integrator_export.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_INTEGRATOR_EXPORT_HPP
#define ACADO_TOOLKIT_INTEGRATOR_EXPORT_HPP

#include <acado/matrix_vector/matrix_vector.hpp>
#include <acado/code_generation/export_algorithm_factory.hpp>
#include <acado/ocp/model_data.hpp>
#include <acado/code_generation/integrators/integrator_export_types.hpp>


BEGIN_NAMESPACE_ACADO


class IntegratorExport : public ExportAlgorithm
{
    //
    // PUBLIC MEMBER FUNCTIONS:
    //

    public:

        IntegratorExport(       UserInteraction* _userInteraction = 0,
                                                        const std::string& _commonHeaderName = ""
                                                        );

        IntegratorExport(       const IntegratorExport& arg
                                                        );

        virtual ~IntegratorExport( );

                IntegratorExport& operator=(    const IntegratorExport& arg
                                                                                );


                virtual returnValue setup( ) = 0;


                virtual returnValue setDifferentialEquation( const Expression& rhs ) = 0;


                virtual returnValue setLinearInput( const DMatrix& M1, const DMatrix& A1, const DMatrix& B1 );


                virtual returnValue setLinearOutput( const DMatrix& M3, const DMatrix& A3, const Expression& rhs );


                virtual returnValue setNonlinearFeedback( const DMatrix& C, const Expression& feedb );


                virtual returnValue setLinearOutput( const DMatrix& M3, const DMatrix& A3, const std::string& _rhs3, const std::string& _diffs_rhs3 );


                virtual returnValue setModel(   const std::string& _name_ODE,
                                                                                const std::string& _name_diffs_ODE );


                virtual returnValue setNARXmodel( const uint delay, const DMatrix& parms ) = 0;


                virtual returnValue setModelData(       const ModelData& data  );


                virtual returnValue updateInputSystem(  ExportStatementBlock* block,
                                                                                                const ExportIndex& index1,
                                                                                                const ExportIndex& index2,
                                                                                                const ExportIndex& tmp_index    );


                virtual returnValue propagateInputSystem(       ExportStatementBlock* block,
                                                                                                        const ExportIndex& index1,
                                                                                                        const ExportIndex& index2,
                                                                                                        const ExportIndex& index3,
                                                                                                        const ExportIndex& tmp_index    );


                virtual returnValue updateImplicitSystem(       ExportStatementBlock* block,
                                                                                                        const ExportIndex& index1,
                                                                                                        const ExportIndex& index2,
                                                                                                        const ExportIndex& tmp_index    );


                virtual returnValue propagateImplicitSystem(    ExportStatementBlock* block,
                                                                                                                const ExportIndex& index1,
                                                                                                                const ExportIndex& index2,
                                                                                                                const ExportIndex& _index3,
                                                                                                                const ExportIndex& tmp_index    );


                virtual returnValue updateOutputSystem(         ExportStatementBlock* block,
                                                                                                        const ExportIndex& index1,
                                                                                                        const ExportIndex& index2,
                                                                                                        const ExportIndex& tmp_index    );


                virtual returnValue propagateOutputSystem(      ExportStatementBlock* block,
                                                                                                        const ExportIndex& index1,
                                                                                                        const ExportIndex& index2,
                                                                                                        const ExportIndex& index3,
                                                                                                        const ExportIndex& tmp_index    );


                virtual returnValue setGrid(    const Grid& _grid   );


                virtual returnValue getDataDeclarations(        ExportStatementBlock& declarations,
                                                                                                        ExportStruct dataStruct = ACADO_ANY
                                                                                                        ) const = 0;


                virtual returnValue getFunctionDeclarations(    ExportStatementBlock& declarations
                                                                                                                ) const = 0;



                virtual returnValue getCode(    ExportStatementBlock& code
                                                                                ) = 0;
                                                        
        
                virtual returnValue setupOutput( const std::vector<Grid> outputGrids_,
                                                                          const std::vector<Expression> rhs ) = 0;


                virtual returnValue setupOutput(  const std::vector<Grid> outputGrids_,
                                                                                  const std::vector<std::string> _outputNames,
                                                                                  const std::vector<std::string> _diffs_outputNames,
                                                                                  const std::vector<uint> _dims_output ) = 0;


                virtual returnValue setupOutput(  const std::vector<Grid> outputGrids_,
                                                                                  const std::vector<std::string> _outputNames,
                                                                                  const std::vector<std::string> _diffs_outputNames,
                                                                                  const std::vector<uint> _dims_output,
                                                                                  const std::vector<DMatrix> _outputDependencies ) = 0;


                virtual returnValue getGrid( Grid& grid_ ) const;


                virtual returnValue getNumSteps( DVector& _numSteps ) const;
                
                
                virtual returnValue getOutputExpressions( std::vector<Expression>& outputExpressions_ ) const;


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


                virtual bool equidistantControlGrid( ) const;


                const std::string getNameRHS() const;
                const std::string getNameDiffsRHS() const;
                virtual const std::string getNameFullRHS() const;

                const std::string getNameOutputRHS() const;
                const std::string getNameOutputDiffs() const;

                const std::string getNameOUTPUT( uint index ) const;
                const std::string getNameDiffsOUTPUT( uint index ) const;
                uint getDimOUTPUT( uint index ) const;



        protected:


                DMatrix expandOutputMatrix( const DMatrix& A3 );


                virtual returnValue copy(       const IntegratorExport& arg
                                                        );


                virtual returnValue clear( );


                uint getIntegrationInterval( double time );


                virtual ExportVariable getAuxVariable() const = 0;


    protected:

                uint NX1;
                uint NX2;
                uint NX3;
                uint NDX3;
                uint NXA3;

                uint diffsDim;                                                  
                uint inputDim;                                                  
                bool timeDependant;

                DMatrix M11, A11, B11;
                DMatrix A33, M33;

        bool exportRhs;                                         
        bool crsFormat;                                         
                Grid grid;                                                      
                DVector numSteps;                                       
                ExportFunction fullRhs;                         
                ExportVariable  rhs_in;
                ExportVariable  rhs_out;
                
                ExportFunction integrate;                       
                ExportAcadoFunction rhs;                        
                ExportAcadoFunction diffs_rhs;          
                ExportAcadoFunction lin_input;

                ExportAcadoFunction rhs3;
                ExportAcadoFunction diffs_rhs3;

                ExportVariable  error_code;                     
                ExportVariable  reset_int;                      
                ExportVariable  rk_index;                       
                ExportVariable  rk_ttt;                         
                ExportVariable  rk_xxx;                         
                ExportVariable  rk_eta;                         
                ExportVariable  rk_diffsPrev1;
                ExportVariable  rk_diffsNew1;
                
                ExportVariable  rk_diffsPrev2;                  
                ExportVariable  rk_diffsNew2;                   
                ExportVariable  rk_diffsTemp2;                  
                ExportVariable  rk_diffsNew3;
                ExportVariable  rk_diffsPrev3;

                DifferentialState                       x;              
                DifferentialStateDerivative dx;         
                AlgebraicState                          z;              
                Control                                 u;              
                OnlineData                              od;             
        std::vector<Grid> outputGrids;                                          
        std::vector<Expression> outputExpressions;                      
        std::vector<DMatrix> outputDependencies;                        
        std::vector<ExportAcadoFunction> outputs;                       
        std::vector<ExportAcadoFunction> diffs_outputs;         
        std::vector<uint> num_outputs;                                  
};

typedef ExportAlgorithmFactory<IntegratorExport, ExportIntegratorType> IntegratorExportFactory;

typedef std::shared_ptr< IntegratorExport > IntegratorExportPtr;

CLOSE_NAMESPACE_ACADO


#endif  // ACADO_TOOLKIT_INTEGRATOR_EXPORT_HPP

// end of file.