export_acado_function.hpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */

#ifndef ACADO_TOOLKIT_EXPORT_ODE_FUNCTION_HPP
#define ACADO_TOOLKIT_EXPORT_ODE_FUNCTION_HPP

#include <acado/code_generation/export_function.hpp>

BEGIN_NAMESPACE_ACADO

class Function;

class ExportAcadoFunction : public ExportFunction
{
public:
        ExportAcadoFunction( );

        ExportAcadoFunction(    const Function& _f,
                                                        const std::string& _name = "acadoFcn"
                                                        );

        ExportAcadoFunction(    const std::string& _name
                                                        );

        virtual ~ExportAcadoFunction( );

        virtual ExportStatement* clone( ) const;

        returnValue init(       const Function& _f,
                                                const std::string& _name = "acadoFcn",
                                                const uint _numX = 0,
                                                const uint _numXA = 0,
                                                const uint _numU = 0,
                                                const uint _numP = 0,
                                                const uint _numDX = 0,
                                                const uint _numOD = 0
                                                );

        virtual returnValue exportDataDeclaration(      std::ostream& stream,
                                                                                                const std::string& _realString = "real_t",
                                                                                                const std::string& _intString = "int",
                                                                                                int _precision = 16
                                                                                                ) const;

        virtual returnValue exportForwardDeclaration(   std::ostream& stream,
                                                                                                        const std::string& _realString = "real_t",
                                                                                                        const std::string& _intString = "int",
                                                                                                        int _precision = 16
                                                                                                        ) const;

        virtual returnValue exportCode( std::ostream& stream,
                                                                        const std::string& _realString = "real_t",
                                                                        const std::string& _intString = "int",
                                                                        int _precision = 16
                                                                        ) const;

        virtual bool isDefined( ) const;

        unsigned getFunctionDim( void );

        returnValue setGlobalExportVariable(const ExportVariable& var);

        ExportVariable getGlobalExportVariable( ) const;

        bool isExternal() const;

protected:
        unsigned numX;
        unsigned numXA;
        unsigned numU;
        unsigned numP;
        unsigned numDX;
        unsigned numOD;
        std::shared_ptr< Function > f;
        ExportVariable globalVar;
        bool external;
};

CLOSE_NAMESPACE_ACADO

#endif  // ACADO_TOOLKIT_EXPORT_FUNCTION_HPP