irk_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_IRK_EXPORT_HPP
#define ACADO_TOOLKIT_IRK_EXPORT_HPP

#include <acado/code_generation/integrators/rk_export.hpp>
#include <acado/code_generation/linear_solvers/linear_solver_generation.hpp>


BEGIN_NAMESPACE_ACADO


class ImplicitRungeKuttaExport : public RungeKuttaExport
{
    //
    // PUBLIC MEMBER FUNCTIONS:
    //

    public:

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

        ImplicitRungeKuttaExport(       const ImplicitRungeKuttaExport& arg
                                                        );

        virtual ~ImplicitRungeKuttaExport( );


                ImplicitRungeKuttaExport& operator=(    const ImplicitRungeKuttaExport& arg
                                                                                );


                virtual returnValue setup( );


        returnValue setEigenvalues( const DMatrix& _eig );

        returnValue setSimplifiedTransformations( const DMatrix& _transf1, const DMatrix& _transf2 );
        returnValue setSimplifiedTransformations( const DMatrix& _transf1, const DMatrix& _transf2, const DMatrix& _transf1_T, const DMatrix& _transf2_T );

        returnValue setSingleTransformations( const double _tau, const DVector& _low_tria, const DMatrix& _transf1, const DMatrix& _transf2 );
        returnValue setSingleTransformations( const double _tau, const DVector& _low_tria, const DMatrix& _transf1, const DMatrix& _transf2, const DMatrix& _transf1_T, const DMatrix& _transf2_T );


                virtual returnValue setDifferentialEquation( const Expression& rhs );


                returnValue setModel( const std::string& _rhs, const std::string& _diffs_rhs );
                                                        
        
                virtual returnValue setupOutput( const std::vector<Grid> outputGrids_,
                                                                          const std::vector<Expression> rhs );


                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 );


                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 );
        

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


                virtual returnValue getFunctionDeclarations(    ExportStatementBlock& declarations
                                                                                                                ) const;



                virtual returnValue getCode(    ExportStatementBlock& code
                                                                                );


        protected:


                returnValue initializeDDMatrix( );
                
                
                returnValue initializeCoefficients( );
                
                
                DVector computeCombinations( const DVector& cVec, uint index, uint numEls );
                
                
                DVector evaluatePolynomial( double time );
                
                
                DVector evaluateDerivedPolynomial( double time );


                returnValue evaluatePolynomial( ExportStatementBlock& block, 
                                                                                const ExportVariable& variable, 
                                                                                const ExportVariable& grid, 
                                                                                const std::string& h );


                returnValue evaluateDerivedPolynomial( ExportStatementBlock& block,
                                                                                const ExportVariable& variable,
                                                                                const ExportVariable& grid );
                
                
                DMatrix evaluatePolynomial( uint index );


                DMatrix evaluateDerivedPolynomial( uint index );


                DVector divideMeasurements( uint index );


                virtual returnValue prepareInputSystem( ExportStatementBlock& code );


                virtual returnValue prepareOutputSystem( ExportStatementBlock& code );


                virtual DMatrix formMatrix( const DMatrix& mass, const DMatrix& jacobian );


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


                virtual returnValue solveImplicitSystem(        ExportStatementBlock* block,
                                                                                        const ExportIndex& index1,
                                                                                        const ExportIndex& index2,
                                                                                        const ExportIndex& index3,
                                                                                        const ExportIndex& tmp_index,
                                                                                        const ExportIndex& k_index,
                                                                                        const ExportVariable& Ah,
                                                                                        const ExportVariable& C,
                                                                                        const ExportVariable& det,
                                                                                        bool DERIVATIVES = false );


                virtual returnValue solveOutputSystem(  ExportStatementBlock* block,
                                                                                const ExportIndex& index1,
                                                                                const ExportIndex& index2,
                                                                                const ExportIndex& index3,
                                                                                const ExportIndex& tmp_index,
                                                                                const ExportVariable& Ah,
                                                                                bool DERIVATIVES = false );


                virtual returnValue evaluateStatesImplicitSystem(       ExportStatementBlock* block,
                                                                                        const ExportIndex& k_index,
                                                                                        const ExportVariable& Ah,
                                                                                        const ExportVariable& C,
                                                                                        const ExportIndex& stage,
                                                                                        const ExportIndex& i,
                                                                                        const ExportIndex& tmp_index );


                returnValue evaluateStatesOutputSystem(         ExportStatementBlock* block,
                                                                                                        const ExportVariable& Ah,
                                                                                                        const ExportIndex& stage );


                virtual returnValue evaluateRhsImplicitSystem(  ExportStatementBlock* block,
                                                                                                                const ExportIndex& k_index,
                                                                                                                const ExportIndex& stage );


                virtual returnValue evaluateMatrix(     ExportStatementBlock* block,
                                                                                const ExportIndex& index1,
                                                                                const ExportIndex& index2,
                                                                                const ExportIndex& tmp_index,
                                                                                const ExportIndex& k_index,
                                                                                const ExportVariable& _rk_A,
                                                                                const ExportVariable& Ah,
                                                                                const ExportVariable& C,
                                                                                bool evaluateB,
                                                                                bool DERIVATIVES );


                returnValue prepareOutputEvaluation(    ExportStatementBlock& code );


                returnValue generateOutput(     ExportStatementBlock* block,
                                                                                const ExportIndex& index0,
                                                                                const ExportIndex& index1,
                                                                                const ExportIndex& tmp_index1,
                                                                                const ExportIndex& tmp_index2,
                                                                                const ExportVariable& tmp_meas,
                                                                                const ExportVariable& time_tmp,
                                                                                const uint directions );


                virtual returnValue copy(       const ImplicitRungeKuttaExport& arg
                                                        );
                
                
                uint getNumIts() const;
                
                
        uint getNumItsInit() const;


        virtual ExportVariable getAuxVariable() const;


    protected:
    
                bool REUSE;                                             
                bool CONTINUOUS_OUTPUT;                 
                uint numIts;                                                    
                uint numItsInit;                                                
                uint NDX2;
                uint NVARS2;

                uint NVARS3;

                ExportLinearSolver* solver;                             
                DMatrix DD;                                                             
                DMatrix coeffs;                                                 
                DVector numDX_output;
                DVector numXA_output;
                DVector numVARS_output;

        
        // DEFINITION OF THE EXPORTVARIABLES
                ExportVariable  rk_rhsOutputTemp;               
                ExportVariable  rk_diffsOutputTemp;             
                ExportVariable  rk_outH;                                
                ExportVariable  rk_out;                                 
                ExportVariable  polynEvalVar;                   
                ExportVariable stepsH;                                  
                std::vector<ExportVariable> gridVariables;      
                std::vector<uint> totalMeas;                            
                std::vector<ExportVariable> rk_outputs;                 
                std::vector<ExportVariable> polynVariables;             
                std::vector<ExportVariable> polynDerVariables;  
                std::vector<ExportVariable> numMeasVariables;   
                std::vector<ExportIndex> numMeas;                               
                ExportVariable  rk_mat1;
                ExportVariable  rk_dk1;

                ExportVariable  rk_A;                                   
                ExportVariable  rk_b;                                   
                ExportVariable  rk_auxSolver;                   
                ExportVariable  rk_rhsTemp;                             
                ExportAcadoFunction lin_output;
                ExportVariable  rk_mat3;
                ExportVariable  rk_dk3;
                ExportVariable  rk_diffsTemp3;

                ExportVariable  rk_diffK;
                ExportVariable  debug_mat;

                DMatrix eig;
                DMatrix simplified_transf1;
                DMatrix simplified_transf2;
                DMatrix simplified_transf1_T;
                DMatrix simplified_transf2_T;

                double tau;
                DVector low_tria;
                DMatrix single_transf1;
                DMatrix single_transf2;

                DMatrix single_transf1_T;
                DMatrix single_transf2_T;

};


CLOSE_NAMESPACE_ACADO


#include <acado/code_generation/integrators/irk_lifted_adjoint_export.hpp>
#include <acado/code_generation/integrators/irk_lifted_symmetric_export.hpp>
#include <acado/code_generation/integrators/irk_lifted_fob_export.hpp>
#include <acado/code_generation/integrators/irk_lifted_forward_export.hpp>
#include <acado/code_generation/integrators/irk_lifted_feedback_export.hpp>
#include <acado/code_generation/integrators/irk_symmetric_export.hpp>
#include <acado/code_generation/integrators/irk_forward_export.hpp>
#include <acado/code_generation/integrators/irk_export.ipp>


#endif  // ACADO_TOOLKIT_IRK_EXPORT_HPP

// end of file.