export_variable.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_VARIABLE_HPP
#define ACADO_TOOLKIT_EXPORT_VARIABLE_HPP

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

BEGIN_NAMESPACE_ACADO

class ExportArithmeticStatement;
class ExportVariableInternal;

class ExportVariable : public ExportArgument
{
        //
    // PUBLIC MEMBER FUNCTIONS:
    //
    public:

                ExportVariable();

                ExportVariable( const std::string& _name,
                                                uint _nRows,
                                                uint _nCols,
                                                ExportType _type = REAL,
                                                ExportStruct _dataStruct = ACADO_LOCAL,
                                                bool _callItByValue = false,
                                                const std::string& _prefix = std::string()
                                                );

                ExportVariable( const std::string& _name,
                                                const DMatrix& _data,
                                                ExportType _type = REAL,
                                                ExportStruct _dataStruct = ACADO_LOCAL,
                                                bool _callItByValue = false,
                                                const std::string& _prefix = std::string(),
                                                bool _isGiven = true
                                                );

                ExportVariable( const std::string& _name,
                                                const DMatrixPtr& _data,
                                                ExportType _type = REAL,
                                                ExportStruct _dataStruct = ACADO_LOCAL,
                                                bool _callItByValue = false,
                                                const std::string& _prefix = std::string()
                                                );

                ExportVariable( unsigned _nRows,
                                                unsigned _nCols,
                                                ExportType _type = REAL,
                                                ExportStruct _dataStruct = ACADO_LOCAL,
                                                bool _callItByValue = false,
                                                const std::string& _prefix = std::string()
                                                );

                template<typename Derived>
                ExportVariable( const Eigen::MatrixBase<Derived>& _data
                                                )
                {
                        simpleForward(DMatrix( _data ));
                }

                ExportVariable( const double _data      
                                                );
                virtual ~ExportVariable( );

                ExportVariable clone() const;

                ExportVariableInternal* operator->();

                const ExportVariableInternal* operator->() const;

                ExportVariable& setup(  const std::string& _name,
                                                                uint _nRows = 1,
                                                                uint _nCols = 1,
                                                                ExportType _type = REAL,
                                                                ExportStruct _dataStruct = ACADO_LOCAL,
                                                                bool _callItByValue = false,
                                                                const std::string& _prefix = std::string()
                                                                );

                ExportVariable& setup(  const std::string& _name,
                                                                const DMatrix& _data,
                                                                ExportType _type = REAL,
                                                                ExportStruct _dataStruct = ACADO_LOCAL,
                                                                bool _callItByValue = false,
                                                                const std::string& _prefix = std::string(),
                                                                bool _isGiven = true
                                                                );

                double operator()(      uint rowIdx,
                                                        uint colIdx
                                                        ) const;

                double operator()(      uint totalIdx
                                                        ) const;

                bool isZero( const ExportIndex& rowIdx,
                                                        const ExportIndex& colIdx
                                                        ) const;

                bool isOne(     const ExportIndex& rowIdx,
                                                        const ExportIndex& colIdx
                                                        ) const;

                bool isGiven(   const ExportIndex& rowIdx,
                                                                const ExportIndex& colIdx
                                                                ) const;

                bool isGiven( ) const;


                const std::string get(  const ExportIndex& rowIdx,
                                                                const ExportIndex& colIdx
                                                                ) const;

                virtual uint getNumRows( ) const;

                virtual uint getNumCols( ) const;

                virtual uint getDim( ) const;


                friend ExportArithmeticStatement operator+(     const ExportVariable& arg1,
                                                                                                        const ExportVariable& arg2
                                                                                                        );

                friend ExportArithmeticStatement operator-(     const ExportVariable& arg1,
                                                                                                        const ExportVariable& arg2
                                                                                                        );

                friend ExportArithmeticStatement operator+=(    const ExportVariable& arg1,
                                                                                                                const ExportVariable& arg2
                                                                                                                );

                friend ExportArithmeticStatement operator-=(    const ExportVariable& arg1,
                                                                                                                const ExportVariable& arg2
                                                                                                                );

                friend ExportArithmeticStatement operator*(             const ExportVariable& arg1,
                                                                                                                const ExportVariable& arg2
                                                                                                                );

                friend ExportArithmeticStatement operator^(     const ExportVariable& arg1,
                                                                                                        const ExportVariable& arg2
                                                                                                        );

                friend ExportArithmeticStatement operator==(    const ExportVariable& arg1,
                                                                                                                const ExportVariable& arg2
                                                                                                                );

                ExportArithmeticStatement operator==(   ExportArithmeticStatement arg
                                                                                                ) const;

                ExportArithmeticStatement operator+(    ExportArithmeticStatement arg
                                                                                                ) const;

                ExportArithmeticStatement operator-(    ExportArithmeticStatement arg
                                                                                                ) const;

                ExportArithmeticStatement operator+=(   ExportArithmeticStatement arg
                                                                                                ) const;

                ExportArithmeticStatement operator-=(   ExportArithmeticStatement arg
                                                                                                ) const;

                ExportVariable getTranspose( ) const;

                ExportVariable getRow(  const ExportIndex& idx
                                                                ) const;

                ExportVariable getCol(  const ExportIndex& idx
                                                                ) const;

                ExportVariable getRows( const ExportIndex& idx1,
                                                                const ExportIndex& idx2
                                                                ) const;

                ExportVariable getCols( const ExportIndex& idx1,
                                                                const ExportIndex& idx2
                                                                ) const;

                ExportVariable getSubMatrix(    const ExportIndex& rowIdx1,
                                                                                const ExportIndex& rowIdx2,
                                                                                const ExportIndex& colIdx1,
                                                                                const ExportIndex& colIdx2
                                                                                ) const;

                ExportVariable getElement(      const ExportIndex& rowIdx,
                                                                        const ExportIndex& colIdx
                                                                        ) const;

                ExportVariable makeRowVector( ) const;

                ExportVariable makeColVector( ) const;


                bool isVector( ) const;


                const DMatrix& getGivenMatrix( ) const;

                bool isSubMatrix() const;

                bool isDiagonal() const;

                returnValue print( ) const;

    private:
                void simpleForward(const DMatrix& _value);
};

static const ExportVariable emptyConstExportVariable;

CLOSE_NAMESPACE_ACADO

#endif  // ACADO_TOOLKIT_EXPORT_VARIABLE_HPP