Debugging Tools

There are several options available for ACADO users to help them debug their code.

• Method 1: Exporting to a C function Exporting to a C function
• Method 2: Using a Stream Using a Stream

In writing your model with ACADO's IntermediateState and DifferentialState, you are actually producing sxpression trees. Several options are available to inspect these trees.

Exporting to a C function

Simply flush your Expression to a Function and flush this function into a file:

        DifferentialState x,y;
        IntermediateState X=(some difficult expression involving x and y);
        Function f;
        f << X;
        FILE *file = fopen("debug.cpp", "w" );
        file << f;
        fclose(file);

The two differential states in the generated C code are visible as x[0] and x[1] by default. If the differential states were declared with a name, they would appear with this name in the generated C code:

        DifferentialState x("x"), y("y");

Using a Stream

Introduce a Stream object to flush to stdout:

        DifferentialState x,y;
        IntermediateState X=(some difficult expression involving x and y);
        Stream s;
        s << X;