition at line 454 of file integrator_lyapunov.hpp.

double* IntegratorLYAPUNOV::eta4
protected

the result of order 4

Definition at line 444 of file integrator_lyapunov.hpp.

double* IntegratorLYAPUNOV::eta4_
protected

the result of order 4

Definition at line 446 of file integrator_lyapunov.hpp.

double* IntegratorLYAPUNOV::eta5
protected

the result of order 5

Definition at line 445 of file integrator_lyapunov.hpp.

double* IntegratorLYAPUNOV::eta5_
protected

the result of order 5

Definition at line 447 of file integrator_lyapunov.hpp.

double* IntegratorLYAPUNOV::etaG
protected

Sensitivity matrix (only internal use)

Definition at line 466 of file integrator_lyapunov.hpp.

double* IntegratorLYAPUNOV::etaG2
protected

Sensitivity matrix (only internal use)

Definition at line 470 of file integrator_lyapunov.hpp.

double* IntegratorLYAPUNOV::etaG3
protected

Sensitivity matrix (only internal use)

Definition at line 471 of file integrator_lyapunov.hpp.

double* IntegratorLYAPUNOV::etaH
protected

Sensitivity matrix (only internal use)

Definition at line 474 of file integrator_lyapunov.hpp.

double* IntegratorLYAPUNOV::etaH2
protected

Sensitivity matrix (only internal use)

Definition at line 478 of file integrator_lyapunov.hpp.

double* IntegratorLYAPUNOV::etaH3
protected

Sensitivity matrix (only internal use)

Definition at line 479 of file integrator_lyapunov.hpp.

DVector IntegratorLYAPUNOV::fseed
protected

The forward seed (only internal use)

Definition at line 459 of file integrator_lyapunov.hpp.

DVector IntegratorLYAPUNOV::fseed2
protected

The forward seed 2 (only internal use)

Definition at line 462 of file integrator_lyapunov.hpp.

double* IntegratorLYAPUNOV::G
protected

Sensitivity matrix (only internal use)

Definition at line 465 of file integrator_lyapunov.hpp.

double* IntegratorLYAPUNOV::G2
protected

Sensitivity matrix (only internal use)

Definition at line 468 of file integrator_lyapunov.hpp.

double* IntegratorLYAPUNOV::G3
protected

Sensitivity matrix (only internal use)

Definition at line 469 of file integrator_lyapunov.hpp.

double* IntegratorLYAPUNOV::H
protected

Sensitivity matrix (only internal use)

Definition at line 473 of file integrator_lyapunov.hpp.

double* IntegratorLYAPUNOV::H2
protected

Sensitivity matrix (only internal use)

Definition at line 476 of file integrator_lyapunov.hpp.

double* IntegratorLYAPUNOV::H3
protected

Sensitivity matrix (only internal use)

Definition at line 477 of file integrator_lyapunov.hpp.

double** IntegratorLYAPUNOV::k
protected

the intermediate results

Definition at line 448 of file integrator_lyapunov.hpp.

double** IntegratorLYAPUNOV::k2
protected

the intermediate results

Definition at line 449 of file integrator_lyapunov.hpp.

double** IntegratorLYAPUNOV::l
protected

the intermediate results

Definition at line 450 of file integrator_lyapunov.hpp.

double** IntegratorLYAPUNOV::l2
protected

the intermediate results

Definition at line 451 of file integrator_lyapunov.hpp.

Lyapunov IntegratorLYAPUNOV::lyap
protected

Definition at line 496 of file integrator_lyapunov.hpp.

int IntegratorLYAPUNOV::maxAlloc
protected

size of the memory that is allocated to store
the trajectory and the mesh.

Definition at line 483 of file integrator_lyapunov.hpp.

double* IntegratorLYAPUNOV::seedmy
protected

Definition at line 495 of file integrator_lyapunov.hpp.

double IntegratorLYAPUNOV::t
protected

the actual time

Definition at line 452 of file integrator_lyapunov.hpp.

double* IntegratorLYAPUNOV::x
protected

the actual state (only internal use)

Definition at line 453 of file integrator_lyapunov.hpp.

double** IntegratorLYAPUNOV::Y
protected

Definition at line 493 of file integrator_lyapunov.hpp.


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


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Mon Jun 10 2019 12:35:25