ocp_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_OCP_EXPORT_HPP
#define ACADO_TOOLKIT_OCP_EXPORT_HPP

#include <acado/code_generation/export_module.hpp>
#include <acado/ocp/ocp.hpp>

BEGIN_NAMESPACE_ACADO

class IntegratorExport;
class ExportNLPSolver;

class OCPexport : public ExportModule
{
public:

        OCPexport();

        OCPexport(const OCP& _ocp);

        virtual ~OCPexport()
        {}

        virtual returnValue exportCode( const std::string& dirName,
                                                                        const std::string& _realString = "real_t",
                                                                        const std::string& _intString = "int",
                                                                        int _precision = 16);

        returnValue printDimensionsQP();

protected:

        returnValue setup();

        returnValue checkConsistency() const;

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

        returnValue collectFunctionDeclarations(ExportStatementBlock& declarations) const;

        returnValue exportAcadoHeader(  const std::string& _dirName,
                                                                        const std::string& _fileName,
                                                                        const std::string& _realString = "real_t",
                                                                        const std::string& _intString = "int",
                                                                        int _precision = 16) const;

        std::shared_ptr< IntegratorExport > integrator;

        std::shared_ptr< ExportNLPSolver > solver;

        OCP ocp;
};

CLOSE_NAMESPACE_ACADO

#endif  // ACADO_TOOLKIT_OCP_EXPORT_HPP