Allows to export a tailored diagonally implicit 5-stage Runge-Kutta method of order 5 for fast model predictive control. More...

#include <dirk5_export.hpp>

Inheritance diagram for DiagonallyIRK5Export:

[legend]

List of all members.

Public Member Functions
virtual returnValue	solveInputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index, const ExportVariable &Ah)
	Exports the code needed to solve the system of collocation equations for the linear input system.
virtual returnValue	prepareInputSystem (ExportStatementBlock &code)
	Precompute as much as possible for the linear input system and export the resulting definitions.
virtual returnValue	solveOutputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index, const ExportVariable &Ah, BooleanType DERIVATIVES=BT_FALSE)
	Exports the code needed to solve the system of collocation equations for the linear output system.
virtual returnValue	sensitivitiesOutputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &index4, const ExportIndex &tmp_index1, const ExportIndex &tmp_index2, const ExportVariable &Ah, const ExportVariable &Bh, BooleanType STATES, uint number)
	Exports the code needed to compute the sensitivities of the states, defined by the linear output system.
virtual returnValue	prepareOutputSystem (ExportStatementBlock &code)
	Precompute as much as possible for the linear output system and export the resulting definitions.
virtual Matrix	formMatrix (const Matrix &mass, const Matrix &jacobian)
	Forms a constant linear system matrix for the collocation equations, given a constant jacobian and mass matrix.
virtual returnValue	solveImplicitSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index, const ExportVariable &Ah, const ExportVariable &C, const ExportVariable &det, BooleanType DERIVATIVES=BT_FALSE)
	Exports the code needed to solve the system of collocation equations for the nonlinear, fully implicit system.
virtual returnValue	sensitivitiesImplicitSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index1, const ExportIndex &tmp_index2, const ExportVariable &Ah, const ExportVariable &Bh, const ExportVariable &det, BooleanType STATES, uint number)
	Exports the code needed to compute the sensitivities of the states defined by the nonlinear, fully implicit system.
virtual returnValue	evaluateMatrix (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &tmp_index, const ExportVariable &Ah, const ExportVariable &C, BooleanType evaluateB, BooleanType DERIVATIVES)
	Exports the evaluation of the matrix of the linear system.
virtual returnValue	evaluateStatesImplicitSystem (ExportStatementBlock *block, const ExportVariable &Ah, const ExportVariable &C, const ExportIndex &stage, const ExportIndex &i, const ExportIndex &j)
	Exports the evaluation of the states at a specific stage.
virtual returnValue	evaluateRhsImplicitSystem (ExportStatementBlock *block, const ExportIndex &stage)
	Exports the evaluation of the right-hand side of the linear system at a specific stage.
virtual returnValue	setup ()
	Initializes export of a tailored integrator.
virtual returnValue	getDataDeclarations (ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const
	Adds all data declarations of the auto-generated integrator to given list of declarations.
virtual returnValue	getFunctionDeclarations (ExportStatementBlock &declarations) const
	Adds all function (forward) declarations of the auto-generated integrator to given list of declarations.
virtual returnValue	getCode (ExportStatementBlock &code)
	Exports source code of the auto-generated integrator into the given directory.
virtual returnValue	setDifferentialEquation (const Expression &rhs)
	Assigns Differential Equation to be used by the integrator.
returnValue	setModel (const String &_rhs, const String &_diffs_rhs)
	Assigns the model to be used by the integrator.
virtual returnValue	setupOutput (const std::vector< Grid > outputGrids_, const std::vector< Expression > rhs)
	Sets up the output with the grids for the different output functions.
virtual returnValue	setupOutput (const std::vector< Grid > outputGrids_, const std::vector< String > _outputNames, const std::vector< String > _diffs_outputNames, const std::vector< uint > _dims_output)
	Sets up the output with the grids for the different output functions.
virtual returnValue	setupOutput (const std::vector< Grid > outputGrids_, const std::vector< String > _outputNames, const std::vector< String > _diffs_outputNames, const std::vector< uint > _dims_output, const std::vector< Matrix > _outputDependencies)
	Sets up the output with the grids for the different output functions.
returnValue	initializeButcherTableau (const Matrix &_AA, const Vector &_bb, const Vector &_cc)
	This routine initializes the matrices AA, bb and cc which form the Butcher Tableau.
returnValue	setNARXmodel (const uint delay, const Matrix &parms)
	Sets a polynomial NARX model to be used by the integrator.
uint	getNumStages ()
	This routine returns the number of stages of the Runge-Kutta integrator that will be exported.
virtual returnValue	setLinearInput (const Matrix &M1, const Matrix &A1, const Matrix &B1)

virtual returnValue	setLinearOutput (const Matrix &M3, const Matrix &A3, const Expression &rhs)

virtual returnValue	setLinearOutput (const Matrix &M3, const Matrix &A3, const String &_rhs3, const String &_diffs_rhs3)

virtual returnValue	setModelData (const ModelData &data)
	Passes all the necessary model data to the integrator.
virtual returnValue	updateInputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &tmp_index)
	Exports the code needed to update the sensitivities of the states, defined by the linear input system.
virtual returnValue	propagateInputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index)
	Exports the code needed to propagate the sensitivities of the states, defined by the linear input system.
virtual returnValue	updateImplicitSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &tmp_index)
	Exports the code needed to update the sensitivities of the states defined by the nonlinear, fully implicit system.
virtual returnValue	propagateImplicitSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index)
	Exports the code needed to propagate the sensitivities of the states defined by the nonlinear, fully implicit system.
virtual returnValue	updateOutputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &tmp_index)
	Exports the code needed to update the sensitivities of the states, defined by the linear output system.
virtual returnValue	propagateOutputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index)
	Exports the code needed to propagate the sensitivities of the states, defined by the linear output system.
virtual returnValue	setGrid (const Grid &_grid)
	Sets integration grid (this grid is expected to be non equidistant, otherwise use the other setGrid function).
virtual returnValue	getGrid (Grid &grid_) const
	Returns the grid of the integrator.
virtual returnValue	getNumSteps (Vector &_numSteps) const
	Returns the number of integration steps along the prediction horizon.
virtual returnValue	getOutputExpressions (std::vector< Expression > &outputExpressions_) const
	Returns the output expressions.
virtual returnValue	getOutputGrids (std::vector< Grid > &outputGrids_) const
	Returns the output grids.
virtual BooleanType	equidistantControlGrid () const
	Returns whether the grid is equidistant.
const String	getNameRHS () const
const String	getNameDiffsRHS () const
virtual const String	getNameFullRHS () const
const String	getNameOutputRHS () const
const String	getNameOutputDiffs () const
const String	getNameOUTPUT (uint index) const
const String	getNameDiffsOUTPUT (uint index) const
uint	getDimOUTPUT (uint index) const
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	getCRSIndex (uint output, ExportIndex row, ExportIndex col)
	Returns the index corresponding Compressed Row Storage (CRS) for the dependency matrix of a specific output function.
virtual returnValue	sensitivitiesInputSystem (ExportStatementBlock *block, const ExportIndex &index1, const ExportIndex &index2, const ExportVariable &Bh, BooleanType STATES)
	Exports the code needed to compute the sensitivities of the states, defined by the linear input system.
returnValue	sensitivitiesOutputs (ExportStatementBlock *block, const ExportIndex &index0, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &tmp_index1, const ExportIndex &tmp_index2, const ExportIndex &tmp_index3, const ExportVariable &tmp_meas, const ExportVariable &time_tmp, BooleanType STATES, uint base)
	Exports the computation of the sensitivities for the continuous output.
virtual returnValue	propagateOutputs (ExportStatementBlock *block, const ExportIndex &index, const ExportIndex &index0, const ExportIndex &index1, const ExportIndex &index2, const ExportIndex &index3, const ExportIndex &tmp_index1, const ExportIndex &tmp_index2, const ExportIndex &tmp_index3, const ExportIndex &tmp_index4, const ExportVariable &tmp_meas)
	Exports the propagation of the sensitivities for the continuous output.
ExportVariable	getAuxVariable () const
	Returns the largest global export variable.
returnValue	initializeDDMatrix ()
	Initializes the matrix DD, which is used to extrapolate the variables of the IRK method to the next step.
returnValue	initializeCoefficients ()
	Initializes the matrix coeffs, containing coefficients of polynomials that are used to evaluate the continuous output (see evaluatePolynomial).
Vector	computeCombinations (const Vector &cVec, uint index, uint numEls)
	Recursive function that helps with the computation of the coefficients of polynomials that are used to evaluate the continuous output (see initializeCoefficients), by computing the correct combinations of elements of the vector cc from the Butcher table.
Vector	evaluatePolynomial (double time)
	Returns the coefficients of the polynomial, representing the continuous output of the integrator.
returnValue	evaluatePolynomial (ExportStatementBlock &block, const ExportVariable &variable, const ExportVariable &grid, const String &h)
	Exports the evaluation of the coefficients of the polynomial, representing the continuous output of the integrator.
Matrix	evaluatePolynomial (uint index)
	Returns the coefficients of the polynomial for the complete grid of the output, corresponding a certain index.
Vector	evaluateDerivedPolynomial (double time)
	Returns the coefficients of the derived polynomial, representing the derivative of the continuous output with respect to time.
returnValue	evaluateDerivedPolynomial (ExportStatementBlock &block, const ExportVariable &variable, const ExportVariable &grid)
	Exports the evaluation of the coefficients of the derived polynomial, representing the derivative of the continuous output with respect to time.
Matrix	evaluateDerivedPolynomial (uint index)
	Returns the coefficients of the derived polynomial for the complete grid of the output, corresponding a certain index.
Vector	divideMeasurements (uint index)
	Divide the total number of measurements over the different integration steps.
returnValue	evaluateStatesOutputSystem (ExportStatementBlock *block, const ExportVariable &Ah, const ExportIndex &stage)
	Exports the evaluation of the states at a specific stage.
returnValue	prepareOutputEvaluation (ExportStatementBlock &code)
	Prepares the structures to evaluate the continuous output and exports the resulting definitions.
returnValue	prepareFullRhs ()
	Prepares a function that evaluates the complete right-hand side.
returnValue	generateOutput (ExportStatementBlock *block, const ExportIndex &index0, const ExportIndex &index1, const ExportIndex &tmp_index1, const ExportIndex &tmp_index2, const ExportVariable &tmp_meas, const ExportVariable &time_tmp, const uint directions)
	Exports the necessary code for the computation of the continuous output.
virtual returnValue	copy (const ImplicitRungeKuttaExport &arg)
	Copies all class members from given object.
virtual returnValue	copy (const RungeKuttaExport &arg)
	Copies all class members from given object.
virtual returnValue	copy (const IntegratorExport &arg)
	Copies all class members from given object.
returnValue	copy (const ExportAlgorithm &arg)
	Copies all class members from given object.
uint	getNumIts () const
	Returns the performed number of Newton iterations.
uint	getNumItsInit () const
	Returns the performed number of Newton iterations for the initialization of the first step.
Matrix	expandOutputMatrix (const Matrix &A3)

virtual returnValue	clear ()
	Frees internal dynamic memory to yield an empty function.
uint	getIntegrationInterval (double time)
	Get the index of the integration interval, corresponding a certain time.
Protected Attributes
BooleanType	REUSE
	This boolean is true when the IFTR method is used instead of the IFT method.
BooleanType	CONTINUOUS_OUTPUT
	This boolean is true when continuous output needs to be provided.
uint	numIts
	This is the performed number of Newton iterations.
uint	numItsInit
	This is the performed number of Newton iterations for the initialization of the first step.
uint	NDX2
uint	NVARS2
uint	NVARS3
ExportLinearSolver *	solver
	This is the exported linear solver that is used by the implicit Runge-Kutta method.
Matrix	DD
	This matrix is used for the initialization of the variables for the next integration step.
Matrix	coeffs
	This matrix contains coefficients of polynomials that are used to evaluate the continuous output (see evaluatePolynomial).
Vector	numDX_output
Vector	numXA_output
Vector	numVARS_output
ExportVariable	rk_rhsOutputTemp
	Variable containing intermediate results of evaluations of the right-hand side expression of an output function.
ExportVariable	rk_diffsOutputTemp
	Variable containing intermediate results of evaluations of the derivatives of an output function.
ExportVariable	rk_outH
	Variable that is used for the evaluations of the continuous output.
ExportVariable	rk_out
	Variable that is used for the evaluations of the continuous output.
ExportVariable	polynEvalVar
	Local variable that is used for the evaluations of the continuous output.
ExportVariable	stepsH
	Variable defining the different integration step sizes in case of a non equidistant grid.
std::vector< ExportVariable >	gridVariables
	This vector contains an ExportVariable for the grid of each continuous output.
std::vector< uint >	totalMeas
	This vector contains the total number of measurements per output (per shooting or integration interval, depending on grid type).
std::vector< ExportVariable >	rk_outputs
	Variables containing the evaluations of the continuous output from the integrator.
std::vector< ExportVariable >	polynVariables
	Variables containing the coefficients for the polynomial.
std::vector< ExportVariable >	polynDerVariables
	Variables containing the coefficients for the derived polynomial.
std::vector< ExportVariable >	numMeasVariables
	Variables containing the number of measurements per integration interval.
std::vector< ExportIndex >	numMeas
	Indices containing the number of measurements that are already computed.
ExportVariable	rk_mat1
ExportVariable	rk_dk1
ExportVariable	rk_A
	Variable containing the matrix of the linear system.
ExportVariable	rk_b
	Variable containing the right-hand side of the linear system.
ExportVariable	rk_auxSolver
	Variable containing auxiliary values for the exported linear solver.
ExportVariable	rk_rhsTemp
	Variable containing intermediate results of evaluations of the right-hand side expression.
ExportAcadoFunction	lin_output
ExportVariable	rk_mat3
ExportVariable	rk_dk3
ExportVariable	rk_diffsTemp3
ExportVariable	rk_diffK
ExportVariable	debug_mat
ExportVariable	rk_kkk
	Variable containing intermediate results of the RK integrator.
Matrix	AA
	This matrix defines the Runge-Kutta method to be exported.
Vector	bb
Vector	cc
	These vectors define the Runge-Kutta method to be exported.
uint	numStages
	This is the number of stages for the Runge-Kutta method.
uint	NX1
uint	NX2
uint	NX3
uint	NDX3
uint	NXA3
uint	diffsDim
	This is the total number of sensitivities needed.
uint	inputDim
	This is the dimension of the input to the integrator.
BooleanType	timeDependant
Matrix	M11
Matrix	A11
Matrix	B11
Matrix	A33
Matrix	M33
BooleanType	exportRhs
	True if the right-hand side and their derivatives should be exported too.
BooleanType	crsFormat
	True if the CRS format is used for the jacobian of output functions.
String	name_rhs
	The name of the function evaluating the ODE right-hand side, if provided.
String	name_diffs_rhs
	The name of the function evaluating the derivatives of the ODE right-hand side, if provided.
String	name_rhs3
	The name of the nonlinear function in the linear output system, if provided.
String	name_diffs_rhs3
	The name of the function evaluating the derivatives for the linear output system, if provided.
Grid	grid
	Evaluation grid along the prediction horizon.
Vector	numSteps
	The number of integration steps per shooting interval.
ExportFunction	fullRhs
	Function that evaluates the full right-hand side.
ExportVariable	rhs_in
ExportVariable	rhs_out
ExportFunction	integrate
	Function that integrates the exported ODE.
ExportAcadoFunction	rhs
	Module to export ODE.
ExportAcadoFunction	diffs_rhs
	Module to export the evaluation of the derivatives of the ordinary differential equations.
ExportAcadoFunction	lin_input
ExportAcadoFunction	rhs3
ExportAcadoFunction	diffs_rhs3
ExportVariable	error_code
	Variable containing the error code, returned by the integrator.
ExportVariable	reset_int
	Variable containing the number of the current integration step.
ExportVariable	rk_index
	Variable containing the number of the current shooting interval.
ExportVariable	rk_ttt
	Variable containing the integration time.
ExportVariable	rk_xxx
	Variable containing the current integrator state.
ExportVariable	rk_eta
	Variable containing the inputs or the results of the integrator.
ExportVariable	rk_diffsPrev1
ExportVariable	rk_diffsNew1
ExportVariable	rk_diffsPrev2
	Variable containing the sensitivities from the previous integration step.
ExportVariable	rk_diffsNew2
	Variable containing the derivatives wrt the previous values.
ExportVariable	rk_diffsTemp2
	Variable containing intermediate results of evaluations of the derivatives of the differential equations (ordinary and algebraic).
ExportVariable	rk_diffsNew3
ExportVariable	rk_diffsPrev3
DifferentialState	x
	The differential states in the model.
DifferentialStateDerivative	dx
	The differential state derivatives in the model.
AlgebraicState	z
	The algebraic states in the model.
Control	u
	The control inputs in the model.
Parameter	p
	The parameters in the model.
std::vector< Grid >	outputGrids
	A separate grid for each output.
std::vector< Expression >	outputExpressions
	A separate expression for each output.
std::vector< Matrix >	outputDependencies
	A separate dependency matrix for each output.
std::vector< ExportAcadoFunction >	outputs
	Module to export output functions.
std::vector< ExportAcadoFunction >	diffs_outputs
	Module to export the evaluation of the derivatives of the output functions.
std::vector< String >	name_outputs
	A separate function name for each output.
std::vector< String >	name_diffs_outputs
	A separate function name for evaluating the derivatives of each output.
std::vector< uint >	num_outputs
	A separate dimension for each output.
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.

Detailed Description

The class DiagonallyIRK5Export allows to export a tailored diagonally implicit 5-stage Runge-Kutta method of order 5 for fast model predictive control.

Author:: Rien Quirynen

Member Function Documentation

int AlgorithmicBase::addLogRecord ( LogRecord & _record ) [inline, inherited]

Parameters:

[in] record Record to be added.

Returns:: >= 0: index of added record,
-RET_LOG_COLLECTION_CORRUPTED

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]`

Parameters:

[in]	name	Name of new option item.
[in]	value	Default value of new option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_ALREADY_EXISTS,
RET_OPTIONS_LIST_CORRUPTED

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]`

Parameters:

[in]	name	Name of new option item.
[in]	value	Default value of new option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_ALREADY_EXISTS,
RET_OPTIONS_LIST_CORRUPTED

References Options::addOption(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::addOption	(	uint	idx,
		OptionsName	name,
		int	value
	)		`[inline, inherited]`

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of new option item.
[in]	value	Default value of new option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_ALREADY_EXISTS,
RET_OPTIONS_LIST_CORRUPTED,
RET_INDEX_OUT_OF_BOUNDS

References Options::addOption(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::addOption	(	uint	idx,
		OptionsName	name,
		double	value
	)		`[inline, inherited]`

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of new option item.
[in]	value	Default value of new option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_ALREADY_EXISTS,
RET_OPTIONS_LIST_CORRUPTED,
RET_INDEX_OUT_OF_BOUNDS

References Options::addOption(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::addOptionsList ( ) [inherited]

Returns:: SUCCESSFUL_RETURN

References Options::addOptionsList(), and AlgorithmicBase::userInteraction.

Referenced by ShootingMethod::addStage().

returnValue IntegratorExport::clear ( ) [protected, virtual, inherited]

Returns:: SUCCESSFUL_RETURN

References SUCCESSFUL_RETURN.

Referenced by RungeKuttaExport::operator=(), DiscreteTimeExport::operator=(), IntegratorExport::operator=(), AdjointIRKExport::~AdjointIRKExport(), DiagonallyImplicitRKExport::~DiagonallyImplicitRKExport(), DiscreteTimeExport::~DiscreteTimeExport(), ExplicitRungeKuttaExport::~ExplicitRungeKuttaExport(), ForwardIRKExport::~ForwardIRKExport(), ImplicitRungeKuttaExport::~ImplicitRungeKuttaExport(), IntegratorExport::~IntegratorExport(), NARXExport::~NARXExport(), and RungeKuttaExport::~RungeKuttaExport().

Vector ImplicitRungeKuttaExport::computeCombinations	(	const Vector &	cVec,
		uint	index,
		uint	numEls
	)		`[protected, inherited]`

Parameters:

[in]	cVec	The vector with all the elements of the vector cc from the Butcher table, of which combinations are computed in a recursive way.
[in]	index	An index of the vector cVec which denotes the relevant part for this invocation.
[in]	numEls	The number of elements in the combination.

Returns:: SUCCESSFUL_RETURN

References Vector::append(), VectorspaceElement::getDim(), and uint.

Referenced by ImplicitRungeKuttaExport::initializeCoefficients().

returnValue RungeKuttaExport::copy ( const RungeKuttaExport & arg ) [protected, virtual, inherited]

Parameters:

[in] arg Right-hand side object.

Returns:: SUCCESSFUL_RETURN

References RungeKuttaExport::AA, RungeKuttaExport::bb, RungeKuttaExport::cc, IntegratorExport::diffs_rhs, IntegratorExport::grid, IntegratorExport::integrate, IntegratorExport::name_diffs_rhs, IntegratorExport::name_rhs, RungeKuttaExport::numStages, IntegratorExport::rhs, RungeKuttaExport::rk_kkk, IntegratorExport::rk_ttt, IntegratorExport::rk_xxx, and SUCCESSFUL_RETURN.

Referenced by ExplicitRungeKuttaExport::ExplicitRungeKuttaExport(), RungeKuttaExport::operator=(), and RungeKuttaExport::RungeKuttaExport().

returnValue ExportAlgorithm::copy ( const ExportAlgorithm & arg ) [protected, inherited]

Parameters:

[in] arg Right-hand side object.

Returns:: SUCCESSFUL_RETURN

References ExportAlgorithm::commonHeaderName, ExportAlgorithm::N, ExportAlgorithm::NP, ExportAlgorithm::NU, ExportAlgorithm::NX, ExportAlgorithm::NXA, ExportAlgorithm::NY, and SUCCESSFUL_RETURN.

Referenced by ExportAlgorithm::ExportAlgorithm(), and ExportAlgorithm::operator=().

returnValue IntegratorExport::copy ( const IntegratorExport & arg ) [protected, virtual, inherited]

Parameters:

[in] arg Right-hand side object.

Returns:: SUCCESSFUL_RETURN

References IntegratorExport::crsFormat, IntegratorExport::exportRhs, IntegratorExport::grid, IntegratorExport::integrate, IntegratorExport::numSteps, and SUCCESSFUL_RETURN.

returnValue ImplicitRungeKuttaExport::copy ( const ImplicitRungeKuttaExport & arg ) [protected, virtual, inherited]

Parameters:

[in] arg Right-hand side object.

Returns:: SUCCESSFUL_RETURN

Referenced by AdjointIRKExport::operator=(), ForwardIRKExport::operator=(), and ImplicitRungeKuttaExport::operator=().

Vector ImplicitRungeKuttaExport::divideMeasurements ( uint index ) [protected, inherited]

Parameters:

[in] index The index of the continuous output for which the division of measurements is returned.

Returns:: The division of measurements over the integration steps, corresponding the given continuous output.

References IntegratorExport::getIntegrationInterval(), Grid::getNumIntervals(), IntegratorExport::grid, IntegratorExport::outputGrids, uint, and zeros().

Referenced by ImplicitRungeKuttaExport::prepareOutputEvaluation().

BooleanType IntegratorExport::equidistantControlGrid ( ) const [virtual, inherited]

Returns:: BT_TRUE iff the grid is equidistant, BT_FALSE otherwise.

References VectorspaceElement::isEmpty(), and IntegratorExport::numSteps.

Referenced by AdjointIRKExport::getCode(), ForwardIRKExport::getCode(), DiscreteTimeExport::getCode(), ImplicitRungeKuttaExport::getCode(), AdjointIRKExport::getDataDeclarations(), ForwardIRKExport::getDataDeclarations(), ForwardIRKExport::sensitivitiesInputSystem(), AdjointIRKExport::sensitivitiesInputSystem(), DiagonallyImplicitRKExport::sensitivitiesOutputSystem(), ForwardIRKExport::sensitivitiesOutputSystem(), AdjointIRKExport::sensitivitiesOutputSystem(), NARXExport::setup(), ExplicitRungeKuttaExport::setup(), DiscreteTimeExport::setup(), ForwardIRKExport::setup(), AdjointIRKExport::setup(), ImplicitRungeKuttaExport::setup(), and SIMexport::setup().

Vector ImplicitRungeKuttaExport::evaluateDerivedPolynomial ( double time ) [protected, inherited]

Parameters:

[in] time The point in the interval (0,1] for which the coefficients are returned.

Returns:: Coefficients of the polynomial, corresponding the given grid point

References RungeKuttaExport::cc, RungeKuttaExport::numStages, and uint.

Referenced by ImplicitRungeKuttaExport::evaluateDerivedPolynomial(), ImplicitRungeKuttaExport::generateOutput(), ForwardIRKExport::getCode(), AdjointIRKExport::getCode(), ImplicitRungeKuttaExport::getCode(), ImplicitRungeKuttaExport::prepareOutputEvaluation(), ForwardIRKExport::sensitivitiesImplicitSystem(), AdjointIRKExport::sensitivitiesImplicitSystem(), DiagonallyImplicitRKExport::sensitivitiesImplicitSystem(), ForwardIRKExport::sensitivitiesOutputs(), and AdjointIRKExport::sensitivitiesOutputs().

returnValue ImplicitRungeKuttaExport::evaluateDerivedPolynomial	(	ExportStatementBlock &	block,
		const ExportVariable &	variable,
		const ExportVariable &	grid
	)		`[protected, inherited]`

Parameters:

[in]	block	The block to which the code will be exported.
[in]	variable	The variable containing the coefficients of the polynomial.
[in]	grid	The variable containing the grid point for the specific output.

Returns:: SUCCESSFUL_RETURN

References ExportStatementBlock::addStatement(), RungeKuttaExport::cc, ExportData::getFullName(), ExportData::getName(), RungeKuttaExport::numStages, SUCCESSFUL_RETURN, and uint.

Matrix ImplicitRungeKuttaExport::evaluateDerivedPolynomial ( uint index ) [protected, inherited]

Parameters:

[in] index The index of the continuous output for which the coefficients are returned.

Returns:: Coefficients of the derived polynomial, corresponding the given continuous output

References ImplicitRungeKuttaExport::evaluateDerivedPolynomial(), Grid::getFirstTime(), IntegratorExport::getIntegrationInterval(), Grid::getLastTime(), Grid::getTime(), IntegratorExport::grid, MEASUREMENT_GRID, RungeKuttaExport::numStages, OFFLINE_GRID, IntegratorExport::outputGrids, Matrix::setRow(), ImplicitRungeKuttaExport::totalMeas, and uint.

returnValue DiagonallyImplicitRKExport::evaluateMatrix	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	tmp_index,
		const ExportVariable &	Ah,
		const ExportVariable &	C,
		BooleanType	evaluateB,
		BooleanType	DERIVATIVES
	)		`[virtual, inherited]`

Parameters:

[in]	block	The block to which the code will be exported.
[in]	index1	The loop index of the outer loop.
[in]	index2	The loop index of the inner loop.
[in]	tmp_index	A temporary index to be used.
[in]	Ah	The matrix A of the IRK method, multiplied by the step size h.
[in]	evaluateB	True if the right-hand side of the linear system should also be evaluated, false otherwise.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

References ExportStatementBlock::addFunctionCall(), ExportStatementBlock::addStatement(), DiagonallyImplicitRKExport::evaluateRhsImplicitSystem(), DiagonallyImplicitRKExport::evaluateStatesImplicitSystem(), ExportArgument::getAddress(), IntegratorExport::getNameDiffsRHS(), ExportVariable::getSubMatrix(), ImplicitRungeKuttaExport::NDX2, ImplicitRungeKuttaExport::NVARS2, IntegratorExport::NX1, IntegratorExport::NX2, ExportAlgorithm::NXA, ImplicitRungeKuttaExport::rk_A, IntegratorExport::rk_diffsTemp2, IntegratorExport::rk_xxx, SUCCESSFUL_RETURN, and zeros().

Referenced by DiagonallyImplicitRKExport::solveImplicitSystem().

Vector ImplicitRungeKuttaExport::evaluatePolynomial ( double time ) [protected, inherited]

Parameters:

[in] time The point in the interval (0,1] for which the coefficients are returned.

Returns:: Coefficients of the polynomial, corresponding the given grid point

References ImplicitRungeKuttaExport::coeffs, RungeKuttaExport::numStages, pow(), and uint.

Referenced by ImplicitRungeKuttaExport::evaluatePolynomial(), ImplicitRungeKuttaExport::generateOutput(), ImplicitRungeKuttaExport::prepareOutputEvaluation(), ForwardIRKExport::sensitivitiesOutputs(), and AdjointIRKExport::sensitivitiesOutputs().

returnValue ImplicitRungeKuttaExport::evaluatePolynomial	(	ExportStatementBlock &	block,
		const ExportVariable &	variable,
		const ExportVariable &	grid,
		const String &	h
	)		`[protected, inherited]`

Parameters:

[in]	block	The block to which the code will be exported.
[in]	variable	The variable containing the coefficients of the polynomial.
[in]	grid	The variable containing the grid point for the specific output.
[in]	h	The integration step size.

Returns:: SUCCESSFUL_RETURN

References ExportStatementBlock::addStatement(), ImplicitRungeKuttaExport::coeffs, ExportData::getFullName(), ExportVariable::getRow(), RungeKuttaExport::numStages, ImplicitRungeKuttaExport::polynEvalVar, SUCCESSFUL_RETURN, and uint.

Matrix ImplicitRungeKuttaExport::evaluatePolynomial ( uint index ) [protected, inherited]

Parameters:

[in] index The index of the continuous output for which the coefficients are returned.

Returns:: Coefficients of the polynomial, corresponding the given continuous output

References ImplicitRungeKuttaExport::evaluatePolynomial(), Grid::getFirstTime(), IntegratorExport::getIntegrationInterval(), Grid::getLastTime(), Grid::getTime(), IntegratorExport::grid, MEASUREMENT_GRID, RungeKuttaExport::numStages, OFFLINE_GRID, IntegratorExport::outputGrids, Matrix::setRow(), ImplicitRungeKuttaExport::totalMeas, and uint.

returnValue DiagonallyImplicitRKExport::evaluateRhsImplicitSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	stage
	)		`[virtual, inherited]`

Parameters:

[in]	block	The block to which the code will be exported.
[in]	index	The loop index, defining the stage.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

References ExportStatementBlock::addFunctionCall(), ExportStatementBlock::addStatement(), ExportArgument::getAddress(), IntegratorExport::getNameRHS(), Matrix::getRows(), ExportVariable::getRows(), ExportVariable::getSubMatrix(), ImplicitRungeKuttaExport::NDX2, IntegratorExport::NX1, IntegratorExport::NX2, ExportAlgorithm::NXA, ImplicitRungeKuttaExport::rk_b, RungeKuttaExport::rk_kkk, ImplicitRungeKuttaExport::rk_rhsTemp, IntegratorExport::rk_xxx, SUCCESSFUL_RETURN, and zeros().

Referenced by DiagonallyImplicitRKExport::evaluateMatrix(), and DiagonallyImplicitRKExport::solveImplicitSystem().

returnValue DiagonallyImplicitRKExport::evaluateStatesImplicitSystem	(	ExportStatementBlock *	block,
		const ExportVariable &	Ah,
		const ExportVariable &	C,
		const ExportIndex &	stage,
		const ExportIndex &	i,
		const ExportIndex &	j
	)		`[virtual, inherited]`

Parameters:

[in]	block	The block to which the code will be exported.
[in]	Ah	The matrix A of the IRK method, multiplied by the step size h.
[in]	index	The loop index, defining the stage.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

References ExportStatementBlock::addStatement(), IntegratorExport::diffsDim, ExportVariable::getCol(), ExportVariable::getDim(), ExportVariable::getSubMatrix(), IntegratorExport::inputDim, ImplicitRungeKuttaExport::NDX2, ExportAlgorithm::NX, IntegratorExport::NX1, IntegratorExport::NX2, ExportAlgorithm::NXA, IntegratorExport::rk_eta, RungeKuttaExport::rk_kkk, IntegratorExport::rk_xxx, and SUCCESSFUL_RETURN.

Referenced by DiagonallyImplicitRKExport::evaluateMatrix(), and DiagonallyImplicitRKExport::solveImplicitSystem().

returnValue ImplicitRungeKuttaExport::evaluateStatesOutputSystem	(	ExportStatementBlock *	block,
		const ExportVariable &	Ah,
		const ExportIndex &	stage
	)		`[protected, inherited]`

Parameters:

[in]	block	The block to which the code will be exported.
[in]	Ah	The matrix A of the IRK method, multiplied by the step size h.
[in]	index	The loop index, defining the stage.

Returns:: SUCCESSFUL_RETURN

References ExportStatementBlock::addStatement(), IntegratorExport::diffsDim, ExportVariable::getCol(), ExportVariable::getSubMatrix(), IntegratorExport::inputDim, IntegratorExport::NDX3, RungeKuttaExport::numStages, ExportAlgorithm::NX, IntegratorExport::NX1, IntegratorExport::NX2, IntegratorExport::NX3, IntegratorExport::NXA3, IntegratorExport::rk_eta, RungeKuttaExport::rk_kkk, IntegratorExport::rk_xxx, SUCCESSFUL_RETURN, and uint.

Referenced by DiagonallyImplicitRKExport::solveOutputSystem(), and ImplicitRungeKuttaExport::solveOutputSystem().

Matrix IntegratorExport::expandOutputMatrix ( const Matrix & A3 ) [protected, inherited]

Parameters:

[in] A3 .

Returns:: SUCCESSFUL_RETURN

References ExportAlgorithm::NX, IntegratorExport::NX3, uint, and zeros().

Referenced by IntegratorExport::setLinearOutput(), and NARXExport::setLinearOutput().

Matrix DiagonallyImplicitRKExport::formMatrix	(	const Matrix &	mass,
		const Matrix &	jacobian
	)		`[virtual, inherited]`

Parameters:

[in]	jacobian	given constant Jacobian matrix
[in]	mass	given constant mass matrix

Returns:: SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

References RungeKuttaExport::AA, Grid::getFirstTime(), Matrix::getInverse(), Grid::getLastTime(), Matrix::getNumCols(), Grid::getNumIntervals(), Matrix::getNumRows(), IntegratorExport::grid, jacobian(), RungeKuttaExport::numStages, RET_UNABLE_TO_EXPORT_CODE, uint, and zeros().

Referenced by DiagonallyImplicitRKExport::prepareInputSystem(), and DiagonallyImplicitRKExport::prepareOutputSystem().

returnValue ImplicitRungeKuttaExport::generateOutput	(	ExportStatementBlock *	block,
		const ExportIndex &	index0,
		const ExportIndex &	index1,
		const ExportIndex &	tmp_index1,
		const ExportIndex &	tmp_index2,
		const ExportVariable &	tmp_meas,
		const ExportVariable &	time_tmp,
		const uint	directions
	)		`[protected, inherited]`

Parameters:

[in]	block	The block to which the code will be exported.
[in]	tmp_meas	The number of measurements in the current integration step (in case of an online grid).
[in]	rk_tPrev	The time point, defining the beginning of the current integration step (in case of an online grid).
[in]	time_tmp	A variable used for time transformations (in case of an online grid).

Returns:: SUCCESSFUL_RETURN

Referenced by AdjointIRKExport::getCode(), ForwardIRKExport::getCode(), and ImplicitRungeKuttaExport::getCode().

returnValue AlgorithmicBase::get	(	OptionsName	name,
		int &	value
	)		const `[inline, inherited]`

Parameters:

[in]	name	Name of option item.
[out]	value	Value of option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS

References Options::get(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::get	(	OptionsName	name,
		double &	value
	)		const `[inline, inherited]`

Parameters:

[in]	name	Name of option item.
[out]	value	Value of option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS

References Options::get(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::get	(	uint	idx,
		OptionsName	name,
		int &	value
	)		const `[inline, inherited]`

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of option item.
[out]	value	Value of option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_INDEX_OUT_OF_BOUNDS

References Options::get(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::get	(	uint	idx,
		OptionsName	name,
		double &	value
	)		const `[inline, inherited]`

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of option item.
[out]	value	Value of option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_INDEX_OUT_OF_BOUNDS

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.

Parameters:

[in]	_name	Internal name of item.
[out]	values	All numerical values at all time instants of given item.

Returns:: SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

References Logging::getAll(), and AlgorithmicBase::userInteraction.

ExportVariable ForwardIRKExport::getAuxVariable ( ) const [protected, virtual, inherited]

Returns:: SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

References IntegratorExport::diffs_outputs, IntegratorExport::diffs_rhs, IntegratorExport::diffs_rhs3, ExportVariable::getDim(), ExportAcadoFunction::getGlobalExportVariable(), IntegratorExport::lin_input, max(), IntegratorExport::NX1, IntegratorExport::NX2, IntegratorExport::NX3, ExportAlgorithm::NXA, IntegratorExport::outputs, IntegratorExport::rhs, IntegratorExport::rhs3, and uint.

Referenced by ForwardIRKExport::getCode().

returnValue ForwardIRKExport::getCode ( ExportStatementBlock & code ) [virtual, inherited]

Parameters:

[in] code Code block containing the auto-generated integrator.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

returnValue ForwardIRKExport::getCRSIndex	(	uint	output,
		ExportIndex	row,
		ExportIndex	col
	)		`[protected, inherited]`

Parameters:

[in]	output	The number of the output function.
[in]	row	The number of the row, corresponding the element of interest.
[in]	col	The number of the column, corresponding the element of interest.

Returns:: The CRS index.

Reimplemented from ImplicitRungeKuttaExport.

returnValue ForwardIRKExport::getDataDeclarations	(	ExportStatementBlock &	declarations,
		ExportStruct	dataStruct = `ACADO_ANY`
	)		const `[virtual, inherited]`

Parameters:

[in] declarations List of declarations.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

References ExportStatementBlock::addDeclaration(), ImplicitRungeKuttaExport::CONTINUOUS_OUTPUT, IntegratorExport::equidistantControlGrid(), Grid::getNumIntervals(), IntegratorExport::grid, ImplicitRungeKuttaExport::rk_diffK, IntegratorExport::rk_diffsNew1, IntegratorExport::rk_diffsNew2, IntegratorExport::rk_diffsNew3, ImplicitRungeKuttaExport::rk_diffsOutputTemp, IntegratorExport::rk_diffsPrev1, IntegratorExport::rk_diffsPrev2, IntegratorExport::rk_diffsPrev3, ImplicitRungeKuttaExport::rk_diffsTemp3, and SUCCESSFUL_RETURN.

Referenced by ForwardIRKExport::getCode().

uint IntegratorExport::getDimOUTPUT ( uint index ) const [inherited]

References IntegratorExport::exportRhs, IntegratorExport::num_outputs, and IntegratorExport::outputExpressions.

Referenced by ImplicitRungeKuttaExport::generateOutput(), ForwardIRKExport::propagateOutputs(), AdjointIRKExport::propagateOutputs(), AdjointIRKExport::sensitivitiesOutputs(), and ForwardIRKExport::sensitivitiesOutputs().

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.

Parameters:

[in]	_name	Internal name of item.
[out]	firstValue	Numerical value at first time instant of given item.

Returns:: SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

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.

Parameters:

[in]	_name	Internal name of item.
[out]	firstValue	Numerical value at first time instant of given item.

Returns:: SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

References Logging::getFirst(), and AlgorithmicBase::userInteraction.

returnValue ForwardIRKExport::getFunctionDeclarations ( ExportStatementBlock & declarations ) const [virtual, inherited]

Parameters:

[in] declarations List of declarations.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

References ExportStatementBlock::addDeclaration(), ImplicitRungeKuttaExport::CONTINUOUS_OUTPUT, IntegratorExport::exportRhs, IntegratorExport::getNameDiffsOUTPUT(), IntegratorExport::getNameDiffsRHS(), IntegratorExport::getNameOutputDiffs(), IntegratorExport::name_outputs, IntegratorExport::NX3, SUCCESSFUL_RETURN, uint, and zeros().

returnValue IntegratorExport::getGrid ( Grid & grid_ ) const [virtual, inherited]

Returns:: SUCCESSFUL_RETURN

References IntegratorExport::grid, and SUCCESSFUL_RETURN.

uint IntegratorExport::getIntegrationInterval ( double time ) [protected, inherited]

Parameters:

[in] time The time.

Returns:: The index of the integration interval.

References Grid::getFirstTime(), Grid::getLastTime(), Grid::getNumIntervals(), Grid::getTime(), IntegratorExport::grid, and uint.

Referenced by ImplicitRungeKuttaExport::divideMeasurements(), ImplicitRungeKuttaExport::evaluateDerivedPolynomial(), and ImplicitRungeKuttaExport::evaluatePolynomial().

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.

Parameters:

[in]	_name	Internal name of item.
[out]	lastValue	Numerical value at last time instant of given item.

Returns:: SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

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.

Parameters:

[in]	_name	Internal name of item.
[out]	lastValue	Numerical value at last time instant of given item.

Returns:: SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

References Logging::getLast(), and AlgorithmicBase::userInteraction.

uint ExportAlgorithm::getN ( ) const [inherited]

Returns:: Number of control intervals

References ExportAlgorithm::N.

Referenced by ExportNLPSolver::setupResidualVariables(), and ExportNLPSolver::setupSimulation().

const String IntegratorExport::getNameDiffsOUTPUT ( uint index ) const [inherited]

References IntegratorExport::diffs_outputs, IntegratorExport::exportRhs, and IntegratorExport::name_diffs_outputs.

Referenced by AdjointIRKExport::getFunctionDeclarations(), ForwardIRKExport::getFunctionDeclarations(), ForwardIRKExport::sensitivitiesOutputs(), and AdjointIRKExport::sensitivitiesOutputs().

const String IntegratorExport::getNameDiffsRHS ( ) const [inherited]

References IntegratorExport::diffs_rhs, IntegratorExport::exportRhs, ExportFunction::getName(), and IntegratorExport::name_diffs_rhs.

Referenced by DiagonallyImplicitRKExport::evaluateMatrix(), ImplicitRungeKuttaExport::evaluateMatrix(), ForwardIRKExport::getFunctionDeclarations(), AdjointIRKExport::getFunctionDeclarations(), ExplicitRungeKuttaExport::getFunctionDeclarations(), DiscreteTimeExport::getFunctionDeclarations(), ExplicitRungeKuttaExport::setup(), and DiscreteTimeExport::setup().

const String IntegratorExport::getNameFullRHS ( ) const [virtual, inherited]

References IntegratorExport::fullRhs, ExportFunction::getName(), IntegratorExport::getNameRHS(), ExportAlgorithm::NX, and IntegratorExport::NX2.

Referenced by SIMexport::exportCode().

const String IntegratorExport::getNameOUTPUT ( uint index ) const [inherited]

References IntegratorExport::exportRhs, IntegratorExport::name_outputs, and IntegratorExport::outputs.

Referenced by ImplicitRungeKuttaExport::generateOutput(), and ImplicitRungeKuttaExport::getFunctionDeclarations().

const String IntegratorExport::getNameOutputDiffs ( ) const [inherited]

References IntegratorExport::diffs_rhs3, IntegratorExport::exportRhs, ExportFunction::getName(), and IntegratorExport::name_diffs_rhs3.

Referenced by AdjointIRKExport::getFunctionDeclarations(), ForwardIRKExport::getFunctionDeclarations(), NARXExport::setup(), DiscreteTimeExport::setup(), DiagonallyImplicitRKExport::solveOutputSystem(), and ImplicitRungeKuttaExport::solveOutputSystem().

const String IntegratorExport::getNameOutputRHS ( ) const [inherited]

References IntegratorExport::exportRhs, ExportFunction::getName(), IntegratorExport::name_rhs3, and IntegratorExport::rhs3.

Referenced by ImplicitRungeKuttaExport::getFunctionDeclarations(), NARXExport::prepareFullRhs(), IntegratorExport::prepareFullRhs(), ImplicitRungeKuttaExport::prepareFullRhs(), NARXExport::setup(), DiscreteTimeExport::setup(), DiagonallyImplicitRKExport::solveOutputSystem(), and ImplicitRungeKuttaExport::solveOutputSystem().

const String IntegratorExport::getNameRHS ( ) const [inherited]

References IntegratorExport::exportRhs, ExportFunction::getName(), IntegratorExport::name_rhs, and IntegratorExport::rhs.

Referenced by DiagonallyImplicitRKExport::evaluateRhsImplicitSystem(), ImplicitRungeKuttaExport::evaluateRhsImplicitSystem(), ExplicitRungeKuttaExport::getFunctionDeclarations(), DiscreteTimeExport::getFunctionDeclarations(), ImplicitRungeKuttaExport::getFunctionDeclarations(), IntegratorExport::getNameFullRHS(), NARXExport::prepareFullRhs(), IntegratorExport::prepareFullRhs(), ImplicitRungeKuttaExport::prepareFullRhs(), and DiscreteTimeExport::setup().

uint ExportAlgorithm::getNDX ( ) const [inherited]

Returns:: The requested number of differential state derivatives

uint ExportAlgorithm::getNP ( ) const [inherited]

Returns:: Number of parameters

References ExportAlgorithm::NP.

Referenced by ExportNLPSolver::setupSimulation().

uint ExportAlgorithm::getNU ( ) const [inherited]

Returns:: Number of control inputs

References ExportAlgorithm::NU.

Referenced by ExportGaussNewtonCN2::setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), ExportGaussNewtonCN2::setupConstraintsEvaluation(), ExportGaussNewtonCondensed::setupConstraintsEvaluation(), and ExportNLPSolver::setupSimulation().

uint ImplicitRungeKuttaExport::getNumIts ( ) const [protected, inherited]

Returns:: The performed number of Newton iterations.

References ImplicitRungeKuttaExport::numIts.

uint ImplicitRungeKuttaExport::getNumItsInit ( ) const [protected, inherited]

Returns:: The performed number of Newton iterations for the initialization of the first step.

References ImplicitRungeKuttaExport::numItsInit.

uint RungeKuttaExport::getNumStages ( ) [inherited]

References RungeKuttaExport::numStages.

Referenced by ExplicitRungeKuttaExport::setup().

returnValue IntegratorExport::getNumSteps ( Vector & _numSteps ) const [virtual, inherited]

Returns:: SUCCESSFUL_RETURN

References IntegratorExport::numSteps, and SUCCESSFUL_RETURN.

uint ExportAlgorithm::getNX ( ) const [inherited]

Returns:: Number of differential states

References ExportAlgorithm::NX.

Referenced by ExportNLPSolver::setupArrivalCostCalculation(), ExportNLPSolver::setupAuxiliaryFunctions(), ExportGaussNewtonCN2::setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), ExportGaussNewtonCondensed::setupConstraintsEvaluation(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), ExportGaussNewtonCN2::setupObjectiveEvaluation(), ExportGaussNewtonCondensed::setupObjectiveEvaluation(), and ExportNLPSolver::setupSimulation().

uint ExportAlgorithm::getNXA ( ) const [inherited]

Returns:: Number of algebraic states

References ExportAlgorithm::NXA.

Referenced by ExportNLPSolver::setupSimulation().

uint ExportAlgorithm::getNY ( ) const [inherited]

References ExportAlgorithm::NY.

Referenced by ExportNLPSolver::setupAuxiliaryFunctions(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), ExportGaussNewtonCN2::setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), ExportGaussNewtonCondensed::setupObjectiveEvaluation(), and ExportNLPSolver::setupResidualVariables().

uint ExportAlgorithm::getNYN ( ) const [inherited]

References ExportAlgorithm::NYN.

Referenced by ExportNLPSolver::setObjective(), ExportNLPSolver::setupAuxiliaryFunctions(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), ExportGaussNewtonCN2::setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), ExportGaussNewtonCondensed::setupObjectiveEvaluation(), and ExportNLPSolver::setupResidualVariables().

Options AlgorithmicBase::getOptions ( uint idx ) const [inherited]

Parameters:

[in] idx Index of option list.

Returns:: Options object containing exactly the option list with given index

References Options::getOptions(), and AlgorithmicBase::userInteraction.

Referenced by ShootingMethod::evaluate().

returnValue IntegratorExport::getOutputExpressions ( std::vector< Expression > & outputExpressions_ ) const [virtual, inherited]

Returns:: SUCCESSFUL_RETURN

References IntegratorExport::outputExpressions, and SUCCESSFUL_RETURN.

returnValue IntegratorExport::getOutputGrids ( std::vector< Grid > & outputGrids_ ) const [virtual, inherited]

Returns:: SUCCESSFUL_RETURN

References IntegratorExport::outputGrids, and SUCCESSFUL_RETURN.

BooleanType AlgorithmicBase::haveOptionsChanged ( ) const [inline, inherited]

Returns:: BT_TRUE iff options have been modified,
BT_FALSE otherwise

References Options::haveOptionsChanged(), and AlgorithmicBase::userInteraction.

BooleanType AlgorithmicBase::haveOptionsChanged ( uint idx ) const [inline, inherited]

Parameters:

[in] idx Index of option list.

Returns:: BT_TRUE iff options have been modified,
BT_FALSE otherwise

References Options::haveOptionsChanged(), and AlgorithmicBase::userInteraction.

returnValue RungeKuttaExport::initializeButcherTableau	(	const Matrix &	_AA,
		const Vector &	_bb,
		const Vector &	_cc
	)		`[inherited]`

returnValue ImplicitRungeKuttaExport::initializeCoefficients ( ) [protected, inherited]

Returns:: SUCCESSFUL_RETURN

References RungeKuttaExport::cc, ImplicitRungeKuttaExport::coeffs, ImplicitRungeKuttaExport::computeCombinations(), VectorspaceElement::getDim(), RungeKuttaExport::numStages, SUCCESSFUL_RETURN, and uint.

Referenced by AdjointIRKExport::getCode(), ForwardIRKExport::getCode(), and ImplicitRungeKuttaExport::getCode().

returnValue ImplicitRungeKuttaExport::initializeDDMatrix ( ) [protected, inherited]

Returns:: SUCCESSFUL_RETURN

References RungeKuttaExport::cc, ImplicitRungeKuttaExport::DD, RungeKuttaExport::numStages, SUCCESSFUL_RETURN, and uint.

Referenced by AdjointIRKExport::getCode(), ForwardIRKExport::getCode(), and ImplicitRungeKuttaExport::getCode().

FILE * ExportAlgorithm::openFile	(	const String &	dirName,
		const String &	fileName
	)		const `[inherited]`

Parameters:

[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.

Returns:: Pointer to prepared file with given name,
NULL iff file could not be opened

References acadoFOpen(), acadoFPrintf(), acadoPrintAutoGenerationNotice(), BT_FALSE, ExportAlgorithm::commonHeaderName, String::getName(), and String::isEmpty().

returnValue AlgorithmicBase::plot ( PlotFrequency _frequency = PLOT_IN_ANY_CASE ) [inline, inherited]

Parameters:

[in] _frequency Frequency determining at which time instants the window is to be plotted.

Returns:: SUCCESSFUL_RETURN

References Plotting::plot(), and AlgorithmicBase::userInteraction.

returnValue ImplicitRungeKuttaExport::prepareFullRhs ( ) [protected, virtual, inherited]

returnValue DiagonallyImplicitRKExport::prepareInputSystem ( ExportStatementBlock & code ) [virtual, inherited]

Parameters:

[in] code The block to which the code will be exported.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

References IntegratorExport::A11, RungeKuttaExport::AA, ACADO_LOCAL, ExportStatementBlock::addDeclaration(), IntegratorExport::B11, DiagonallyImplicitRKExport::formMatrix(), Grid::getFirstTime(), Grid::getLastTime(), Grid::getNumIntervals(), IntegratorExport::grid, IntegratorExport::M11, ExportAlgorithm::NU, RungeKuttaExport::numStages, IntegratorExport::NX1, ImplicitRungeKuttaExport::rk_dk1, ImplicitRungeKuttaExport::rk_mat1, STATIC_CONST_REAL, SUCCESSFUL_RETURN, uint, and zeros().

returnValue ImplicitRungeKuttaExport::prepareOutputEvaluation ( ExportStatementBlock & code ) [protected, inherited]

Parameters:

[in] code The block to which the code will be exported.

Returns:: SUCCESSFUL_RETURN

References ExportStatementBlock::addDeclaration(), ImplicitRungeKuttaExport::divideMeasurements(), ImplicitRungeKuttaExport::evaluateDerivedPolynomial(), ImplicitRungeKuttaExport::evaluatePolynomial(), Grid::getFirstTime(), Grid::getLastTime(), Grid::getNumIntervals(), IntegratorExport::grid, MEASUREMENT_GRID, ExportAlgorithm::NDX, ImplicitRungeKuttaExport::numMeasVariables, RungeKuttaExport::numStages, ExportAlgorithm::NXA, OFFLINE_GRID, ONLINE_GRID, IntegratorExport::outputGrids, ImplicitRungeKuttaExport::polynDerVariables, ImplicitRungeKuttaExport::polynVariables, STATIC_CONST_INT, STATIC_CONST_REAL, SUCCESSFUL_RETURN, ImplicitRungeKuttaExport::totalMeas, and uint.

Referenced by AdjointIRKExport::getCode(), ForwardIRKExport::getCode(), and ImplicitRungeKuttaExport::getCode().

returnValue DiagonallyImplicitRKExport::prepareOutputSystem ( ExportStatementBlock & code ) [virtual, inherited]

Parameters:

[in] code The block to which the code will be exported.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

References IntegratorExport::A33, RungeKuttaExport::AA, ACADO_LOCAL, ExportStatementBlock::addDeclaration(), DiagonallyImplicitRKExport::formMatrix(), Grid::getFirstTime(), Grid::getLastTime(), Grid::getNumIntervals(), IntegratorExport::grid, IntegratorExport::M33, RungeKuttaExport::numStages, IntegratorExport::NX3, ImplicitRungeKuttaExport::rk_dk3, ImplicitRungeKuttaExport::rk_mat3, STATIC_CONST_REAL, SUCCESSFUL_RETURN, uint, and zeros().

returnValue AlgorithmicBase::printLogRecord	(	int	idx,
		LogPrintMode	_mode = `PRINT_ITEM_BY_ITEM`
	)		const `[inline, inherited]`

Parameters:

[in]	idx	Index of record to be printed.
[in]	_mode	Print mode: see documentation of LogPrintMode of details.

Returns:: SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS,
RET_INVALID_ARGUMENTS,
RET_UNKNOWN_BUG

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 IntegratorExport::propagateImplicitSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	tmp_index
	)		`[virtual, inherited]`

Parameters:

[in] block The block to which the code will be exported.

Returns:: SUCCESSFUL_RETURN

Reimplemented in NARXExport.

References ExportStatementBlock::addStatement(), ExportVariable::getCol(), ExportVariable::getSubMatrix(), ExportAlgorithm::NU, ExportAlgorithm::NX, IntegratorExport::NX1, IntegratorExport::NX2, ExportAlgorithm::NXA, IntegratorExport::rk_diffsNew2, IntegratorExport::rk_diffsPrev1, IntegratorExport::rk_diffsPrev2, IntegratorExport::rk_eta, and SUCCESSFUL_RETURN.

Referenced by AdjointIRKExport::getCode(), ForwardIRKExport::getCode(), and DiscreteTimeExport::setup().

returnValue IntegratorExport::propagateInputSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	tmp_index
	)		`[virtual, inherited]`

Parameters:

[in] block The block to which the code will be exported.

Returns:: SUCCESSFUL_RETURN

Reimplemented in NARXExport.

References ExportStatementBlock::addStatement(), ExportVariable::getCol(), ExportVariable::getSubMatrix(), ExportAlgorithm::NU, ExportAlgorithm::NX, IntegratorExport::NX1, ExportAlgorithm::NXA, IntegratorExport::rk_diffsNew1, IntegratorExport::rk_diffsPrev1, IntegratorExport::rk_eta, and SUCCESSFUL_RETURN.

Referenced by AdjointIRKExport::getCode(), ForwardIRKExport::getCode(), and DiscreteTimeExport::setup().

returnValue ForwardIRKExport::propagateOutputs	(	ExportStatementBlock *	block,
		const ExportIndex &	index,
		const ExportIndex &	index0,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	tmp_index1,
		const ExportIndex &	tmp_index2,
		const ExportIndex &	tmp_index3,
		const ExportIndex &	tmp_index4,
		const ExportVariable &	tmp_meas
	)		`[protected, virtual, inherited]`

Parameters:

[in]	block	The block to which the code will be exported.
[in]	tmp_meas	The number of measurements in the current integration step (in case of an online grid).

Returns:: SUCCESSFUL_RETURN

References ExportStatementBlock::addStatement(), ExportVariable::get(), ExportVariable::getCol(), IntegratorExport::getDimOUTPUT(), ExportData::getName(), ExportVariable::getSubMatrix(), MEASUREMENT_GRID, ExportAlgorithm::NU, ImplicitRungeKuttaExport::numMeas, ImplicitRungeKuttaExport::numMeasVariables, ExportAlgorithm::NX, IntegratorExport::NX1, IntegratorExport::NX2, OFFLINE_GRID, ImplicitRungeKuttaExport::rk_diffsOutputTemp, IntegratorExport::rk_diffsPrev1, IntegratorExport::rk_diffsPrev2, IntegratorExport::rk_diffsPrev3, ImplicitRungeKuttaExport::rk_outputs, SUCCESSFUL_RETURN, and uint.

Referenced by ForwardIRKExport::getCode().

returnValue IntegratorExport::propagateOutputSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	tmp_index
	)		`[virtual, inherited]`

Parameters:

[in] block The block to which the code will be exported.

Returns:: SUCCESSFUL_RETURN

Reimplemented in NARXExport.

References ExportStatementBlock::addStatement(), ExportVariable::getCol(), ExportVariable::getSubMatrix(), ExportAlgorithm::NU, ExportAlgorithm::NX, IntegratorExport::NX1, IntegratorExport::NX2, IntegratorExport::NX3, ExportAlgorithm::NXA, IntegratorExport::rk_diffsNew3, IntegratorExport::rk_diffsPrev1, IntegratorExport::rk_diffsPrev2, IntegratorExport::rk_diffsPrev3, IntegratorExport::rk_eta, and SUCCESSFUL_RETURN.

Referenced by AdjointIRKExport::getCode(), ForwardIRKExport::getCode(), and DiscreteTimeExport::setup().

returnValue AlgorithmicBase::replot ( PlotFrequency _frequency = PLOT_IN_ANY_CASE ) [inline, inherited]

Parameters:

[in] _frequency Frequency determining at which time instants the window is to be plotted.

Returns:: SUCCESSFUL_RETURN

References Plotting::replot(), and AlgorithmicBase::userInteraction.

Referenced by SCPmethod::printIteration(), SCPmethod::solve(), and SCPmethod::step().

returnValue DiagonallyImplicitRKExport::sensitivitiesImplicitSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	tmp_index1,
		const ExportIndex &	tmp_index2,
		const ExportVariable &	Ah,
		const ExportVariable &	Bh,
		const ExportVariable &	det,
		BooleanType	STATES,
		uint	number
	)		`[virtual, inherited]`

Parameters:

[in]	block	The block to which the code will be exported.
[in]	Ah	The variable containing the internal coefficients of the RK method, multiplied with the step size.
[in]	Bh	The variable containing the weights of the RK method, multiplied with the step size.
[in]	det	The variable that holds the determinant of the matrix in the linear system.
[in]	STATES	True if the sensitivities with respect to a state are needed, false otherwise.
[in]	number	This number defines the stage of the state with respect to which the sensitivities are computed.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

returnValue ForwardIRKExport::sensitivitiesInputSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportVariable &	Bh,
		BooleanType	STATES
	)		`[protected, virtual, inherited]`

Parameters:

[in]	block	The block to which the code will be exported.
[in]	Bh	The variable containing the weights of the RK method, multiplied with the step size.
[in]	STATES	True if the sensitivities with respect to a state are needed, false otherwise.

Returns:: SUCCESSFUL_RETURN

Implements RKSensitivitiesExport.

References ExportStatementBlock::addStatement(), IntegratorExport::equidistantControlGrid(), ExportVariable::get(), ExportData::getName(), Grid::getNumIntervals(), ExportVariable::getRow(), ExportVariable::getRows(), ExportVariable::getSubMatrix(), IntegratorExport::grid, IntegratorExport::NX1, ImplicitRungeKuttaExport::rk_diffK, IntegratorExport::rk_diffsNew1, ImplicitRungeKuttaExport::rk_dk1, and SUCCESSFUL_RETURN.

Referenced by ForwardIRKExport::getCode().

returnValue ForwardIRKExport::sensitivitiesOutputs	(	ExportStatementBlock *	block,
		const ExportIndex &	index0,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	tmp_index1,
		const ExportIndex &	tmp_index2,
		const ExportIndex &	tmp_index3,
		const ExportVariable &	tmp_meas,
		const ExportVariable &	time_tmp,
		BooleanType	STATES,
		uint	base
	)		`[protected, virtual, inherited]`

Parameters:

[in]	block	The block to which the code will be exported.
[in]	tmp_meas	The number of measurements in the current integration step (in case of an online grid).
[in]	rk_tPrev	The time point, defining the beginning of the current integration step (in case of an online grid).
[in]	time_tmp	A variable used for time transformations (in case of an online grid).
[in]	STATES	True if the sensitivities with respect to a state are needed, false otherwise.
[in]	base	The number of states in stages with respect to which the sensitivities have already been computed.

Returns:: SUCCESSFUL_RETURN

Implements RKSensitivitiesExport.

Referenced by ForwardIRKExport::getCode().

returnValue DiagonallyImplicitRKExport::sensitivitiesOutputSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	index4,
		const ExportIndex &	tmp_index1,
		const ExportIndex &	tmp_index2,
		const ExportVariable &	Ah,
		const ExportVariable &	Bh,
		BooleanType	STATES,
		uint	number
	)		`[virtual, inherited]`

Parameters:

[in]	block	The block to which the code will be exported.
[in]	Ah	The variable containing the internal coefficients of the RK method, multiplied with the step size.
[in]	Bh	The variable containing the weights of the RK method, multiplied with the step size.
[in]	STATES	True if the sensitivities with respect to a state are needed, false otherwise.
[in]	number	This number defines the stage of the state with respect to which the sensitivities are computed.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ForwardIRKExport.

References IntegratorExport::A33, acadoRoundAway(), ExportStatementBlock::addStatement(), IntegratorExport::equidistantControlGrid(), ExportVariable::get(), ExportData::getName(), Grid::getNumIntervals(), ExportVariable::getRow(), ExportVariable::getRows(), ExportVariable::getSubMatrix(), IntegratorExport::grid, IntegratorExport::NDX3, RungeKuttaExport::numStages, ImplicitRungeKuttaExport::NVARS3, ExportAlgorithm::NX, IntegratorExport::NX1, IntegratorExport::NX2, IntegratorExport::NX3, ExportAlgorithm::NXA, IntegratorExport::NXA3, ImplicitRungeKuttaExport::rk_b, ImplicitRungeKuttaExport::rk_diffK, IntegratorExport::rk_diffsNew3, ImplicitRungeKuttaExport::rk_diffsTemp3, ImplicitRungeKuttaExport::rk_dk3, ImplicitRungeKuttaExport::rk_mat3, ImplicitRungeKuttaExport::rk_rhsTemp, SUCCESSFUL_RETURN, and uint.

returnValue AlgorithmicBase::set	(	OptionsName	name,
		int	value
	)		`[inherited]`

Parameters:

[in]	name	Name of option item.
[in]	value	New value of option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_OPTIONS_LIST_CORRUPTED

References Options::set(), and AlgorithmicBase::userInteraction.

Referenced by SCPmethod::initializeHessianProjection().

returnValue AlgorithmicBase::set	(	OptionsName	name,
		double	value
	)		`[inherited]`

Parameters:

[in]	name	Name of option item.
[in]	value	New value of option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_OPTIONS_LIST_CORRUPTED

References Options::set(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::set	(	uint	idx,
		OptionsName	name,
		int	value
	)		`[inherited]`

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of option item.
[in]	value	New value of option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_OPTIONS_LIST_CORRUPTED,
RET_INDEX_OUT_OF_BOUNDS

References Options::set(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::set	(	uint	idx,
		OptionsName	name,
		double	value
	)		`[inherited]`

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of option item.
[in]	value	New value of option.

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_OPTIONS_LIST_CORRUPTED,
RET_INDEX_OUT_OF_BOUNDS

References Options::set(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::setAll	(	LogName	_name,
		const MatrixVariablesGrid &	values
	)		`[inline, inherited]`

Parameters:

[in]	_name	Internal name of item.
[in]	values	All numerical values at all time instants of given item.

Returns:: SUCCESSFUL_RETURN,
RET_LOG_COLLECTION_CORRUPTED

References Logging::logCollection, LogCollection::setAll(), and AlgorithmicBase::userInteraction.

returnValue ImplicitRungeKuttaExport::setDifferentialEquation ( const Expression & rhs ) [virtual, inherited]

Parameters:

[in] rhs Right-hand side expression.

Returns:: SUCCESSFUL_RETURN

Implements RungeKuttaExport.

References ACADOERROR, BT_TRUE, Control::clearStaticCounters(), AlgebraicState::clearStaticCounters(), Parameter::clearStaticCounters(), DifferentialStateDerivative::clearStaticCounters(), DifferentialState::clearStaticCounters(), IntegratorExport::diffs_rhs, IntegratorExport::dx, forwardDerivative(), Expression::getDim(), Function::getNDX(), Function::getNT(), ExportAcadoFunction::init(), ExportAlgorithm::NDX, ImplicitRungeKuttaExport::NDX2, ExportAlgorithm::NP, ExportAlgorithm::NU, ExportAlgorithm::NX, IntegratorExport::NX1, IntegratorExport::NX2, ExportAlgorithm::NXA, IntegratorExport::p, RET_INVALID_OPTION, IntegratorExport::rhs, SUCCESSFUL_RETURN, IntegratorExport::timeDependant, IntegratorExport::u, uint, IntegratorExport::x, and IntegratorExport::z.

returnValue ExportAlgorithm::setDimensions	(	uint	_NX = `0`,
		uint	_NU = `0`,
		uint	_NP = `0`,
		uint	_NI = `0`
	)		`[inherited]`

Parameters:

[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!)

Returns:: SUCCESSFUL_RETURN

Referenced by ExportAlgorithm::ExportAlgorithm(), and IntegratorExport::setModelData().

returnValue ExportAlgorithm::setDimensions	(	uint	_NX,
		uint	_NDX,
		uint	_NXA,
		uint	_NU,
		uint	_NP,
		uint	_NI
	)		`[inherited]`

Parameters:

[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!)

Returns:: SUCCESSFUL_RETURN

References ExportAlgorithm::N, ExportAlgorithm::NDX, ExportAlgorithm::NP, ExportAlgorithm::NU, ExportAlgorithm::NX, ExportAlgorithm::NXA, and SUCCESSFUL_RETURN.

returnValue IntegratorExport::setGrid ( const Grid & _grid ) [virtual, inherited]

Parameters:

[in] _grid integration grid

Returns:: SUCCESSFUL_RETURN

References IntegratorExport::grid, and SUCCESSFUL_RETURN.

returnValue AlgorithmicBase::setLast	(	LogName	_name,
		int	lastValue,
		double	time = `-INFTY`
	)		`[inline, inherited]`

Parameters:

[in]	_name	Internal name of item.
[in]	lastValue	Numerical value at last time instant of given item.
[in]	time	Time label of the instant.

Returns:: SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

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]`

Parameters:

[in]	_name	Internal name of item.
[in]	lastValue	Numerical value at last time instant of given item.
[in]	time	Time label of the instant.

Returns:: SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

References Logging::logCollection, LogCollection::setLast(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::setLast	(	LogName	_name,
		const Vector &	lastValue,
		double	time = `-INFTY`
	)		`[inline, inherited]`

Parameters:

[in]	_name	Internal name of item.
[in]	lastValue	Numerical value at last time instant of given item.
[in]	time	Time label of the instant.

Returns:: SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

References Logging::logCollection, LogCollection::setLast(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::setLast	(	LogName	_name,
		const Matrix &	lastValue,
		double	time = `-INFTY`
	)		`[inline, inherited]`

Parameters:

[in]	_name	Internal name of item.
[in]	lastValue	Numerical value at last time instant of given item.
[in]	time	Time label of the instant.

Returns:: SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

References Logging::logCollection, LogCollection::setLast(), and AlgorithmicBase::userInteraction.

returnValue AlgorithmicBase::setLast	(	LogName	_name,
		const VariablesGrid &	lastValue,
		double	time = `-INFTY`
	)		`[inline, inherited]`

Parameters:

[in]	_name	Internal name of item.
[in]	lastValue	Numerical value at last time instant of given item.
[in]	time	Time label of the instant.

Returns:: SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

References Logging::logCollection, LogCollection::setLast(), and AlgorithmicBase::userInteraction.

returnValue IntegratorExport::setLinearInput	(	const Matrix &	M1,
		const Matrix &	A1,
		const Matrix &	B1
	)		`[virtual, inherited]`

Parameters:

[in] .

Returns:: SUCCESSFUL_RETURN

Reimplemented in ExplicitRungeKuttaExport.

References IntegratorExport::A11, IntegratorExport::B11, Control::clearStaticCounters(), Parameter::clearStaticCounters(), DifferentialState::clearStaticCounters(), Matrix::getNumCols(), Matrix::getNumRows(), ExportAcadoFunction::init(), VectorspaceElement::isEmpty(), IntegratorExport::lin_input, IntegratorExport::M11, ExportAlgorithm::NP, ExportAlgorithm::NU, ExportAlgorithm::NX, IntegratorExport::NX1, ExportAlgorithm::NXA, IntegratorExport::p, RET_UNABLE_TO_EXPORT_CODE, SUCCESSFUL_RETURN, IntegratorExport::u, and IntegratorExport::x.

Referenced by IntegratorExport::setModelData().

returnValue IntegratorExport::setLinearOutput	(	const Matrix &	M3,
		const Matrix &	A3,
		const Expression &	rhs
	)		`[virtual, inherited]`

Parameters:

[in] .

Returns:: SUCCESSFUL_RETURN

Reimplemented in NARXExport, and ExplicitRungeKuttaExport.

Referenced by IntegratorExport::setModelData().

returnValue IntegratorExport::setLinearOutput	(	const Matrix &	M3,
		const Matrix &	A3,
		const String &	_rhs3,
		const String &	_diffs_rhs3
	)		`[virtual, inherited]`

Parameters:

[in] .

Returns:: SUCCESSFUL_RETURN

Reimplemented in NARXExport, and ExplicitRungeKuttaExport.

returnValue ImplicitRungeKuttaExport::setModel	(	const String &	_rhs,
		const String &	_diffs_rhs
	)		`[virtual, inherited]`

Parameters:

[in]	_rhs	Name of the function, evaluating the right-hand side.
[in]	_diffs_rhs	Name of the function, evaluating the derivatives of the right-hand side.

Returns:: SUCCESSFUL_RETURN

Reimplemented from IntegratorExport.

References ExportAlgorithm::NDX, ImplicitRungeKuttaExport::NDX2, ImplicitRungeKuttaExport::setup(), and SUCCESSFUL_RETURN.

returnValue IntegratorExport::setModelData ( const ModelData & data ) [virtual, inherited]

Parameters:

[in] data The model data.

Returns:: SUCCESSFUL_RETURN

References ModelData::exportRhs(), IntegratorExport::exportRhs, Function::getDim(), ModelData::getDimOutputs(), Function::getExpression(), ModelData::getIntegrationGrid(), ModelData::getLinearInput(), ModelData::getLinearOutput(), ModelData::getModel(), ModelData::getN(), ModelData::getNameDiffsOutput(), ModelData::getNameDiffsOutputs(), ModelData::getNameDiffsRhs(), ModelData::getNameOutput(), ModelData::getNameOutputs(), ModelData::getNameRhs(), ModelData::getNARXmodel(), ModelData::getNDX(), ModelData::getNDX3(), ModelData::getNP(), ModelData::getNU(), Matrix::getNumRows(), ModelData::getNumSteps(), ModelData::getNX(), ModelData::getNX1(), ModelData::getNX2(), ModelData::getNX3(), ModelData::getNXA(), ModelData::getNXA3(), ModelData::getOutputDependencies(), ModelData::getOutputExpressions(), ModelData::getOutputGrids(), IntegratorExport::grid, ModelData::hasCompressedStorage(), ModelData::hasOutputs(), VectorspaceElement::isEmpty(), IntegratorExport::NDX3, IntegratorExport::numSteps, IntegratorExport::NX1, IntegratorExport::NX2, IntegratorExport::NX3, IntegratorExport::NXA3, RET_UNABLE_TO_EXPORT_CODE, IntegratorExport::setDifferentialEquation(), ExportAlgorithm::setDimensions(), IntegratorExport::setLinearInput(), IntegratorExport::setLinearOutput(), IntegratorExport::setModel(), IntegratorExport::setNARXmodel(), IntegratorExport::setup(), IntegratorExport::setupOutput(), SUCCESSFUL_RETURN, and uint.

Referenced by SIMexport::setup().

returnValue RungeKuttaExport::setNARXmodel	(	const uint	delay,
		const Matrix &	parms
	)		`[virtual, inherited]`

Parameters:

[in]	delay	The delay for the states in the NARX model.
[in]	parms	The parameters defining the polynomial NARX model.

Returns:: SUCCESSFUL_RETURN

Implements IntegratorExport.

References RET_INVALID_OPTION.

void ExportAlgorithm::setNY ( uint NY_ ) [inherited]

References ExportAlgorithm::NY.

Referenced by ExportNLPSolver::setObjective().

void ExportAlgorithm::setNYN ( uint NYN_ ) [inherited]

References ExportAlgorithm::NYN.

Referenced by ExportNLPSolver::setObjective().

returnValue AlgorithmicBase::setOptions ( const Options & arg ) [inherited]

Parameters:

[in] arg New Options object to be assigned.

Note:: This routine is introduced only for convenience and is equivalent to the assignment operator.

Returns:: SUCCESSFUL_RETURN

References Options::setOptions(), and AlgorithmicBase::userInteraction.

Referenced by ShootingMethod::evaluate().

returnValue AlgorithmicBase::setOptions	(	uint	idx,
		const Options &	arg
	)		`[inherited]`

Parameters:

[in]	idx	Index of option list.
[in]	arg	Options object containing the option list to be assigned.

Returns:: SUCCESSFUL_RETURN

References Options::setOptions(), and AlgorithmicBase::userInteraction.

returnValue DiagonallyImplicitRKExport::setup ( ) [virtual, inherited]

returnValue ImplicitRungeKuttaExport::setupOutput	(	const std::vector< Grid >	outputGrids_,
		const std::vector< Expression >	rhs
	)		`[virtual, inherited]`

Parameters:

outputGrids_	The vector containing a grid for each output function.
rhs	The expressions corresponding the output functions.

Returns:: SUCCESSFUL_RETURN

Implements RungeKuttaExport.

Referenced by ImplicitRungeKuttaExport::setupOutput().

returnValue ImplicitRungeKuttaExport::setupOutput	(	const std::vector< Grid >	outputGrids_,
		const std::vector< String >	_outputNames,
		const std::vector< String >	_diffs_outputNames,
		const std::vector< uint >	_dims_output
	)		`[virtual, inherited]`

Parameters:

outputGrids_	The vector containing a grid for each output function.
_outputNames	The names of the output functions.
_diffs_outputNames	The names of the functions, evaluating the derivatives of the outputs.
_dims_output	The dimensions of the output functions.

Returns:: SUCCESSFUL_RETURN

Implements IntegratorExport.

returnValue ImplicitRungeKuttaExport::setupOutput	(	const std::vector< Grid >	outputGrids_,
		const std::vector< String >	_outputNames,
		const std::vector< String >	_diffs_outputNames,
		const std::vector< uint >	_dims_output,
		const std::vector< Matrix >	_outputDependencies
	)		`[virtual, inherited]`

Parameters:

outputGrids_	The vector containing a grid for each output function.
_outputNames	The names of the output functions.
_diffs_outputNames	The names of the functions, evaluating the derivatives of the outputs.
_dims_output	The dimensions of the output functions.
_outputDependencies	A separate dependency matrix for each output.

Returns:: SUCCESSFUL_RETURN

Implements IntegratorExport.

References BT_TRUE, IntegratorExport::crsFormat, IntegratorExport::outputDependencies, and ImplicitRungeKuttaExport::setupOutput().

returnValue DiagonallyImplicitRKExport::solveImplicitSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	tmp_index,
		const ExportVariable &	Ah,
		const ExportVariable &	C,
		const ExportVariable &	det,
		BooleanType	DERIVATIVES = `BT_FALSE`
	)		`[virtual, inherited]`

Parameters:

[in]	block	The block to which the code will be exported.
[in]	Ah	The variable containing the internal coefficients of the RK method, multiplied with the step size.
[in]	det	The variable that holds the determinant of the matrix in the linear system.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

returnValue DiagonallyImplicitRKExport::solveInputSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	tmp_index,
		const ExportVariable &	Ah
	)		`[virtual, inherited]`

Parameters:

[in]	block	The block to which the code will be exported.
[in]	A1	A constant matrix defining the equations of the linear input system.
[in]	B1	A constant matrix defining the equations of the linear input system.
[in]	Ah	The variable containing the internal coefficients of the RK method, multiplied with the step size.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

References ExportStatementBlock::addFunctionCall(), ExportStatementBlock::addStatement(), ExportArgument::getAddress(), ExportVariable::getCol(), ExportVariable::getCols(), ExportFunction::getName(), ExportVariable::getRow(), ExportVariable::getSubMatrix(), IntegratorExport::lin_input, RungeKuttaExport::numStages, IntegratorExport::NX1, ImplicitRungeKuttaExport::rk_b, IntegratorExport::rk_eta, RungeKuttaExport::rk_kkk, ImplicitRungeKuttaExport::rk_mat1, IntegratorExport::rk_xxx, and SUCCESSFUL_RETURN.

returnValue DiagonallyImplicitRKExport::solveOutputSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	index3,
		const ExportIndex &	tmp_index,
		const ExportVariable &	Ah,
		BooleanType	DERIVATIVES = `BT_FALSE`
	)		`[virtual, inherited]`

Parameters:

[in]	block	The block to which the code will be exported.
[in]	Ah	The variable containing the internal coefficients of the RK method, multiplied with the step size.
[in]	A3	A constant matrix defining the equations of the linear output system.

Returns:: SUCCESSFUL_RETURN

Reimplemented from ImplicitRungeKuttaExport.

References ExportStatementBlock::addFunctionCall(), ExportStatementBlock::addStatement(), ImplicitRungeKuttaExport::evaluateStatesOutputSystem(), ExportArgument::getAddress(), ExportVariable::getCol(), IntegratorExport::getNameOutputDiffs(), IntegratorExport::getNameOutputRHS(), ExportVariable::getRow(), ExportVariable::getSubMatrix(), RungeKuttaExport::numStages, ExportAlgorithm::NX, IntegratorExport::NX1, IntegratorExport::NX2, IntegratorExport::NX3, ImplicitRungeKuttaExport::rk_b, ImplicitRungeKuttaExport::rk_diffsTemp3, RungeKuttaExport::rk_kkk, ImplicitRungeKuttaExport::rk_mat3, IntegratorExport::rk_xxx, and SUCCESSFUL_RETURN.

returnValue IntegratorExport::updateImplicitSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	tmp_index
	)		`[virtual, inherited]`

Parameters:

[in] block The block to which the code will be exported.

Returns:: SUCCESSFUL_RETURN

Reimplemented in NARXExport.

References ExportStatementBlock::addStatement(), ExportVariable::getCol(), ExportVariable::getSubMatrix(), ExportAlgorithm::NU, ExportAlgorithm::NX, IntegratorExport::NX1, IntegratorExport::NX2, IntegratorExport::NX3, ExportAlgorithm::NXA, IntegratorExport::rk_diffsNew2, IntegratorExport::rk_eta, and SUCCESSFUL_RETURN.

Referenced by AdjointIRKExport::getCode(), ForwardIRKExport::getCode(), and DiscreteTimeExport::setup().

returnValue IntegratorExport::updateInputSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	tmp_index
	)		`[virtual, inherited]`

Parameters:

[in] block The block to which the code will be exported.

Returns:: SUCCESSFUL_RETURN

Reimplemented in NARXExport.

References ExportStatementBlock::addStatement(), ExportVariable::getCol(), ExportVariable::getSubMatrix(), ExportAlgorithm::NU, ExportAlgorithm::NX, IntegratorExport::NX1, ExportAlgorithm::NXA, IntegratorExport::rk_diffsNew1, IntegratorExport::rk_eta, and SUCCESSFUL_RETURN.

Referenced by AdjointIRKExport::getCode(), ForwardIRKExport::getCode(), and DiscreteTimeExport::setup().

returnValue IntegratorExport::updateOutputSystem	(	ExportStatementBlock *	block,
		const ExportIndex &	index1,
		const ExportIndex &	index2,
		const ExportIndex &	tmp_index
	)		`[virtual, inherited]`