gauss_legendre2_export.cpp
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1 /*
2  * This file is part of ACADO Toolkit.
3  *
4  * ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
5  * Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
6  * Milan Vukov, Rien Quirynen, KU Leuven.
7  * Developed within the Optimization in Engineering Center (OPTEC)
8  * under supervision of Moritz Diehl. All rights reserved.
9  *
10  * ACADO Toolkit is free software; you can redistribute it and/or
11  * modify it under the terms of the GNU Lesser General Public
12  * License as published by the Free Software Foundation; either
13  * version 3 of the License, or (at your option) any later version.
14  *
15  * ACADO Toolkit is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
18  * Lesser General Public License for more details.
19  *
20  * You should have received a copy of the GNU Lesser General Public
21  * License along with ACADO Toolkit; if not, write to the Free Software
22  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
23  *
24  */
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39 
40 
41 //
42 // PUBLIC MEMBER FUNCTIONS:
43 //
44 
46  const std::string& _commonHeaderName
47  ) : ImplicitRungeKuttaExport( _userInteraction,_commonHeaderName )
48 {
49  numStages = 1;
50 }
51 
52 
54  ) : ImplicitRungeKuttaExport( arg )
55 {
56  numStages = 1;
57  copy( arg );
58 }
59 
60 
62 {
63  clear( );
64 }
65 
66 
67 // PROTECTED:
68 
69 //
70 // Register the integrator
71 //
72 
74  const std::string &_commonHeaderName)
75 {
76  DMatrix AA(1,1);
77  DVector bb(1);
78  DVector cc(1);
79 
80  AA(0,0) = 1.0/2.0;
81 
82  bb(0) = 1.0;
83 
84  cc(0) = 1.0/2.0;
85 
86  ImplicitRungeKuttaExport* integrator = createImplicitRungeKuttaExport(_userInteraction, _commonHeaderName);
87  integrator->initializeButcherTableau(AA, bb, cc);
88 
89  return integrator;
90 }
91 
93 
94 // end of file.
GaussLegendre2Export(UserInteraction *_userInteraction=0, const std::string &_commonHeaderName="")
IntegratorExport * createGaussLegendre2Export(UserInteraction *_userInteraction, const std::string &_commonHeaderName)
#define CLOSE_NAMESPACE_ACADO
virtual returnValue copy(const ImplicitRungeKuttaExport &arg)
Allows to export a tailored Gauss-Legendre method of order 2 for fast model predictive control...
Allows to export a tailored implicit Runge-Kutta integrator for fast model predictive control...
Definition: irk_export.hpp:55
Encapsulates all user interaction for setting options, logging data and plotting results.
returnValue initializeButcherTableau(const DMatrix &_AA, const DVector &_bb, const DVector &_cc)
Definition: rk_export.cpp:78
Allows to export a tailored integrator for fast model predictive control.
#define BEGIN_NAMESPACE_ACADO
virtual returnValue clear()


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Mon Jun 10 2019 12:34:37