Data class for defining models and everything that is related, to be passed to the integrator. More...

#include <model_data.hpp>

Public Member Functions
uint	addOutput (const OutputFcn &outputEquation_, const Grid &measurements)

uint	addOutput (const std::string &output, const std::string &diffs_output, const uint dim, const Grid &measurements)

uint	addOutput (const std::string &output, const std::string &diffs_output, const uint dim, const Grid &measurements, const std::string &colInd, const std::string &rowPtr)

returnValue	clearIntegrationGrid ()

BooleanType	exportRhs () const

uint	getDimOutput (uint index) const

DVector	getDimOutputs () const

returnValue	getDimOutputs (std::vector< uint > &dims) const

const std::string	getFileNameModel () const

returnValue	getIntegrationGrid (Grid &integrationGrid_) const

returnValue	getLinearInput (DMatrix &M1_, DMatrix &A1_, DMatrix &B1_) const

returnValue	getLinearOutput (DMatrix &M3_, DMatrix &A3_, OutputFcn &rhs_) const

returnValue	getLinearOutput (DMatrix &M3_, DMatrix &A3_) const

returnValue	getModel (DifferentialEquation &_f) const

uint	getN () const

const std::string	getNameDiffsOutput () const

returnValue	getNameDiffsOutputs (std::vector< std::string > &names) const

const std::string	getNameDiffsRhs () const

const std::string	getNameOutput () const

returnValue	getNameOutputs (std::vector< std::string > &names) const

const std::string	getNameRhs () const

returnValue	getNARXmodel (uint &_delay, DMatrix &_parms) const

uint	getNDX () const

uint	getNDX3 () const

uint	getNOD () const

returnValue	getNonlinearFeedback (DMatrix &C_, OutputFcn &feedb_) const

uint	getNP () const

uint	getNU () const

DVector	getNumMeas () const

uint	getNumOutputs () const

returnValue	getNumSteps (DVector &_numSteps) const

uint	getNX () const

uint	getNX1 () const

uint	getNX2 () const

uint	getNX3 () const

uint	getNXA () const

uint	getNXA3 () const

std::vector< DMatrix >	getOutputDependencies () const

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

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

BooleanType	hasCompressedStorage () const

BooleanType	hasDifferentialEquation () const

BooleanType	hasEquidistantControlGrid () const

BooleanType	hasOutputFunctions () const

BooleanType	hasOutputs () const

	ModelData ()

BooleanType	modelDimensionsSet () const

returnValue	setDimensions (uint _NX1, uint _NX2, uint _NX3, uint _NDX, uint _NDX3, uint _NXA, uint _NXA3, uint _NU, uint _NOD, uint _NP)

returnValue	setIntegrationGrid (const Grid &_ocpGrid, const uint _numSteps)

returnValue	setLinearInput (const DMatrix &M1_, const DMatrix &A1_, const DMatrix &B1_)

returnValue	setLinearOutput (const DMatrix &M3_, const DMatrix &A3_, const OutputFcn &rhs_)

returnValue	setLinearOutput (const DMatrix &M3_, const DMatrix &A3_, const std::string &_rhs3, const std::string &_diffs3)

returnValue	setModel (const DifferentialEquation &_f)

returnValue	setModel (const std::string &fileName, const std::string &_rhs_ODE, const std::string &_diffs_rhs_ODE)

returnValue	setN (const uint N_)

returnValue	setNARXmodel (const uint _delay, const DMatrix &_parms)

returnValue	setNOD (const uint NOD_)

returnValue	setNonlinearFeedback (const DMatrix &C_, const OutputFcn &feedb_)

returnValue	setNP (const uint NP_)

returnValue	setNU (const uint NU_)

returnValue	setNumSteps (const DVector &_numSteps)

Protected Attributes
DMatrix	A1

DMatrix	A3

DMatrix	B1

DMatrix	C

std::vector< DVector >	colInd_outputs

uint	delay

DifferentialEquation	differentialEquation

std::string	diffs3_name

std::string	diffs_name

std::vector< std::string >	diffs_outputNames

std::vector< uint >	dim_outputs

BooleanType	export_rhs

std::string	externModel

OutputFcn	feedb

Grid	integrationGrid

DMatrix	M1

DMatrix	M3

BooleanType	model_dimensions_set

uint	N

uint	NDX

uint	NDX3

uint	NOD

uint	NP

uint	NU

std::vector< uint >	num_meas

DVector	numSteps

uint	NX1

uint	NX2

uint	NX3

uint	NXA

uint	NXA3

std::vector< Expression >	outputExpressions

std::vector< Grid >	outputGrids

std::vector< std::string >	outputNames

DMatrix	parms

OutputFcn	rhs3

std::string	rhs3_name

std::string	rhs_name

std::vector< DVector >	rowPtr_outputs

Detailed Description

Data class for defining models and everything that is related, to be passed to the integrator.

TODO: Rien

Author: Rien Quirynen

Definition at line 52 of file model_data.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO ModelData::ModelData ( )

Default constructor.

Definition at line 44 of file model_data.cpp.

Member Function Documentation

uint ModelData::addOutput	(	const OutputFcn &	outputEquation_,
		const Grid &	measurements
	)

Adds an output function.

Parameters

outputEquation_	an output function to be added
measurements	The measurement grid per interval \return SUCCESSFUL_RETURN

Definition at line 80 of file model_data.cpp.

uint ModelData::addOutput	(	const std::string &	output,
		const std::string &	diffs_output,
		const uint	dim,
		const Grid &	measurements
	)

Adds an output function.

Parameters

output	The output function to be added.
diffs_output	The derivatives of the output function to be added.
dim	The dimension of the output function.
measurements	The measurement grid per interval \return SUCCESSFUL_RETURN

Definition at line 106 of file model_data.cpp.

uint ModelData::addOutput	(	const std::string &	output,
		const std::string &	diffs_output,
		const uint	dim,
		const Grid &	measurements,
		const std::string &	colInd,
		const std::string &	rowPtr
	)

Adds an output function.

Parameters

output	The output function to be added.
diffs_output	The derivatives of the output function to be added.
dim	The dimension of the output function.
measurements	The measurement grid per interval
colInd	DVector stores the column indices of the elements for Compressed Row Storage (CRS).
rowPtr	DVector stores the locations that start a row for Compressed Row Storage (CRS).

Returns: SUCCESSFUL_RETURN

Definition at line 126 of file model_data.cpp.

returnValue ModelData::clearIntegrationGrid ( )

Clears any previously set integration grid.

Returns: SUCCESSFUL_RETURN

Definition at line 431 of file model_data.cpp.

BooleanType ModelData::exportRhs ( ) const

Definition at line 465 of file model_data.cpp.

uint ModelData::getDimOutput ( uint index ) const

Returns the dimension of a specific output function.

Parameters

index The index of the output function.

Returns: The dimension of a specific output function.

DVector ModelData::getDimOutputs ( ) const

Returns the dimensions of the different output functions.

Returns: dimensions of the different output functions.

Definition at line 591 of file model_data.cpp.

returnValue ModelData::getDimOutputs ( std::vector< uint > & dims ) const

Returns the dimensions of the different output functions.

Returns: dimensions of the different output functions.

Definition at line 607 of file model_data.cpp.

const std::string ModelData::getFileNameModel ( ) const

Definition at line 624 of file model_data.cpp.

returnValue ModelData::getIntegrationGrid ( Grid & integrationGrid_ ) const

Returns the grid to be used by the integrator.

Returns: The grid to be used by the integrator.

Definition at line 389 of file model_data.cpp.

returnValue ModelData::getLinearInput	(	DMatrix &	M1_,
		DMatrix &	A1_,
		DMatrix &	B1_
	)		const

Parameters

[in] .

Returns: SUCCESSFUL_RETURN

Definition at line 219 of file model_data.cpp.

returnValue ModelData::getLinearOutput	(	DMatrix &	M3_,
		DMatrix &	A3_,
		OutputFcn &	rhs_
	)		const

Parameters

[in] .

Returns: SUCCESSFUL_RETURN

Definition at line 228 of file model_data.cpp.

returnValue ModelData::getLinearOutput	(	DMatrix &	M3_,
		DMatrix &	A3_
	)		const

Parameters

[in] .

Returns: SUCCESSFUL_RETURN

Definition at line 245 of file model_data.cpp.

returnValue ModelData::getModel ( DifferentialEquation & _f ) const

Returns the differential equations in the model.

Returns: SUCCESSFUL_RETURN

Definition at line 203 of file model_data.cpp.

uint ModelData::getN ( ) const

Returns number of shooting intervals.

Returns: Number of shooting intervals

Definition at line 557 of file model_data.cpp.

const std::string ModelData::getNameDiffsOutput ( ) const

Definition at line 644 of file model_data.cpp.

returnValue ModelData::getNameDiffsOutputs ( std::vector< std::string > & names ) const

Definition at line 655 of file model_data.cpp.

const std::string ModelData::getNameDiffsRhs ( ) const

Definition at line 634 of file model_data.cpp.

const std::string ModelData::getNameOutput ( ) const

Definition at line 639 of file model_data.cpp.

returnValue ModelData::getNameOutputs ( std::vector< std::string > & names ) const

Definition at line 649 of file model_data.cpp.

const std::string ModelData::getNameRhs ( ) const

Definition at line 629 of file model_data.cpp.

returnValue ModelData::getNARXmodel	(	uint &	_delay,
		DMatrix &	_parms
	)		const

Returns the polynomial NARX model.

Returns: SUCCESSFUL_RETURN

Definition at line 210 of file model_data.cpp.

uint ModelData::getNDX ( ) const

Returns number of differential state derivatives.

Returns: Number of differential state derivatives

Definition at line 507 of file model_data.cpp.

uint ModelData::getNDX3 ( ) const

Definition at line 516 of file model_data.cpp.

uint ModelData::getNOD ( ) const

Returns number of parameters.

Returns: Number of parameters

Definition at line 551 of file model_data.cpp.

returnValue ModelData::getNonlinearFeedback	(	DMatrix &	C_,
		OutputFcn &	feedb_
	)		const

Parameters

[in] .

Returns: SUCCESSFUL_RETURN

Definition at line 237 of file model_data.cpp.

uint ModelData::getNP ( ) const

Returns number of parameters.

Returns: Number of parameters

Definition at line 546 of file model_data.cpp.

uint ModelData::getNU ( ) const

Returns number of control inputs.

Returns: Number of control inputs

Definition at line 540 of file model_data.cpp.

DVector ModelData::getNumMeas ( ) const

Returns the number of measurements for the different output functions.

Returns: number of measurements for the different output functions.

Definition at line 614 of file model_data.cpp.

uint ModelData::getNumOutputs ( ) const

Returns the number of different output functions.

Returns: the number of different output functions.

Definition at line 601 of file model_data.cpp.

returnValue ModelData::getNumSteps ( DVector & _numSteps ) const

Returns the number of integration steps along the horizon.

Returns: SUCCESSFUL_RETURN

Definition at line 152 of file model_data.cpp.

uint ModelData::getNX ( ) const

Returns number of differential states.

Returns: Number of differential states

Definition at line 478 of file model_data.cpp.

uint ModelData::getNX1 ( ) const

Definition at line 489 of file model_data.cpp.

uint ModelData::getNX2 ( ) const

Definition at line 495 of file model_data.cpp.

uint ModelData::getNX3 ( ) const

Definition at line 501 of file model_data.cpp.

uint ModelData::getNXA ( ) const

Returns number of algebraic states.

Returns: Number of algebraic states

Definition at line 525 of file model_data.cpp.

uint ModelData::getNXA3 ( ) const

Definition at line 531 of file model_data.cpp.

std::vector< DMatrix > ModelData::getOutputDependencies ( ) const

Returns the dependency matrix for each output function, which is defined externally.

Returns: The dependency matrix for each output function, defined externally.

Definition at line 173 of file model_data.cpp.

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

Returns the output functions.

Returns: SUCCESSFUL_RETURN

Definition at line 166 of file model_data.cpp.

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

Returns the output grids.

Returns: SUCCESSFUL_RETURN

Definition at line 196 of file model_data.cpp.

BooleanType ModelData::hasCompressedStorage ( ) const

Definition at line 471 of file model_data.cpp.

BooleanType ModelData::hasDifferentialEquation ( ) const

Definition at line 452 of file model_data.cpp.

BooleanType ModelData::hasEquidistantControlGrid ( ) const

Definition at line 439 of file model_data.cpp.

BooleanType ModelData::hasOutputFunctions ( ) const

Definition at line 445 of file model_data.cpp.

BooleanType ModelData::hasOutputs ( ) const

Returns true if there are extra outputs, specified for the integrator.

Returns: True if there are extra outputs, specified for the integrator.

Definition at line 145 of file model_data.cpp.

BooleanType ModelData::modelDimensionsSet ( ) const

Definition at line 459 of file model_data.cpp.

returnValue ModelData::setDimensions	(	uint	_NX1,
		uint	_NX2,
		uint	_NX3,
		uint	_NDX,
		uint	_NDX3,
		uint	_NXA,
		uint	_NXA3,
		uint	_NU,
		uint	_NOD,
		uint	_NP
	)

Assigns the model dimensions to be used by the integrator.

@param[in] _NX1             Number of differential states in linear input subsystem.
@param[in] _NX2             Number of differential states in nonlinear subsystem.
@param[in] _NX3             Number of differential states in linear output subsystem.
@param[in] _NDX             Number of differential states derivatives.
@param[in] _NDX3    Number of differential states derivatives in the linear output subsystem.
@param[in] _NXA             Number of algebraic states.
@param[in] _NXA3    Number of algebraic states in the linear output subsystem.
@param[in] _NU              Number of control inputs
@param[in] _NOD             Number of "online data" values
@param[in] _NP              Number of parameters

\return SUCCESSFUL_RETURN

Definition at line 63 of file model_data.cpp.

returnValue ModelData::setIntegrationGrid	(	const Grid &	_ocpGrid,
		const uint	_numSteps
	)

Sets integration grid.

Parameters

[in]	_ocpGrid	Evaluation grid for optimal control.
[in]	numSteps	The number of integration steps along the horizon.

Returns: SUCCESSFUL_RETURN

Definition at line 396 of file model_data.cpp.

returnValue ModelData::setLinearInput	(	const DMatrix &	M1_,
		const DMatrix &	A1_,
		const DMatrix &	B1_
	)

Parameters

[in] .

Returns: SUCCESSFUL_RETURN

Definition at line 309 of file model_data.cpp.

returnValue ModelData::setLinearOutput	(	const DMatrix &	M3_,
		const DMatrix &	A3_,
		const OutputFcn &	rhs_
	)

Parameters

[in] .

Returns: SUCCESSFUL_RETURN

Definition at line 322 of file model_data.cpp.

returnValue ModelData::setLinearOutput	(	const DMatrix &	M3_,
		const DMatrix &	A3_,
		const std::string &	_rhs3,
		const std::string &	_diffs3
	)

Parameters

[in] .

Returns: SUCCESSFUL_RETURN

Definition at line 352 of file model_data.cpp.

returnValue ModelData::setModel ( const DifferentialEquation & _f )

Assigns Differential Equation to be used by the integrator.

Parameters

[in] f Differential equation.

Returns: SUCCESSFUL_RETURN

Definition at line 253 of file model_data.cpp.

returnValue ModelData::setModel	(	const std::string &	fileName,
		const std::string &	_rhs_ODE,
		const std::string &	_diffs_rhs_ODE
	)

Assigns the model to be used by the integrator.

Parameters

[in]	_rhs_ODE	Name of the function, evaluating the ODE right-hand side.
[in]	_diffs_rhs_ODE	Name of the function, evaluating the derivatives of the ODE right-hand side.

Returns: SUCCESSFUL_RETURN

Definition at line 370 of file model_data.cpp.

returnValue ModelData::setN ( const uint N_ )

Sets the number of shooting intervals.

Parameters

[in] N_ The number of shooting intervals.

Returns: SUCCESSFUL_RETURN

Definition at line 563 of file model_data.cpp.

returnValue ModelData::setNARXmodel	(	const uint	_delay,
		const DMatrix &	_parms
	)

Assigns 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

Definition at line 280 of file model_data.cpp.

returnValue ModelData::setNOD ( const uint NOD_ )

Definition at line 584 of file model_data.cpp.

returnValue ModelData::setNonlinearFeedback	(	const DMatrix &	C_,
		const OutputFcn &	feedb_
	)

Parameters

[in] .

Returns: SUCCESSFUL_RETURN

Definition at line 340 of file model_data.cpp.

returnValue ModelData::setNP ( const uint NP_ )

Definition at line 577 of file model_data.cpp.

returnValue ModelData::setNU ( const uint NU_ )

Definition at line 570 of file model_data.cpp.

returnValue ModelData::setNumSteps ( const DVector & _numSteps )

Sets the number of integration steps along the horizon.

Returns: SUCCESSFUL_RETURN

Definition at line 159 of file model_data.cpp.

Member Data Documentation

DMatrix ModelData::A1

protected

Definition at line 475 of file model_data.hpp.

DMatrix ModelData::A3

protected

Definition at line 479 of file model_data.hpp.

DMatrix ModelData::B1

protected

Definition at line 476 of file model_data.hpp.

DMatrix ModelData::C

protected

Definition at line 482 of file model_data.hpp.

std::vector<DVector> ModelData::colInd_outputs

protected

A separate DVector of column indices for each output if in CRS format.

Definition at line 466 of file model_data.hpp.

uint ModelData::delay

protected

Definition at line 486 of file model_data.hpp.

DifferentialEquation ModelData::differentialEquation

protected

The differential equations in the model.

Definition at line 455 of file model_data.hpp.

std::string ModelData::diffs3_name

protected

The name of the function evaluating the derivatives for the linear output system, if provided.

Definition at line 454 of file model_data.hpp.

std::string ModelData::diffs_name

protected

The name of the function evaluating the derivatives of the ODE right-hand side, if provided.

Definition at line 452 of file model_data.hpp.

std::vector<std::string> ModelData::diffs_outputNames

protected

A separate function name for evaluating the derivatives of each output.

Definition at line 465 of file model_data.hpp.

std::vector<uint> ModelData::dim_outputs

protected

Dimensions of the different output functions.

Definition at line 462 of file model_data.hpp.

BooleanType ModelData::export_rhs

protected

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

Definition at line 448 of file model_data.hpp.

std::string ModelData::externModel

protected

The name of the file containing the needed functions, if provided.

Definition at line 450 of file model_data.hpp.

OutputFcn ModelData::feedb

protected

Definition at line 483 of file model_data.hpp.

Grid ModelData::integrationGrid

protected

Integration grid.

Definition at line 457 of file model_data.hpp.

DMatrix ModelData::M1

protected

Definition at line 474 of file model_data.hpp.

DMatrix ModelData::M3

protected

Definition at line 478 of file model_data.hpp.

BooleanType ModelData::model_dimensions_set

protected

True if the model dimensions have been set.

Definition at line 449 of file model_data.hpp.

uint ModelData::N

protected

Number of shooting intervals.

Definition at line 446 of file model_data.hpp.

uint ModelData::NDX

protected

Number of differential states derivatives.

Definition at line 439 of file model_data.hpp.

uint ModelData::NDX3

protected

Number of differential states derivatives in output system.

Definition at line 440 of file model_data.hpp.

uint ModelData::NOD

protected

Number of online data values.

Definition at line 445 of file model_data.hpp.

uint ModelData::NP

protected

Number of parameters.

Definition at line 444 of file model_data.hpp.

uint ModelData::NU

protected

Number of control inputs.

Definition at line 443 of file model_data.hpp.

std::vector<uint> ModelData::num_meas

protected

Number of measurements for the different output functions.

Definition at line 463 of file model_data.hpp.

DVector ModelData::numSteps

protected

The number of integration steps per shooting interval.

Definition at line 458 of file model_data.hpp.

uint ModelData::NX1

protected

Number of differential states (defined by input system).

Definition at line 436 of file model_data.hpp.

uint ModelData::NX2

protected

Number of differential states (defined by implicit system).

Definition at line 437 of file model_data.hpp.

uint ModelData::NX3

protected

Number of differential states (defined by output system).

Definition at line 438 of file model_data.hpp.

uint ModelData::NXA

protected

Number of algebraic states.

Definition at line 441 of file model_data.hpp.

uint ModelData::NXA3

protected

Number of algebraic states in output system.

Definition at line 442 of file model_data.hpp.

std::vector<Expression> ModelData::outputExpressions

protected

A vector with the output functions.

Definition at line 460 of file model_data.hpp.

std::vector<Grid> ModelData::outputGrids

protected

A separate grid for each output function.

Definition at line 461 of file model_data.hpp.

std::vector<std::string> ModelData::outputNames

protected

A separate function name for each output.

Definition at line 464 of file model_data.hpp.

DMatrix ModelData::parms

protected

Definition at line 487 of file model_data.hpp.

OutputFcn ModelData::rhs3

protected

Definition at line 480 of file model_data.hpp.

std::string ModelData::rhs3_name

protected

The name of the nonlinear function in the linear output system, if provided.

Definition at line 453 of file model_data.hpp.

std::string ModelData::rhs_name

protected

The name of the function evaluating the ODE right-hand side, if provided.

Definition at line 451 of file model_data.hpp.

std::vector<DVector> ModelData::rowPtr_outputs

protected

A separate DVector of row pointers for each output if in CRS format.

Definition at line 467 of file model_data.hpp.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation