ACADO Toolkit
1.2.0beta
Toolkit for Automatic Control and Dynamic Optimization
|
Allows to export automatically generated algorithms for fast model predictive control. More...
#include <export_algorithm.hpp>
Public Member Functions | |
ExportAlgorithm (UserInteraction *_userInteraction=0, const String &_commonHeaderName="") | |
Default constructor. | |
ExportAlgorithm (const ExportAlgorithm &arg) | |
Copy constructor (deep copy). | |
virtual | ~ExportAlgorithm () |
Destructor. | |
ExportAlgorithm & | operator= (const ExportAlgorithm &arg) |
Assignment operator (deep copy). | |
virtual returnValue | setup () |
Initializes code export into given file. | |
virtual returnValue | getDataDeclarations (ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const =0 |
Adds all data declarations of the auto-generated algorithm to given list of declarations. | |
virtual returnValue | getFunctionDeclarations (ExportStatementBlock &declarations) const =0 |
Adds all function (forward) declarations of the auto-generated algorithm to given list of declarations. | |
virtual returnValue | getCode (ExportStatementBlock &code)=0 |
Exports source code of the auto-generated algorithm into the given directory. | |
returnValue | setDimensions (uint _NX=0, uint _NU=0, uint _NP=0, uint _NI=0) |
Sets the variables dimensions (ODE). | |
returnValue | setDimensions (uint _NX, uint _NDX, uint _NXA, uint _NU, uint _NP, uint _NI) |
Sets the variables dimensions (DAE). | |
uint | getNX () const |
Returns number of differential states. | |
uint | getNXA () const |
Returns number of algebraic states. | |
uint | getNDX () const |
Returns the number of differential states derivatives. | |
uint | getNU () const |
Returns number of control inputs. | |
uint | getNP () const |
Returns number of parameters. | |
uint | getN () const |
Returns number of control intervals. | |
void | setNY (uint NY_) |
uint | getNY () const |
void | setNYN (uint NYN_) |
uint | getNYN () const |
FILE * | openFile (const String &dirName, const String &fileName) const |
Opens given file and prepares it for exporting algorithm. | |
returnValue | addOptionsList () |
Adds an additional OptionsList to internal array. | |
returnValue | set (OptionsName name, int value) |
Sets value of an existing option item of integer type to a given value. | |
returnValue | set (OptionsName name, double value) |
Sets value of an existing option item of double type to a given value. | |
returnValue | set (uint idx, OptionsName name, int value) |
Sets value of an existing option item of integer type within the option list of given index to a given value. | |
returnValue | set (uint idx, OptionsName name, double value) |
Sets value of an existing option item of double type within the option list of given index to a given value. | |
returnValue | setOptions (const Options &arg) |
Assigns a given Options object to this object. | |
returnValue | setOptions (uint idx, const Options &arg) |
Assigns the option list with given index of a given Options object to option list with given index of this object. | |
Options | getOptions (uint idx) const |
Returns an Options object containing exactly the option list with given index. | |
returnValue | getAll (LogName _name, MatrixVariablesGrid &values) const |
Gets all numerical values at all time instants of the item with given name. | |
returnValue | getFirst (LogName _name, Matrix &firstValue) const |
Gets numerical value at first time instant of the item with given name. | |
returnValue | getFirst (LogName _name, VariablesGrid &firstValue) const |
Gets numerical value at first time instant of the item with given name (converts internally used Matrix into VariablesGrid). | |
returnValue | getLast (LogName _name, Matrix &lastValue) const |
Gets numerical value at last time instant of the item with given name. | |
returnValue | getLast (LogName _name, VariablesGrid &lastValue) const |
Gets numerical value at last time instant of the item with given name (converts internally used Matrix into VariablesGrid). | |
returnValue | get (OptionsName name, int &value) const |
Returns value of an existing option item of integer type. | |
returnValue | get (OptionsName name, double &value) const |
Returns value of an existing option item of double type. | |
returnValue | get (uint idx, OptionsName name, int &value) const |
Returns value of an existing option item of integer type within the option list of given index. | |
returnValue | get (uint idx, OptionsName name, double &value) const |
Returns value of an existing option item of double type within the option list of given index. | |
returnValue | addOption (OptionsName name, int value) |
Add an option item with a given integer default value to the all option lists. | |
returnValue | addOption (OptionsName name, double value) |
Add an option item with a given double default value to the all option lists. | |
returnValue | addOption (uint idx, OptionsName name, int value) |
Add an option item with a given integer default value to option list with given index. | |
returnValue | addOption (uint idx, OptionsName name, double value) |
Add an option item with a given double default value to option list with given index. | |
BooleanType | haveOptionsChanged () const |
Determines whether options of at least one option list have been modified. | |
BooleanType | haveOptionsChanged (uint idx) const |
Determines whether options of option list with given index have been modified. | |
returnValue | setAll (LogName _name, const MatrixVariablesGrid &values) |
Sets all numerical values at all time instants of all items with given name within all records. | |
returnValue | setLast (LogName _name, int lastValue, double time=-INFTY) |
Sets numerical value at last time instant of all items with given name within all records. | |
returnValue | setLast (LogName _name, double lastValue, double time=-INFTY) |
Sets numerical value at last time instant of all items with given name within all records. | |
returnValue | setLast (LogName _name, const Vector &lastValue, double time=-INFTY) |
Sets numerical value at last time instant of all items with given name within all records. | |
returnValue | setLast (LogName _name, const Matrix &lastValue, double time=-INFTY) |
Sets numerical value at last time instant of all items with given name within all records. | |
returnValue | setLast (LogName _name, const VariablesGrid &lastValue, double time=-INFTY) |
Sets numerical value at last time instant of all items with given name within all records. | |
int | addLogRecord (LogRecord &_record) |
Adds a record to the log collection. | |
returnValue | printLogRecord (int idx, LogPrintMode _mode=PRINT_ITEM_BY_ITEM) const |
Prints whole record with specified index into internally specified file; all items are printed according to the output format settings. | |
returnValue | plot (PlotFrequency _frequency=PLOT_IN_ANY_CASE) |
Plots all windows of the plot collection, each one into a new figure. | |
returnValue | replot (PlotFrequency _frequency=PLOT_IN_ANY_CASE) |
Plots all windows of the plot collection, each one into the corresponding existing figure, if possible. | |
Protected Member Functions | |
returnValue | copy (const ExportAlgorithm &arg) |
Copies all class members from given object. | |
Protected Attributes | |
uint | NX |
Number of differential states. | |
uint | NDX |
Number of differential states derivatives. | |
uint | NXA |
Number of algebraic states. | |
uint | NU |
Number of control inputs. | |
uint | NP |
Number of parameters. | |
uint | N |
Number of control intervals. | |
uint | NY |
Number of measurements, k = 0,..., N - 1. | |
uint | NYN |
Number of measurements, k = N. | |
String | commonHeaderName |
Name of common header file. | |
UserInteraction * | userInteraction |
Pointer to top-level user interface. | |
BooleanType | useModuleStandalone |
Flag indicating whether algorithmic module is used stand-alone. | |
int | outputLoggingIdx |
Index of log record for algorithmic standard output to be optionally used within derived classes. |
The class ExportAlgorithm allows to export automatically generated algorithms for fast model predictive control.
BEGIN_NAMESPACE_ACADO ExportAlgorithm::ExportAlgorithm | ( | UserInteraction * | _userInteraction = 0 , |
const String & | _commonHeaderName = "" |
||
) |
[in] | _userInteraction | Pointer to corresponding user interface. |
[in] | _commonHeaderName | Name of common header file to be included. |
References commonHeaderName, and setDimensions().
ExportAlgorithm::ExportAlgorithm | ( | const ExportAlgorithm & | arg | ) |
[in] | arg | Right-hand side object. |
References copy().
ExportAlgorithm::~ExportAlgorithm | ( | ) | [virtual] |
int AlgorithmicBase::addLogRecord | ( | LogRecord & | _record | ) | [inline, inherited] |
[in] | record | Record to be added. |
References Logging::addLogRecord(), and AlgorithmicBase::userInteraction.
Referenced by SCPmethod::setupLogging(), DenseQPsolver::setupLogging(), DynamicDiscretization::setupLogging(), and Integrator::setupLogging().
returnValue AlgorithmicBase::addOption | ( | OptionsName | name, |
int | value | ||
) | [inline, inherited] |
[in] | name | Name of new option item. |
[in] | value | Default value of new option. |
References Options::addOption(), and AlgorithmicBase::userInteraction.
Referenced by BandedCPsolver::setupOptions(), NLPsolver::setupOptions(), DynamicDiscretization::setupOptions(), and Integrator::setupOptions().
returnValue AlgorithmicBase::addOption | ( | OptionsName | name, |
double | value | ||
) | [inline, inherited] |
[in] | name | Name of new option item. |
[in] | value | Default value of new option. |
References Options::addOption(), and AlgorithmicBase::userInteraction.
returnValue AlgorithmicBase::addOption | ( | uint | idx, |
OptionsName | name, | ||
int | value | ||
) | [inline, inherited] |
[in] | idx | Index of option list. |
[in] | name | Name of new option item. |
[in] | value | Default value of new option. |
References Options::addOption(), and AlgorithmicBase::userInteraction.
returnValue AlgorithmicBase::addOption | ( | uint | idx, |
OptionsName | name, | ||
double | value | ||
) | [inline, inherited] |
[in] | idx | Index of option list. |
[in] | name | Name of new option item. |
[in] | value | Default value of new option. |
References Options::addOption(), and AlgorithmicBase::userInteraction.
returnValue AlgorithmicBase::addOptionsList | ( | ) | [inherited] |
References Options::addOptionsList(), and AlgorithmicBase::userInteraction.
Referenced by ShootingMethod::addStage().
returnValue ExportAlgorithm::copy | ( | const ExportAlgorithm & | arg | ) | [protected] |
[in] | arg | Right-hand side object. |
References commonHeaderName, N, NP, NU, NX, NXA, NY, and SUCCESSFUL_RETURN.
Referenced by ExportAlgorithm(), and operator=().
returnValue AlgorithmicBase::get | ( | OptionsName | name, |
int & | value | ||
) | const [inline, inherited] |
[in] | name | Name of option item. |
[out] | value | Value of option. |
References Options::get(), and AlgorithmicBase::userInteraction.
returnValue AlgorithmicBase::get | ( | OptionsName | name, |
double & | value | ||
) | const [inline, inherited] |
[in] | name | Name of option item. |
[out] | value | Value of option. |
References Options::get(), and AlgorithmicBase::userInteraction.
returnValue AlgorithmicBase::get | ( | uint | idx, |
OptionsName | name, | ||
int & | value | ||
) | const [inline, inherited] |
[in] | idx | Index of option list. |
[in] | name | Name of option item. |
[out] | value | Value of option. |
References Options::get(), and AlgorithmicBase::userInteraction.
returnValue AlgorithmicBase::get | ( | uint | idx, |
OptionsName | name, | ||
double & | value | ||
) | const [inline, inherited] |
[in] | idx | Index of option list. |
[in] | name | Name of option item. |
[out] | value | Value of option. |
References Options::get(), and AlgorithmicBase::userInteraction.
BEGIN_NAMESPACE_ACADO returnValue AlgorithmicBase::getAll | ( | LogName | _name, |
MatrixVariablesGrid & | values | ||
) | const [inline, inherited] |
If this item exists in more than one record, the first one is choosen as they are expected to have identical values anyhow.
[in] | _name | Internal name of item. |
[out] | values | All numerical values at all time instants of given item. |
References Logging::getAll(), and AlgorithmicBase::userInteraction.
virtual returnValue ExportAlgorithm::getCode | ( | ExportStatementBlock & | code | ) | [pure virtual] |
[in] | code | Code block containing the auto-generated algorithm. |
Implemented in IntegratorExport, ImplicitRungeKuttaExport, DiscreteTimeExport, ExportLinearSolver, ExplicitRungeKuttaExport, RungeKuttaExport, ExportNLPSolver, AdjointIRKExport, ForwardIRKExport, ExportGaussElim, ExportHouseholderQR, ExportCholeskyDecomposition, ExportGaussNewtonForces, ExportGaussNewtonQpDunes, ExportGaussNewtonCondensed, and ExportGaussNewtonCN2.
virtual returnValue ExportAlgorithm::getDataDeclarations | ( | ExportStatementBlock & | declarations, |
ExportStruct | dataStruct = ACADO_ANY |
||
) | const [pure virtual] |
[in] | declarations | List of declarations. |
Implemented in IntegratorExport, ImplicitRungeKuttaExport, DiscreteTimeExport, ExportLinearSolver, ExplicitRungeKuttaExport, RungeKuttaExport, NARXExport, ExportNLPSolver, AdjointIRKExport, ForwardIRKExport, ExportGaussElim, ExportHouseholderQR, ExportCholeskyDecomposition, ExportGaussNewtonForces, ExportGaussNewtonQpDunes, ExportGaussNewtonCondensed, and ExportGaussNewtonCN2.
returnValue AlgorithmicBase::getFirst | ( | LogName | _name, |
Matrix & | firstValue | ||
) | const [inline, inherited] |
If this item exists in more than one record, the first one is choosen as they are expected to have identical values anyhow.
[in] | _name | Internal name of item. |
[out] | firstValue | Numerical value at first time instant of given item. |
References Logging::getFirst(), and AlgorithmicBase::userInteraction.
returnValue AlgorithmicBase::getFirst | ( | LogName | _name, |
VariablesGrid & | firstValue | ||
) | const [inline, inherited] |
If this item exists in more than one record, the first one is choosen as they are expected to have identical values anyhow.
[in] | _name | Internal name of item. |
[out] | firstValue | Numerical value at first time instant of given item. |
References Logging::getFirst(), and AlgorithmicBase::userInteraction.
virtual returnValue ExportAlgorithm::getFunctionDeclarations | ( | ExportStatementBlock & | declarations | ) | const [pure virtual] |
[in] | declarations | List of declarations. |
Implemented in IntegratorExport, ImplicitRungeKuttaExport, DiscreteTimeExport, ExportLinearSolver, ExplicitRungeKuttaExport, RungeKuttaExport, ExportNLPSolver, AdjointIRKExport, ForwardIRKExport, ExportGaussElim, ExportHouseholderQR, ExportCholeskyDecomposition, ExportGaussNewtonForces, ExportGaussNewtonQpDunes, ExportGaussNewtonCondensed, and ExportGaussNewtonCN2.
returnValue AlgorithmicBase::getLast | ( | LogName | _name, |
Matrix & | lastValue | ||
) | const [inline, inherited] |
If this item exists in more than one record, the first one is choosen as they are expected to have identical values anyhow.
[in] | _name | Internal name of item. |
[out] | lastValue | Numerical value at last time instant of given item. |
References Logging::getLast(), and AlgorithmicBase::userInteraction.
Referenced by Process::simulate().
returnValue AlgorithmicBase::getLast | ( | LogName | _name, |
VariablesGrid & | lastValue | ||
) | const [inline, inherited] |
If this item exists in more than one record, the first one is choosen as they are expected to have identical values anyhow.
[in] | _name | Internal name of item. |
[out] | lastValue | Numerical value at last time instant of given item. |
References Logging::getLast(), and AlgorithmicBase::userInteraction.
uint ExportAlgorithm::getN | ( | ) | const |
References N.
Referenced by ExportNLPSolver::setupResidualVariables(), and ExportNLPSolver::setupSimulation().
uint ExportAlgorithm::getNDX | ( | ) | const |
uint ExportAlgorithm::getNP | ( | ) | const |
uint ExportAlgorithm::getNU | ( | ) | const |
References NU.
Referenced by ExportGaussNewtonCN2::setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), ExportGaussNewtonCN2::setupConstraintsEvaluation(), ExportGaussNewtonCondensed::setupConstraintsEvaluation(), and ExportNLPSolver::setupSimulation().
uint ExportAlgorithm::getNX | ( | ) | const |
References NX.
Referenced by ExportNLPSolver::setupArrivalCostCalculation(), ExportNLPSolver::setupAuxiliaryFunctions(), ExportGaussNewtonCN2::setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), ExportGaussNewtonCondensed::setupConstraintsEvaluation(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), ExportGaussNewtonCN2::setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), ExportGaussNewtonCondensed::setupObjectiveEvaluation(), and ExportNLPSolver::setupSimulation().
uint ExportAlgorithm::getNXA | ( | ) | const |
References NXA.
Referenced by ExportNLPSolver::setupSimulation().
uint ExportAlgorithm::getNY | ( | ) | const |
References NY.
Referenced by ExportNLPSolver::setupAuxiliaryFunctions(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), ExportGaussNewtonCN2::setupObjectiveEvaluation(), ExportGaussNewtonCondensed::setupObjectiveEvaluation(), and ExportNLPSolver::setupResidualVariables().
uint ExportAlgorithm::getNYN | ( | ) | const |
References NYN.
Referenced by ExportNLPSolver::setObjective(), ExportNLPSolver::setupAuxiliaryFunctions(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), ExportGaussNewtonCN2::setupObjectiveEvaluation(), ExportGaussNewtonCondensed::setupObjectiveEvaluation(), and ExportNLPSolver::setupResidualVariables().
Options AlgorithmicBase::getOptions | ( | uint | idx | ) | const [inherited] |
[in] | idx | Index of option list. |
References Options::getOptions(), and AlgorithmicBase::userInteraction.
Referenced by ShootingMethod::evaluate().
BooleanType AlgorithmicBase::haveOptionsChanged | ( | ) | const [inline, inherited] |
References Options::haveOptionsChanged(), and AlgorithmicBase::userInteraction.
BooleanType AlgorithmicBase::haveOptionsChanged | ( | uint | idx | ) | const [inline, inherited] |
[in] | idx | Index of option list. |
References Options::haveOptionsChanged(), and AlgorithmicBase::userInteraction.
FILE * ExportAlgorithm::openFile | ( | const String & | dirName, |
const String & | fileName | ||
) | const |
[in] | dirName | Name of directory in which to open the file. |
[in] | fileName | Name of file to be opened. |
[in] | includeCommonHeader | Flag indicating whether common header shall be included. |
References acadoFOpen(), acadoFPrintf(), acadoPrintAutoGenerationNotice(), BT_FALSE, commonHeaderName, String::getName(), and String::isEmpty().
ExportAlgorithm & ExportAlgorithm::operator= | ( | const ExportAlgorithm & | arg | ) |
[in] | arg | Right-hand side object. |
References copy().
returnValue AlgorithmicBase::plot | ( | PlotFrequency | _frequency = PLOT_IN_ANY_CASE | ) | [inline, inherited] |
[in] | _frequency | Frequency determining at which time instants the window is to be plotted. |
References Plotting::plot(), and AlgorithmicBase::userInteraction.
returnValue AlgorithmicBase::printLogRecord | ( | int | idx, |
LogPrintMode | _mode = PRINT_ITEM_BY_ITEM |
||
) | const [inline, inherited] |
[in] | idx | Index of record to be printed. |
[in] | _mode | Print mode: see documentation of LogPrintMode of details. |
References ACADOERROR, LogCollection::getNumLogRecords(), Logging::logCollection, LogCollection::print(), RET_INDEX_OUT_OF_BOUNDS, and AlgorithmicBase::userInteraction.
Referenced by SCPmethod::printIteration(), SCPmethod::printRuntimeProfile(), and Integrator::printRunTimeProfile().
returnValue AlgorithmicBase::replot | ( | PlotFrequency | _frequency = PLOT_IN_ANY_CASE | ) | [inline, inherited] |
[in] | _frequency | Frequency determining at which time instants the window is to be plotted. |
References Plotting::replot(), and AlgorithmicBase::userInteraction.
Referenced by SCPmethod::printIteration(), SCPmethod::solve(), and SCPmethod::step().
returnValue AlgorithmicBase::set | ( | OptionsName | name, |
int | value | ||
) | [inherited] |
[in] | name | Name of option item. |
[in] | value | New value of option. |
References Options::set(), and AlgorithmicBase::userInteraction.
Referenced by SCPmethod::initializeHessianProjection().
returnValue AlgorithmicBase::set | ( | OptionsName | name, |
double | value | ||
) | [inherited] |
[in] | name | Name of option item. |
[in] | value | New value of option. |
References Options::set(), and AlgorithmicBase::userInteraction.
returnValue AlgorithmicBase::set | ( | uint | idx, |
OptionsName | name, | ||
int | value | ||
) | [inherited] |
[in] | idx | Index of option list. |
[in] | name | Name of option item. |
[in] | value | New value of option. |
References Options::set(), and AlgorithmicBase::userInteraction.
returnValue AlgorithmicBase::set | ( | uint | idx, |
OptionsName | name, | ||
double | value | ||
) | [inherited] |
[in] | idx | Index of option list. |
[in] | name | Name of option item. |
[in] | value | New value of option. |
References Options::set(), and AlgorithmicBase::userInteraction.
returnValue AlgorithmicBase::setAll | ( | LogName | _name, |
const MatrixVariablesGrid & | values | ||
) | [inline, inherited] |
[in] | _name | Internal name of item. |
[in] | values | All numerical values at all time instants of given item. |
References Logging::logCollection, LogCollection::setAll(), and AlgorithmicBase::userInteraction.
returnValue ExportAlgorithm::setDimensions | ( | uint | _NX = 0 , |
uint | _NU = 0 , |
||
uint | _NP = 0 , |
||
uint | _NI = 0 |
||
) |
[in] | _NX | New number of differential states. |
[in] | _NU | New number of control inputs. |
[in] | _NP | New number of parameters. |
[in] | _NI | New number of control intervals. (using _N resulted in a strange error when compiling with cygwin!) |
Referenced by ExportAlgorithm(), and IntegratorExport::setModelData().
returnValue ExportAlgorithm::setDimensions | ( | uint | _NX, |
uint | _NDX, | ||
uint | _NXA, | ||
uint | _NU, | ||
uint | _NP, | ||
uint | _NI | ||
) |
[in] | _NX | New number of differential states. |
[in] | _NDX | New number of differential states derivatives. |
[in] | _NXA | New number of algebraic states. |
[in] | _NU | New number of control inputs. |
[in] | _NP | New number of parameters. |
[in] | _NI | New number of control intervals. (using _N resulted in a strange error when compiling with cygwin!) |
returnValue AlgorithmicBase::setLast | ( | LogName | _name, |
int | lastValue, | ||
double | time = -INFTY |
||
) | [inline, inherited] |
[in] | _name | Internal name of item. |
[in] | lastValue | Numerical value at last time instant of given item. |
[in] | time | Time label of the instant. |
References Logging::logCollection, LogCollection::setLast(), and AlgorithmicBase::userInteraction.
Referenced by IntegratorBDF::evaluate(), IntegratorRK::evaluate(), IntegratorLYAPUNOV::evaluate(), CondensingBasedCPsolver::finalizeSolve(), IntegratorBDF::logCurrentIntegratorStep(), ShootingMethod::logTrajectory(), SCPmethod::performCurrentStep(), SCPstepLinesearch::performLineSearch(), SCPstepFullstep::performStep(), SCPstepLinesearch::performStep(), SCPmethod::prepareNextStep(), CondensingBasedCPsolver::prepareSolve(), SCPmethod::printIteration(), QPsolver_qpOASES::solve(), CondensingBasedCPsolver::solveCPsubproblem(), and SCPmethod::stopClockAndPrintRuntimeProfile().
returnValue AlgorithmicBase::setLast | ( | LogName | _name, |
double | lastValue, | ||
double | time = -INFTY |
||
) | [inline, inherited] |
[in] | _name | Internal name of item. |
[in] | lastValue | Numerical value at last time instant of given item. |
[in] | time | Time label of the instant. |
References Logging::logCollection, LogCollection::setLast(), and AlgorithmicBase::userInteraction.
returnValue AlgorithmicBase::setLast | ( | LogName | _name, |
const Vector & | lastValue, | ||
double | time = -INFTY |
||
) | [inline, inherited] |
[in] | _name | Internal name of item. |
[in] | lastValue | Numerical value at last time instant of given item. |
[in] | time | Time label of the instant. |
References Logging::logCollection, LogCollection::setLast(), and AlgorithmicBase::userInteraction.
returnValue AlgorithmicBase::setLast | ( | LogName | _name, |
const Matrix & | lastValue, | ||
double | time = -INFTY |
||
) | [inline, inherited] |
[in] | _name | Internal name of item. |
[in] | lastValue | Numerical value at last time instant of given item. |
[in] | time | Time label of the instant. |
References Logging::logCollection, LogCollection::setLast(), and AlgorithmicBase::userInteraction.
returnValue AlgorithmicBase::setLast | ( | LogName | _name, |
const VariablesGrid & | lastValue, | ||
double | time = -INFTY |
||
) | [inline, inherited] |
[in] | _name | Internal name of item. |
[in] | lastValue | Numerical value at last time instant of given item. |
[in] | time | Time label of the instant. |
References Logging::logCollection, LogCollection::setLast(), and AlgorithmicBase::userInteraction.
void ExportAlgorithm::setNY | ( | uint | NY_ | ) |
References NY.
Referenced by ExportNLPSolver::setObjective().
void ExportAlgorithm::setNYN | ( | uint | NYN_ | ) |
References NYN.
Referenced by ExportNLPSolver::setObjective().
returnValue AlgorithmicBase::setOptions | ( | const Options & | arg | ) | [inherited] |
[in] | arg | New Options object to be assigned. |
References Options::setOptions(), and AlgorithmicBase::userInteraction.
Referenced by ShootingMethod::evaluate().
returnValue AlgorithmicBase::setOptions | ( | uint | idx, |
const Options & | arg | ||
) | [inherited] |
[in] | idx | Index of option list. |
[in] | arg | Options object containing the option list to be assigned. |
References Options::setOptions(), and AlgorithmicBase::userInteraction.
returnValue ExportAlgorithm::setup | ( | ) | [virtual] |
Reimplemented in DiagonallyImplicitRKExport, ExportLinearSolver, IntegratorExport, AdjointIRKExport, ImplicitRungeKuttaExport, ForwardIRKExport, DiscreteTimeExport, RungeKuttaExport, ExportGaussElim, ExportHouseholderQR, ExplicitRungeKuttaExport, NARXExport, ExportNLPSolver, ExportCholeskyDecomposition, ExportGaussNewtonForces, ExportGaussNewtonQpDunes, ExportGaussNewtonCondensed, and ExportGaussNewtonCN2.
References SUCCESSFUL_RETURN.
String ExportAlgorithm::commonHeaderName [protected] |
uint ExportAlgorithm::N [protected] |
Referenced by copy(), Constraint::getBlockDim(), getN(), Constraint::getNumberOfBlocks(), ExportNLPSolver::getNumComplexConstraints(), ExportGaussNewtonCN2::getNumQPvars(), ExportGaussNewtonCondensed::getNumQPvars(), ExportGaussNewtonQpDunes::getNumQPvars(), ExportGaussNewtonForces::getNumQPvars(), ExportNLPSolver::setConstraints(), setDimensions(), ExportNLPSolver::setObjective(), ExportNLPSolver::setupAuxiliaryFunctions(), ExportGaussNewtonCN2::setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), ExportGaussNewtonCN2::setupConstraintsEvaluation(), ExportGaussNewtonForces::setupConstraintsEvaluation(), ExportGaussNewtonCondensed::setupConstraintsEvaluation(), ExportGaussNewtonQpDunes::setupEvaluation(), ExportGaussNewtonForces::setupEvaluation(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), ExportGaussNewtonCN2::setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), ExportGaussNewtonCondensed::setupObjectiveEvaluation(), ExportGaussNewtonForces::setupQPInterface(), ExportNLPSolver::setupResidualVariables(), ExportNLPSolver::setupSimulation(), ExportGaussNewtonCN2::setupVariables(), and ExportGaussNewtonCondensed::setupVariables().
uint ExportAlgorithm::NDX [protected] |
Referenced by ImplicitRungeKuttaExport::evaluateStatesImplicitSystem(), ImplicitRungeKuttaExport::generateOutput(), ImplicitRungeKuttaExport::prepareOutputEvaluation(), AdjointIRKExport::sensitivitiesOutputs(), ForwardIRKExport::sensitivitiesOutputs(), ExplicitRungeKuttaExport::setDifferentialEquation(), ImplicitRungeKuttaExport::setDifferentialEquation(), DiscreteTimeExport::setDifferentialEquation(), setDimensions(), IntegratorExport::setLinearOutput(), ImplicitRungeKuttaExport::setModel(), IntegratorExport::setModel(), ImplicitRungeKuttaExport::setup(), and ImplicitRungeKuttaExport::setupOutput().
uint ExportAlgorithm::NP [protected] |
Referenced by copy(), getNP(), ExportNLPSolver::setConstraints(), ExplicitRungeKuttaExport::setDifferentialEquation(), DiscreteTimeExport::setDifferentialEquation(), ImplicitRungeKuttaExport::setDifferentialEquation(), setDimensions(), IntegratorExport::setLinearInput(), IntegratorExport::setLinearOutput(), NARXExport::setLinearOutput(), IntegratorExport::setModel(), ExportNLPSolver::setObjective(), ExplicitRungeKuttaExport::setup(), NARXExport::setup(), DiscreteTimeExport::setup(), AdjointIRKExport::setup(), ImplicitRungeKuttaExport::setup(), ForwardIRKExport::setup(), ExportNLPSolver::setupArrivalCostCalculation(), ExportNLPSolver::setupAuxiliaryFunctions(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), ExportGaussNewtonCondensed::setupConstraintsEvaluation(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), ExportGaussNewtonCN2::setupObjectiveEvaluation(), ExportGaussNewtonCondensed::setupObjectiveEvaluation(), and ExportNLPSolver::setupSimulation().
uint ExportAlgorithm::NU [protected] |
Referenced by copy(), ImplicitRungeKuttaExport::generateOutput(), ForwardIRKExport::getCode(), AdjointIRKExport::getCode(), getNU(), ExportGaussNewtonCN2::getNumQPvars(), ExportGaussNewtonCondensed::getNumQPvars(), ExportGaussNewtonQpDunes::getNumQPvars(), ExportGaussNewtonForces::getNumQPvars(), NARXExport::prepareFullRhs(), IntegratorExport::prepareFullRhs(), ImplicitRungeKuttaExport::prepareFullRhs(), DiagonallyImplicitRKExport::prepareInputSystem(), AdjointIRKExport::prepareInputSystem(), ForwardIRKExport::prepareInputSystem(), NARXExport::propagateImplicitSystem(), IntegratorExport::propagateImplicitSystem(), NARXExport::propagateInputSystem(), IntegratorExport::propagateInputSystem(), AdjointIRKExport::propagateOutputs(), ForwardIRKExport::propagateOutputs(), NARXExport::propagateOutputSystem(), IntegratorExport::propagateOutputSystem(), AdjointIRKExport::sensitivitiesOutputs(), ForwardIRKExport::sensitivitiesOutputs(), ExportNLPSolver::setConstraints(), ExplicitRungeKuttaExport::setDifferentialEquation(), DiscreteTimeExport::setDifferentialEquation(), ImplicitRungeKuttaExport::setDifferentialEquation(), setDimensions(), IntegratorExport::setLinearInput(), IntegratorExport::setLinearOutput(), NARXExport::setLinearOutput(), IntegratorExport::setModel(), NARXExport::setNARXmodel(), ExportNLPSolver::setObjective(), ExplicitRungeKuttaExport::setup(), NARXExport::setup(), DiscreteTimeExport::setup(), AdjointIRKExport::setup(), ImplicitRungeKuttaExport::setup(), ForwardIRKExport::setup(), ExportNLPSolver::setupArrivalCostCalculation(), ExportNLPSolver::setupAuxiliaryFunctions(), ExportGaussNewtonCN2::setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), ExportGaussNewtonCN2::setupConstraintsEvaluation(), ExportGaussNewtonForces::setupConstraintsEvaluation(), ExportGaussNewtonCondensed::setupConstraintsEvaluation(), ExportGaussNewtonQpDunes::setupEvaluation(), ExportGaussNewtonForces::setupEvaluation(), ExportGaussNewtonCN2::setupMultiplicationRoutines(), ExportGaussNewtonCondensed::setupMultiplicationRoutines(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), ExportGaussNewtonCN2::setupObjectiveEvaluation(), ExportGaussNewtonCondensed::setupObjectiveEvaluation(), ImplicitRungeKuttaExport::setupOutput(), ExportGaussNewtonForces::setupQPInterface(), ExportNLPSolver::setupSimulation(), ExportGaussNewtonCN2::setupVariables(), ExportGaussNewtonCondensed::setupVariables(), NARXExport::updateImplicitSystem(), IntegratorExport::updateImplicitSystem(), NARXExport::updateInputSystem(), IntegratorExport::updateInputSystem(), NARXExport::updateOutputSystem(), and IntegratorExport::updateOutputSystem().
uint ExportAlgorithm::NX [protected] |
Referenced by copy(), DiagonallyImplicitRKExport::evaluateStatesImplicitSystem(), ImplicitRungeKuttaExport::evaluateStatesImplicitSystem(), ImplicitRungeKuttaExport::evaluateStatesOutputSystem(), IntegratorExport::expandOutputMatrix(), ImplicitRungeKuttaExport::generateOutput(), AdjointIRKExport::getCode(), ForwardIRKExport::getCode(), DiscreteTimeExport::getCode(), ImplicitRungeKuttaExport::getCode(), DiscreteTimeExport::getFunctionDeclarations(), ImplicitRungeKuttaExport::getFunctionDeclarations(), IntegratorExport::getNameFullRHS(), ExportGaussNewtonCN2::getNumQPvars(), ExportGaussNewtonCondensed::getNumQPvars(), ExportGaussNewtonQpDunes::getNumQPvars(), ExportGaussNewtonForces::getNumQPvars(), getNX(), NARXExport::prepareFullRhs(), IntegratorExport::prepareFullRhs(), ImplicitRungeKuttaExport::prepareFullRhs(), NARXExport::propagateImplicitSystem(), IntegratorExport::propagateImplicitSystem(), NARXExport::propagateInputSystem(), IntegratorExport::propagateInputSystem(), ForwardIRKExport::propagateOutputs(), AdjointIRKExport::propagateOutputs(), NARXExport::propagateOutputSystem(), IntegratorExport::propagateOutputSystem(), ForwardIRKExport::sensitivitiesImplicitSystem(), AdjointIRKExport::sensitivitiesImplicitSystem(), DiagonallyImplicitRKExport::sensitivitiesImplicitSystem(), ForwardIRKExport::sensitivitiesOutputs(), AdjointIRKExport::sensitivitiesOutputs(), DiagonallyImplicitRKExport::sensitivitiesOutputSystem(), ForwardIRKExport::sensitivitiesOutputSystem(), AdjointIRKExport::sensitivitiesOutputSystem(), ExportNLPSolver::setConstraints(), ExplicitRungeKuttaExport::setDifferentialEquation(), DiscreteTimeExport::setDifferentialEquation(), ImplicitRungeKuttaExport::setDifferentialEquation(), setDimensions(), IntegratorExport::setLinearInput(), IntegratorExport::setLinearOutput(), NARXExport::setLinearOutput(), IntegratorExport::setModel(), NARXExport::setNARXmodel(), ExportNLPSolver::setObjective(), NARXExport::setup(), ExplicitRungeKuttaExport::setup(), DiscreteTimeExport::setup(), ImplicitRungeKuttaExport::setup(), AdjointIRKExport::setup(), ForwardIRKExport::setup(), ExportNLPSolver::setupArrivalCostCalculation(), ExportNLPSolver::setupAuxiliaryFunctions(), ExportGaussNewtonCN2::setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), ExportGaussNewtonForces::setupConstraintsEvaluation(), ExportGaussNewtonCN2::setupConstraintsEvaluation(), ExportGaussNewtonCondensed::setupConstraintsEvaluation(), ExportGaussNewtonQpDunes::setupEvaluation(), ExportGaussNewtonForces::setupEvaluation(), ExportGaussNewtonCN2::setupMultiplicationRoutines(), ExportGaussNewtonCondensed::setupMultiplicationRoutines(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), ExportGaussNewtonCN2::setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), ExportGaussNewtonCondensed::setupObjectiveEvaluation(), ImplicitRungeKuttaExport::setupOutput(), ExportGaussNewtonForces::setupQPInterface(), ExportNLPSolver::setupSimulation(), ExportGaussNewtonQpDunes::setupVariables(), ExportGaussNewtonForces::setupVariables(), ExportGaussNewtonCN2::setupVariables(), ExportGaussNewtonCondensed::setupVariables(), DiagonallyImplicitRKExport::solveImplicitSystem(), ImplicitRungeKuttaExport::solveImplicitSystem(), DiagonallyImplicitRKExport::solveOutputSystem(), NARXExport::updateImplicitSystem(), IntegratorExport::updateImplicitSystem(), NARXExport::updateInputSystem(), IntegratorExport::updateInputSystem(), NARXExport::updateOutputSystem(), and IntegratorExport::updateOutputSystem().
uint ExportAlgorithm::NXA [protected] |
Referenced by copy(), DiagonallyImplicitRKExport::evaluateMatrix(), ImplicitRungeKuttaExport::evaluateMatrix(), DiagonallyImplicitRKExport::evaluateRhsImplicitSystem(), ImplicitRungeKuttaExport::evaluateRhsImplicitSystem(), DiagonallyImplicitRKExport::evaluateStatesImplicitSystem(), ImplicitRungeKuttaExport::evaluateStatesImplicitSystem(), ImplicitRungeKuttaExport::generateOutput(), ForwardIRKExport::getAuxVariable(), AdjointIRKExport::getAuxVariable(), ImplicitRungeKuttaExport::getAuxVariable(), ForwardIRKExport::getCode(), AdjointIRKExport::getCode(), DiscreteTimeExport::getCode(), ImplicitRungeKuttaExport::getCode(), ImplicitRungeKuttaExport::getDataDeclarations(), getNXA(), IntegratorExport::prepareFullRhs(), ImplicitRungeKuttaExport::prepareFullRhs(), ImplicitRungeKuttaExport::prepareOutputEvaluation(), IntegratorExport::propagateImplicitSystem(), IntegratorExport::propagateInputSystem(), IntegratorExport::propagateOutputSystem(), ForwardIRKExport::sensitivitiesImplicitSystem(), AdjointIRKExport::sensitivitiesImplicitSystem(), DiagonallyImplicitRKExport::sensitivitiesImplicitSystem(), AdjointIRKExport::sensitivitiesOutputs(), ForwardIRKExport::sensitivitiesOutputs(), DiagonallyImplicitRKExport::sensitivitiesOutputSystem(), AdjointIRKExport::sensitivitiesOutputSystem(), ForwardIRKExport::sensitivitiesOutputSystem(), ExplicitRungeKuttaExport::setDifferentialEquation(), DiscreteTimeExport::setDifferentialEquation(), ImplicitRungeKuttaExport::setDifferentialEquation(), setDimensions(), IntegratorExport::setLinearInput(), IntegratorExport::setLinearOutput(), NARXExport::setLinearOutput(), IntegratorExport::setModel(), NARXExport::setNARXmodel(), DiscreteTimeExport::setup(), AdjointIRKExport::setup(), ImplicitRungeKuttaExport::setup(), ForwardIRKExport::setup(), DiagonallyImplicitRKExport::setup(), ExportNLPSolver::setupArrivalCostCalculation(), ExportNLPSolver::setupAuxiliaryFunctions(), ImplicitRungeKuttaExport::setupOutput(), ExportNLPSolver::setupSimulation(), DiagonallyImplicitRKExport::solveImplicitSystem(), ImplicitRungeKuttaExport::solveImplicitSystem(), IntegratorExport::updateImplicitSystem(), IntegratorExport::updateInputSystem(), and IntegratorExport::updateOutputSystem().
uint ExportAlgorithm::NY [protected] |
Referenced by copy(), getNY(), setNY(), ExportNLPSolver::setObjective(), ExportNLPSolver::setupArrivalCostCalculation(), ExportNLPSolver::setupAuxiliaryFunctions(), ExportGaussNewtonCN2::setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), ExportGaussNewtonCN2::setupMultiplicationRoutines(), ExportGaussNewtonCondensed::setupMultiplicationRoutines(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), ExportGaussNewtonCN2::setupObjectiveEvaluation(), and ExportGaussNewtonCondensed::setupObjectiveEvaluation().
uint ExportAlgorithm::NYN [protected] |
Referenced by getNYN(), setNYN(), ExportNLPSolver::setObjective(), ExportNLPSolver::setupAuxiliaryFunctions(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), ExportGaussNewtonCN2::setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), and ExportGaussNewtonCondensed::setupObjectiveEvaluation().
int AlgorithmicBase::outputLoggingIdx [protected, inherited] |
BooleanType AlgorithmicBase::useModuleStandalone [protected, inherited] |
UserInteraction* AlgorithmicBase::userInteraction [protected, inherited] |
Referenced by AlgorithmicBase::addLogRecord(), AlgorithmicBase::addOption(), AlgorithmicBase::addOptionsList(), AlgorithmicBase::AlgorithmicBase(), AlgorithmicBase::get(), AlgorithmicBase::getAll(), ExplicitRungeKuttaExport::getCode(), AlgorithmicBase::getFirst(), ExplicitRungeKuttaExport::getFunctionDeclarations(), AlgorithmicBase::getLast(), AlgorithmicBase::getOptions(), AlgorithmicBase::haveOptionsChanged(), AlgorithmicBase::operator=(), AlgorithmicBase::plot(), AlgorithmicBase::printLogRecord(), AlgorithmicBase::replot(), AlgorithmicBase::set(), AlgorithmicBase::setAll(), ExplicitRungeKuttaExport::setDifferentialEquation(), AlgorithmicBase::setLast(), AlgorithmicBase::setOptions(), ExportGaussElim::setup(), ExportHouseholderQR::setup(), ImplicitRungeKuttaExport::setup(), SCPmethod::setup(), ExportGaussNewtonForces::setupQPInterface(), ExportGaussNewtonCN2::setupQPInterface(), ExportGaussNewtonCondensed::setupQPInterface(), CondensingBasedCPsolver::solveQP(), and AlgorithmicBase::~AlgorithmicBase().