ExportModule Class Reference

User-interface to automatically generate algorithms for fast model predictive control. More...

#include <export_module.hpp>

Inheritance diagram for ExportModule:

Public Member Functions
virtual returnValue	exportCode (const std::string &dirName, const std::string &_realString="real_t", const std::string &_intString="int", int _precision=16)=0
	ExportModule ()
virtual	~ExportModule ()
Public Member Functions inherited from UserInteraction
virtual int	addPlotWindow (PlotWindow &_window)
virtual int	operator<< (PlotWindow &_window)
virtual int	operator<< (LogRecord &_record)
UserInteraction &	operator= (const UserInteraction &rhs)
	UserInteraction ()
	UserInteraction (const UserInteraction &rhs)
virtual	~UserInteraction ()
Public Member Functions inherited from Options
returnValue	addOptionsList ()
returnValue	ensureConsistency ()
returnValue	ensureConsistency ()
returnValue	get (OptionsName name, int &value) const
returnValue	get (OptionsName name, double &value) const
returnValue	get (OptionsName name, std::string &value) const
returnValue	get (uint idx, OptionsName name, int &value) const
returnValue	get (uint idx, OptionsName name, double &value) const
returnValue	get (uint idx, OptionsName name, std::string &value) const
uint	getNumOptionsLists () const
Options	getOptions (uint idx) const
Options &	operator= (const Options &rhs)
Options &	operator= (const Options &rhs)
	Options ()
	Options ()
	Options (const Options &rhs)
	Options (const Options &rhs)
	Options ()
	Options (const OptionsList &_optionsList)
returnValue	print () const
returnValue	print () const
returnValue	printOptionsList () const
returnValue	printOptionsList (uint idx) const
returnValue	set (OptionsName name, int value)
returnValue	set (OptionsName name, double value)
returnValue	set (OptionsName name, const std::string &value)
returnValue	set (uint idx, OptionsName name, int value)
returnValue	set (uint idx, OptionsName name, double value)
returnValue	set (uint idx, OptionsName name, const std::string &value)
returnValue	setOptions (const Options &arg)
returnValue	setOptions (uint idx, const Options &arg)
returnValue	setToDefault ()
returnValue	setToDefault ()
returnValue	setToFast ()
returnValue	setToFast ()
returnValue	setToMPC ()
returnValue	setToReliable ()
returnValue	setToReliable ()
	~Options ()
	~Options ()
virtual	~Options ()
Public Member Functions inherited from Logging
int	addLogRecord (LogRecord &record)
returnValue	getAll (LogName _name, MatrixVariablesGrid &values) const
returnValue	getFirst (LogName _name, DMatrix &firstValue) const
returnValue	getFirst (LogName _name, VariablesGrid &firstValue) const
returnValue	getLast (LogName _name, DMatrix &lastValue) const
returnValue	getLast (LogName _name, VariablesGrid &lastValue) const
returnValue	getLogRecord (LogRecord &_record) const
uint	getNumLogRecords () const
	Logging ()
int	operator<< (LogRecord &record)
returnValue	printLoggingInfo () const
returnValue	printNumDoubles () const
returnValue	setAll (LogName _name, const MatrixVariablesGrid &values)
returnValue	setLast (LogName _name, const DMatrix &value, double time=-INFTY)
returnValue	setLast (LogName _name, VariablesGrid &value, double time=-INFTY)
returnValue	updateLogRecord (LogRecord &_record) const
virtual	~Logging ()
Public Member Functions inherited from Plotting
int	addPlotWindow (PlotWindow &_window)
uint	getNumPlotWindows () const
returnValue	getPlotWindow (uint idx, PlotWindow &_window) const
returnValue	getPlotWindow (PlotWindow &_window) const
int	operator<< (PlotWindow &_window)
Plotting &	operator= (const Plotting &rhs)
virtual returnValue	plot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)
	Plotting ()
	Plotting (const Plotting &rhs)
virtual returnValue	replot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)
virtual	~Plotting ()

Protected Member Functions
virtual returnValue	collectDataDeclarations (ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const =0
virtual returnValue	collectFunctionDeclarations (ExportStatementBlock &declarations) const =0
virtual 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 =0
returnValue	setupOptions ()
Protected Member Functions inherited from UserInteraction
virtual returnValue	getPlotDataFromMemberLoggings (PlotWindow &_window) const
BlockStatus	getStatus () const
returnValue	setStatus (BlockStatus _status)
Protected Member Functions inherited from Options
returnValue	addOption (OptionsName name, int value)
returnValue	addOption (OptionsName name, double value)
returnValue	addOption (OptionsName name, const std::string &value)
returnValue	addOption (uint idx, OptionsName name, int value)
returnValue	addOption (uint idx, OptionsName name, double value)
returnValue	addOption (uint idx, OptionsName name, const std::string &value)
returnValue	clearOptionsList ()
returnValue	copy (const Options &rhs)
returnValue	copy (const Options &rhs)
returnValue	declareOptionsUnchanged ()
returnValue	declareOptionsUnchanged (uint idx)
BooleanType	haveOptionsChanged () const
BooleanType	haveOptionsChanged (uint idx) const
Protected Member Functions inherited from Logging
virtual returnValue	setupLogging ()

Protected Attributes
std::string	commonHeaderName
Protected Attributes inherited from UserInteraction
BlockStatus	status
Protected Attributes inherited from Options
std::vector< OptionsList >	lists
Protected Attributes inherited from Logging
std::vector< LogRecord >	logCollection
int	logIdx
Protected Attributes inherited from Plotting
PlotCollection	plotCollection

Additional Inherited Members
Public Attributes inherited from Options
real_t	boundRelaxation
real_t	boundTolerance
int	dropBoundPriority
int_t	dropBoundPriority
int	dropEqConPriority
int_t	dropEqConPriority
int	dropIneqConPriority
int_t	dropIneqConPriority
int	enableCholeskyRefactorisation
int_t	enableCholeskyRefactorisation
int	enableDriftCorrection
int_t	enableDriftCorrection
BooleanType	enableDropInfeasibles
BooleanType	enableEqualities
BooleanType	enableFarBounds
BooleanType	enableFlippingBounds
BooleanType	enableFullLITests
BooleanType	enableInertiaCorrection
BooleanType	enableNZCTests
BooleanType	enableRamping
BooleanType	enableRegularisation
real_t	epsDen
real_t	epsFlipping
real_t	epsIterRef
real_t	epsLITests
real_t	epsNum
real_t	epsNZCTests
real_t	epsRegularisation
real_t	finalRamping
real_t	growFarBounds
real_t	initialFarBounds
real_t	initialRamping
SubjectToStatus	initialStatusBounds
real_t	maxDualJump
real_t	maxPrimalJump
int	numRefinementSteps
int_t	numRefinementSteps
int	numRegularisationSteps
int_t	numRegularisationSteps
PrintLevel	printLevel
real_t	rcondSMin
real_t	terminationTolerance

Detailed Description

User-interface to automatically generate algorithms for fast model predictive control.

The class ExportModule is a user-interface to automatically generate tailored algorithms for fast model predictive control. It takes an optimal control problem (OCP) formulation and generates code based on given user options.

\author Hans Joachim Ferreau, Boris Houska

Definition at line 55 of file export_module.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO ExportModule::ExportModule

(

)

Default constructor.

Definition at line 44 of file export_module.cpp.

ExportModule::~ExportModule ( )

virtual

Destructor.

Definition at line 52 of file export_module.cpp.

Member Function Documentation

virtual returnValue ExportModule::collectDataDeclarations ( ExportStatementBlock &  declarations, ExportStruct  dataStruct = ACADO_ANY  ) const

protectedpure virtual

Collects all data declarations of the auto-generated sub-modules to given list of declarations.

Parameters

[in]

declarations

List of declarations.

Returns

SUCCESSFUL_RETURN,
RET_UNABLE_TO_EXPORT_CODE

Implemented in SIMexport, and OCPexport.

virtual returnValue ExportModule::collectFunctionDeclarations ( ExportStatementBlock &  declarations ) const

protectedpure virtual

Collects all function (forward) declarations of the auto-generated sub-modules to given list of declarations.

Parameters

[in]

declarations

List of declarations.

Returns

SUCCESSFUL_RETURN,
RET_UNABLE_TO_EXPORT_CODE

Implemented in SIMexport, and OCPexport.

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

protectedpure virtual

Exports main header file for using the exported algorithm.

@param[in] _dirName                 Name of directory to be used to export file.
@param[in] _fileName                Name of file to be exported.
@param[in] _realString              std::string to be used to declare real variables.
@param[in] _intString               std::string to be used to declare integer variables.
@param[in] _precision               Number of digits to be used for exporting real values.

\return SUCCESSFUL_RETURN

Implemented in OCPexport, and SIMexport.

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

pure virtual

Exports all files of the auto-generated code into the given directory.

@param[in] dirName                  Name of directory to be used to export files.
@param[in] _realString              std::string to be used to declare real variables.
@param[in] _intString               std::string to be used to declare integer variables.
@param[in] _precision               Number of digits to be used for exporting real values.

\return SUCCESSFUL_RETURN

Implemented in SIMexport, and OCPexport.

returnValue ExportModule::setupOptions ( )

protectedvirtual

Sets-up default options.

Returns

SUCCESSFUL_RETURN

Reimplemented from Options.

Definition at line 59 of file export_module.cpp.

Member Data Documentation

std::string ExportModule::commonHeaderName

protected

Name of common header file.

Definition at line 135 of file export_module.hpp.

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The documentation for this class was generated from the following files:

• export_module.hpp
• export_module.cpp