model_data.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_MODELDATA_HPP
#define ACADO_TOOLKIT_MODELDATA_HPP

#include <acado/function/function.hpp>


BEGIN_NAMESPACE_ACADO


class ModelData {


//
// PUBLIC MEMBER FUNCTIONS:
//
public:


        ModelData( );


        returnValue setDimensions( uint _NX1, uint _NX2, uint _NX3, uint _NDX, uint _NDX3, uint _NXA, uint _NXA3, uint _NU, uint _NOD, uint _NP );


        uint addOutput( const OutputFcn& outputEquation_, const Grid& measurements );


        uint addOutput( const std::string& output, const std::string& diffs_output, const uint dim, const Grid& measurements );


        uint addOutput(         const std::string& output, const std::string& diffs_output, const uint dim,
                                                const Grid& measurements, const std::string& colInd, const std::string& rowPtr  );


        BooleanType hasOutputs          () const;


        uint getDimOutput( uint index ) const;


         returnValue getNumSteps( DVector& _numSteps ) const;


         returnValue setNumSteps( const DVector& _numSteps );


     returnValue getOutputExpressions( std::vector<Expression>& outputExpressions_ ) const;


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


     std::vector<DMatrix> getOutputDependencies( ) const;


     returnValue setModel( const DifferentialEquation& _f );


        returnValue setNARXmodel( const uint _delay, const DMatrix& _parms );


     returnValue setLinearInput( const DMatrix& M1_, const DMatrix& A1_, const DMatrix& B1_ );


     returnValue setLinearOutput( const DMatrix& M3_, const DMatrix& A3_, const OutputFcn& rhs_ );


     returnValue setNonlinearFeedback( const DMatrix& C_, const OutputFcn& feedb_ );


     returnValue setLinearOutput(       const DMatrix& M3_, const DMatrix& A3_,
                                                                const std::string& _rhs3,
                                                                const std::string& _diffs3 );


     returnValue setModel(      const std::string& fileName,
                                                const std::string& _rhs_ODE,
                                                const std::string& _diffs_rhs_ODE );


     returnValue getIntegrationGrid( Grid& integrationGrid_ ) const;


     returnValue setIntegrationGrid(    const Grid& _ocpGrid,
                                                                        const uint _numSteps    );


     returnValue clearIntegrationGrid( );


     returnValue getModel( DifferentialEquation& _f ) const;


     returnValue getNARXmodel( uint& _delay, DMatrix& _parms ) const;


     returnValue getLinearInput( DMatrix& M1_, DMatrix& A1_, DMatrix& B1_ ) const;


     returnValue getLinearOutput( DMatrix& M3_, DMatrix& A3_, OutputFcn& rhs_ ) const;


     returnValue getNonlinearFeedback( DMatrix& C_, OutputFcn& feedb_ ) const;


     returnValue getLinearOutput( DMatrix& M3_, DMatrix& A3_ ) const;


     BooleanType hasEquidistantControlGrid              () const;
     BooleanType hasOutputFunctions             () const;
     BooleanType hasDifferentialEquation() const;
     BooleanType modelDimensionsSet() const;
     BooleanType exportRhs() const;
     BooleanType hasCompressedStorage() const;


     uint getNX( ) const;
     uint getNX1( ) const;
     uint getNX2( ) const;
     uint getNX3( ) const;


     uint getNDX( ) const;
     uint getNDX3( ) const;


     uint getNXA( ) const;
     uint getNXA3( ) const;

     uint getNU( ) const;
     returnValue setNU( const uint NU_ );

     uint getNP( ) const;
     returnValue setNP( const uint NP_ );

     uint getNOD( ) const;
     returnValue setNOD( const uint NOD_ );

     uint getN( ) const;

     returnValue setN( const uint N_ );


     DVector getDimOutputs( ) const;


     uint getNumOutputs( ) const;


     returnValue getDimOutputs( std::vector<uint>& dims ) const;


     DVector getNumMeas( ) const;


     const std::string getFileNameModel() const;
     const std::string getNameRhs() const;
     const std::string getNameDiffsRhs() const;
     const std::string getNameOutput() const;
     const std::string getNameDiffsOutput() const;
     returnValue getNameOutputs( std::vector<std::string>& names ) const;
     returnValue getNameDiffsOutputs( std::vector<std::string>& names ) const;


     //
    // PROTECTED FUNCTIONS:
    //
    protected:


    //
    // DATA MEMBERS:
    //
    protected:

     uint NX1;                                                                          
     uint NX2;                                                                          
     uint NX3;                                                                          
     uint NDX;                                                                          
     uint NDX3;                                                                         
     uint NXA;                                                                          
     uint NXA3;                                                                         
     uint NU;                                                                           
     uint NP;                                                                           
     uint NOD;                                                                          
     uint N;                                                                            
     BooleanType export_rhs;                                            
     BooleanType model_dimensions_set;                          
     std::string externModel;                                                   
     std::string rhs_name;                                                              
     std::string diffs_name;                                                            
     std::string rhs3_name;                                                             
     std::string diffs3_name;                                                   
     DifferentialEquation differentialEquation;         
     Grid integrationGrid;                                                      
     DVector numSteps;                                                          
     std::vector<Expression> outputExpressions;         
     std::vector<Grid> outputGrids;                                     
     std::vector<uint> dim_outputs;                                     
     std::vector<uint> num_meas;                                        
     std::vector<std::string> outputNames;                              
     std::vector<std::string> diffs_outputNames;                        
     std::vector<DVector> colInd_outputs;                       
     std::vector<DVector> rowPtr_outputs;                       
     // ------------------------------------
     // ------------------------------------
     //                 NEW VARIABLES IN VERSION 2.0:
     // ------------------------------------
     // ------------------------------------
     DMatrix M1;
     DMatrix A1;
     DMatrix B1;

     DMatrix M3;
     DMatrix A3;
     OutputFcn rhs3;

     DMatrix C;
     OutputFcn feedb;

     // NARX model:
     uint delay;
     DMatrix parms;

};


CLOSE_NAMESPACE_ACADO



#endif  // ACADO_TOOLKIT_MODELDATA_HPP

/*
 *   end of file
 */