export_index_node.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_INDEX_NODE_HPP
#define ACADO_TOOLKIT_EXPORT_INDEX_NODE_HPP

#include <acado/utils/acado_utils.hpp>
#include <acado/code_generation/export_data_internal.hpp>
#include <acado/code_generation/export_index.hpp>
#include <acado/code_generation/export_index_node.hpp>

BEGIN_NAMESPACE_ACADO

enum ExportVariableType
{
        EVT_VARIABLE,
        EVT_VALUE,
        EVT_BINARY_OPERATOR
};

class ExportIndexNode : public ExportDataInternal
{
public:
        ExportIndexNode(        const std::string& _name,
                                                const std::string& _prefix,
                                                const int _factor = 1,
                                                const int _offset = 0)
        :       ExportDataInternal(_name, INT, ACADO_LOCAL, _prefix)
        {
                if ( _factor )
                {
                        varType = EVT_VARIABLE;
                        value = 0;
                        factor = _factor;
                        offset = _offset;
                        op = ESO_UNDEFINED;
                }
                else
                {
                        varType = EVT_VALUE;
                        value = _offset;
                        factor = 1;
                        offset = 0;
                        op = ESO_UNDEFINED;
                }
        }

        explicit ExportIndexNode(       const int _value )
        :       ExportDataInternal("defaultIndexName", INT, ACADO_LOCAL, ""),
                varType( EVT_VALUE ), value( _value ), factor( 1 ), offset( 0 ), op( ESO_UNDEFINED )
        {}

        ExportIndexNode(        ExportStatementOperator _op,
                                                const ExportIndex& _arg1,
                                                const ExportIndex& _arg2
                                                )
        :       ExportDataInternal("defaultIndexName", INT, ACADO_LOCAL, ""),
                varType( EVT_BINARY_OPERATOR ), value( 0 ), factor( 1 ), offset( 0 ),
                op( _op ), left( _arg1 ), right( _arg2 )
        {}

        virtual ~ExportIndexNode()
        {}

        virtual ExportIndexNode* clone() const
        {
                return new ExportIndexNode( *this );
        }

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

        const std::string get( ) const;


        const int getGivenValue( ) const;


        virtual bool isGiven( ) const;

        bool isBinary() const
        {
                if (varType == EVT_BINARY_OPERATOR)
                        return true;

                return false;
        }

        bool isVariable() const
        {
                if (varType == EVT_VARIABLE)
                        return true;

                return false;
        }

        const int getFactor( ) const
        {
                return factor;
        }

        const int getOffset( ) const
        {
                return offset;
        }

private:
        ExportVariableType varType;
        int value;
        int factor;
        int offset;

        int op;
        ExportIndex left;
        ExportIndex right;
};

CLOSE_NAMESPACE_ACADO

#endif // ACADO_TOOLKIT_EXPORT_INDEX_NODE_HPP