User-interface to automatically generate simulation algorithms for fast optimal control. More...

#include <sim_export.hpp>

Inheritance diagram for SIMexport:

Public Member Functions
	SIMexport (const uint simIntervals=1, const double totalTime=1.0)
	Default constructor.
	SIMexport (const SIMexport &arg)
	Copy constructor (deep copy).
virtual	~SIMexport ()
	Destructor.
SIMexport &	operator= (const SIMexport &arg)
	Assignment operator (deep copy).
virtual returnValue	exportCode (const String &dirName, const String &_realString="real_t", const String &_intString="int", int _precision=16)
	Exports all files of the auto-generated code into the given directory.
returnValue	exportAcadoHeader (const String &_dirName, const String &_fileName, const String &_realString="real_t", const String &_intString="int", int _precision=16) const
	Exports main header file for using the exported algorithm.
virtual returnValue	exportAndRun (const String &dirName, const String &initStates, const String &controls, const String &results=String("results.txt"), const String &ref=String("ref.txt"))
	Exports all files of the auto-generated code into the given directory and runs the test to evaluate the performance of the exported integrator.
virtual returnValue	setReference (const String &reference, const std::vector< String > &outputReference=*(new std::vector< String >()))
	This function should be used if the user wants to provide the file containing the reference solution, to which the results of the integrator are compared.
virtual returnValue	setTimingSteps (uint _timingSteps)
	This function sets the number of integration steps performed for the timing results.
virtual returnValue	printDetails (BooleanType details)
	This function sets a boolean if the exported simulation code should print all the details about the results or not.
virtual returnValue	setTimingCalls (uint _timingCalls)
	This function sets the number of calls performed for the timing results.
String	getCommonHeaderName () const
	Returns the name of common header file.
virtual int	operator<< (PlotWindow &_window)
	Adds a window to the plot collection.
virtual int	operator<< (LogRecord &_record)
	Adds a record to the log collection.
virtual int	addPlotWindow (PlotWindow &_window)
	Adds a window to the plot collection.
returnValue	addOptionsList ()
	Adds an additional OptionsList to internal array.
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	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.
uint	getNumOptionsLists () const
	Returns total number of option lists.
returnValue	printOptionsList () const
	Prints a list of all available options of all option lists.
returnValue	printOptionsList (uint idx) const
	Prints a list of all available options of option list with given index.
int	addLogRecord (LogRecord &record)
	Adds a record to the log collection.
returnValue	getLogRecord (uint idx, LogRecord &_record) const
	Returns the record with given index from the log collection.
returnValue	getLogRecord (LogRecord &_record) const
	Returns the record with certain index from the log collection.
returnValue	updateLogRecord (LogRecord &_record) const
	Updates all items with the record given as argument.
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).
uint	getNumLogRecords () const
	Returns number of records contained in the log collection.
returnValue	printLoggingInfo () const
	Prints information on all records and their items on screen.
returnValue	printNumDoubles () const
returnValue	getPlotWindow (uint idx, PlotWindow &_window) const
	Returns the window with given index from the plot collection.
returnValue	getPlotWindow (PlotWindow &_window) const
	Returns the window with certain index from the plot collection.
virtual returnValue	plot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)
	Plots all windows of the plot collection, each one into a new figure.
virtual returnValue	replot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)
	Plots all windows of the plot collection, each one into the corresponding existing figure, if possible.
uint	getNumPlotWindows () const
	Returns number of windows contained in the plot collection.
returnValue	setDimensions (uint _NX1, uint _NX2, uint _NX3, uint _NDX, uint _NDX3, uint _NXA, uint _NXA3, uint _NU, uint _NP)
	Assigns the model dimensions to be used by the integrator.
returnValue	setDimensions (uint _NX1, uint _NX2, uint _NX3, uint _NDX, uint _NDX3, uint _NXA, uint _NXA3, uint _NU)
returnValue	setDimensions (uint _NX1, uint _NX2, uint _NX3, uint _NDX, uint _NXA, uint _NU, uint _NP)
	Assigns the model dimensions to be used by the integrator.
returnValue	setDimensions (uint _NX1, uint _NX2, uint _NX3, uint _NDX, uint _NXA, uint _NU)
returnValue	setDimensions (uint _NX, uint _NDX, uint _NXA, uint _NU, uint _NP)
	Assigns the model dimensions to be used by the integrator.
returnValue	setDimensions (uint _NX, uint _NDX, uint _NXA, uint _NU)
returnValue	setDimensions (uint _NX, uint _NU, uint _NP)
	Assigns the model dimensions to be used by the integrator.
returnValue	setDimensions (uint _NX, uint _NU)
returnValue	setModel (const DifferentialEquation &_f)
	Assigns Differential Equation to be used by the integrator.
returnValue	setModel (const String &fileName, const String &_rhs_ODE, const String &_diffs_rhs_ODE)
	Assigns the model to be used by the integrator.
returnValue	setNARXmodel (const uint _delay, const Matrix &_parms)
	Assigns a polynomial NARX model to be used by the integrator.
returnValue	setLinearInput (const Matrix &A1_, const Matrix &B1_)

returnValue	setLinearInput (const Matrix &M1_, const Matrix &A1_, const Matrix &B1_)

returnValue	setLinearOutput (const Matrix &A3_, const OutputFcn &rhs_)

returnValue	setLinearOutput (const Matrix &M3_, const Matrix &A3_, const OutputFcn &rhs_)

returnValue	setLinearOutput (const Matrix &A3_, const String &_rhs3, const String &_diffs_rhs3)

returnValue	setLinearOutput (const Matrix &M3_, const Matrix &A3_, const String &_rhs3, const String &_diffs_rhs3)

uint	addOutput (const OutputFcn &outputEquation_, const Vector &measurements)
	Adds an output function.
uint	addOutput (const OutputFcn &outputEquation_, const uint numberMeasurements)
	Adds an output function.
uint	addOutput (const String &output, const String &diffs_output, const uint dim, const Vector &measurements)
	Adds an output function.
uint	addOutput (const String &output, const String &diffs_output, const uint dim, const uint numberMeasurements)
	Adds an output function.
uint	addOutput (const String &output, const String &diffs_output, const uint dim, const Vector &measurements, const String &colInd, const String &rowPtr)
	Adds an output function.
uint	addOutput (const String &output, const String &diffs_output, const uint dim, const uint numberMeasurements, const String &colInd, const String &rowPtr)
	Adds an output function.
returnValue	setIntegrationGrid (const Grid &_ocpGrid, const uint _numSteps)
	Sets integration grid.
returnValue	setupOutput (const Vector &numberMeasurements)
	Sets up the output functions.
returnValue	getModel (DifferentialEquation &_f) const
	Returns the differential equations in the model.
BooleanType	hasOutputs () const
BooleanType	hasDifferentialEquation () const
BooleanType	modelDimensionsSet () const
BooleanType	hasEquidistantControlGrid () const
BooleanType	exportRhs () const
uint	getNX () const
	Returns number of differential states.
uint	getNDX () const
	Returns number of differential state derivatives.
uint	getNXA () const
	Returns number of algebraic states.
uint	getNU () const
	Returns number of control inputs.
uint	getNP () const
	Returns number of parameters.
uint	getN () const
	Returns number of control intervals.
returnValue	setN (const uint N_)
	Sets the number of shooting intervals.
Vector	getDimOutputs () const
	Returns the dimensions of the different output functions.
Vector	getNumMeas () const
	Returns the number of measurements for the different output functions.
ModelData &	getModelData ()
	Returns the model data object.
returnValue	setModelData (const ModelData &data)
	Sets the model data object.
const String	getFileNameModel () const
Get/set module name.
Todo: Module name is used to prefix the exported files.
String	getName () const
	Get module name.
returnValue	setName (const String &_name)
	Set module name.
Get/set export folder name.
const String &	getExportFolderName () const
	Get export folder name.
void	setExportFolderName (const String &_name)
	Set export folder name.
Protected Member Functions
returnValue	copy (const SIMexport &arg)
	Copies all class members from given object.
returnValue	clear ()
	Frees internal dynamic memory to yield an empty function.
returnValue	setup ()
	Sets-up code export and initializes underlying export modules.
returnValue	checkConsistency () const
	Checks whether OCP formulation is compatible with code export capabilities.
returnValue	collectDataDeclarations (ExportStatementBlock &declarations, ExportStruct dataStruct=ACADO_ANY) const
	Collects all data declarations of the auto-generated sub-modules to given list of declarations.
returnValue	collectFunctionDeclarations (ExportStatementBlock &declarations) const
	Collects all function (forward) declarations of the auto-generated sub-modules to given list of declarations.
returnValue	exportTest (const String &_dirName, const String &_fileName, const String &_resultsFile, const std::vector< String > &_outputFiles, const BooleanType &TIMING=BT_FALSE, const uint jumpReference=1) const
	Exports test file with template main function for using the exported simulation algorithm.
returnValue	exportEvaluation (const String &_dirName, const String &_fileName) const
	Exports the file evaluating the performance of the exported integrator, based on its results from the test and the corresponding reference results.
returnValue	exportMakefile (const String &_dirName, const String &_fileName, const String &_realString="real_t", const String &_intString="int", int _precision=16) const
	Exports GNU Makefile for compiling the exported MPC algorithm.
returnValue	executeTest (const String &_dirName)
	Compiles the exported source files and runs the corresponding test.
returnValue	copy (const ExportModule &arg)
	Copies all class members from given object.
returnValue	setupOptions ()
	Sets-up default options.
virtual returnValue	getPlotDataFromMemberLoggings (PlotWindow &_window) const
	Copies all collected logging information required to plot a given window.
BlockStatus	getStatus () const
	Gets current status of user interface.
returnValue	setStatus (BlockStatus _status)
	Sets status of user interface.
returnValue	clearOptionsList ()
	Clears all option lists from array.
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	declareOptionsUnchanged ()
	Declares all options of all option lists to be unchanged.
returnValue	declareOptionsUnchanged (uint idx)
	Declares all options of option list with given index to be unchanged.
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.
virtual returnValue	setupLogging ()
	Prototype member function for setting-up the logging information at initialization of derived classes.
Protected Attributes
double	T
	The total simulation time.
IntegratorExport *	integrator
	Module for exporting a tailored integrator.
BooleanType	referenceProvided
	True if the user provided a file with the reference solution.
BooleanType	PRINT_DETAILS
	True if the user wants all the details about the results being printed.
uint	timingSteps
	The number of integration steps performed for the timing results.
String	_initStates
	Name of the file containing the initial values of all the states.
String	_controls
	Name of the file containing the control values over the OCP grid.
String	_results
	Name of the file in which the integration results will be written.
String	_ref
	Name of the file in which the reference will be written, to which the results of the integrator will be compared.
std::vector< String >	_refOutputFiles
	Names of the files in which the outputs will be written for the reference.
std::vector< String >	_outputFiles
	Names of the files in which the outputs will be written for the integrator.
String	commonHeaderName
	Name of common header file.
uint	timingCalls
	The number of calls to the exported function for the timing results.
BlockStatus	status
	Current status of the user interface, see documentation of BlockStatus for details.
OptionsList **	optionsList
	Array consisting of OptionsLists.
uint	nOptionsList
	Total number of OptionsLists.
LogCollection	logCollection
	Log collection containing a singly-linked list of log records.
int	logIdx
	Index of a certain log record to be optionally used within derived classes.
PlotCollection	plotCollection
	Plot collection containing a singly-linked list of plot windows.
ModelData	modelData
	The model data.
Static Protected Attributes
static const uint	factorRef = 10
	The used factor in the number of integration steps to get the reference.

Detailed Description

The class SIMexport is a user-interface to automatically generate tailored simulation algorithms for fast optimal control. It takes an optimal control problem (OCP) formulation and generates code based on given user options, e.g specifying the integrator and the number of integration steps. In addition to the export of such a simulation algorithm, the performance of this integrator will be evaluated on accuracy of the results and the time complexity.

Author:: Rien Quirynen

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO SIMexport::SIMexport	(	const uint	simIntervals = `1`,
		const double	totalTime = `1.0`
	)

Parameters:

[in]	simIntervals	The number of simulation intervals.
[in]	totalTime	The total simulation time.

References _controls, _initStates, _ref, _results, BS_NOT_INITIALIZED, BT_FALSE, BT_TRUE, integrator, PRINT_DETAILS, referenceProvided, ModelContainer::setN(), UserInteraction::setStatus(), T, and timingSteps.

SIMexport::SIMexport ( const SIMexport & arg )

Parameters:

[in] arg Right-hand side object.

References copy().

SIMexport::~SIMexport ( ) [virtual]

References clear().

Member Function Documentation

int Logging::addLogRecord ( LogRecord & record ) [inherited]

Parameters:

[in] record Record to be added.

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

References LogCollection::addLogRecord(), and Logging::logCollection.

Referenced by AlgorithmicBase::addLogRecord(), UserInteraction::addPlotWindow(), Logging::operator<<(), IntegrationAlgorithm::setupLogging(), Controller::setupLogging(), and Process::setupLogging().

returnValue Options::addOption	(	OptionsName	name,
		int	value
	)		`[protected, 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 OptionsList::add(), Options::getNumOptionsLists(), Options::optionsList, SUCCESSFUL_RETURN, and uint.

Referenced by AlgorithmicBase::addOption(), OptimizationAlgorithm::setupOptions(), ExportModule::setupOptions(), MultiObjectiveAlgorithm::setupOptions(), RealTimeAlgorithm::setupOptions(), SimulationEnvironment::setupOptions(), IntegrationAlgorithm::setupOptions(), Controller::setupOptions(), and Process::setupOptions().

returnValue Options::addOption	(	OptionsName	name,
		double	value
	)		`[protected, 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 OptionsList::add(), Options::getNumOptionsLists(), Options::optionsList, SUCCESSFUL_RETURN, and uint.

returnValue Options::addOption	(	uint	idx,
		OptionsName	name,
		int	value
	)		`[protected, 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 ACADOERROR, OptionsList::add(), Options::getNumOptionsLists(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.

returnValue Options::addOption	(	uint	idx,
		OptionsName	name,
		double	value
	)		`[protected, 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 ACADOERROR, OptionsList::add(), Options::getNumOptionsLists(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.

returnValue Options::addOptionsList ( ) [inherited]

Returns:: SUCCESSFUL_RETURN

References Options::nOptionsList, Options::optionsList, and SUCCESSFUL_RETURN.

Referenced by AlgorithmicBase::addOptionsList().

uint ModelContainer::addOutput	(	const OutputFcn &	outputEquation_,
		const Vector &	measurements
	)		`[inherited]`

Parameters:

outputEquation_	an output function to be added
measurements	the measurement points per interval

Returns:: SUCCESSFUL_RETURN

References ModelData::addOutput(), Vector::append(), and ModelContainer::modelData.

uint ModelContainer::addOutput	(	const OutputFcn &	outputEquation_,
		const uint	numberMeasurements
	)		`[inherited]`

Parameters:

outputEquation_	an output function to be added
numberMeasurements	the number of measurements per interval

Returns:: SUCCESSFUL_RETURN

References ModelData::addOutput(), and ModelContainer::modelData.

uint ModelContainer::addOutput	(	const String &	output,
		const String &	diffs_output,
		const uint	dim,
		const Vector &	measurements
	)		`[inherited]`

Parameters:

output	The output function to be added.
diffs_output	The derivatives of the output function to be added.
dim	The dimension of the output function.
measurements	The measurement points per interval

Returns:: SUCCESSFUL_RETURN

References ModelData::addOutput(), Vector::append(), and ModelContainer::modelData.

uint ModelContainer::addOutput	(	const String &	output,
		const String &	diffs_output,
		const uint	dim,
		const uint	numberMeasurements
	)		`[inherited]`

Parameters:

output	The output function to be added.
diffs_output	The derivatives of the output function to be added.
dim	The dimension of the output function.
numberMeasurements	The number of measurements per interval

Returns:: SUCCESSFUL_RETURN

References ModelData::addOutput(), and ModelContainer::modelData.

uint ModelContainer::addOutput	(	const String &	output,
		const String &	diffs_output,
		const uint	dim,
		const Vector &	measurements,
		const String &	colInd,
		const String &	rowPtr
	)		`[inherited]`

Parameters:

output	The output function to be added.
diffs_output	The derivatives of the output function to be added.
dim	The dimension of the output function.
measurements	The measurement points per interval
colInd	Vector stores the column indices of the elements for Compressed Row Storage (CRS).
rowPtr	Vector stores the locations that start a row for Compressed Row Storage (CRS).

Returns:: SUCCESSFUL_RETURN

References ModelData::addOutput(), Vector::append(), and ModelContainer::modelData.

uint ModelContainer::addOutput	(	const String &	output,
		const String &	diffs_output,
		const uint	dim,
		const uint	numberMeasurements,
		const String &	colInd,
		const String &	rowPtr
	)		`[inherited]`

Parameters:

output	The output function to be added.
diffs_output	The derivatives of the output function to be added.
dim	The dimension of the output function.
numberMeasurements	The number of measurements per interval
colInd	Vector stores the column indices of the elements for Compressed Row Storage (CRS).
rowPtr	Vector stores the locations that start a row for Compressed Row Storage (CRS).

Returns:: SUCCESSFUL_RETURN

References ModelData::addOutput(), and ModelContainer::modelData.

int UserInteraction::addPlotWindow ( PlotWindow & _window ) [virtual, inherited]

This function is overloaded here in order to add the plotDataRecord required to plot the window to the log collection.

Parameters:

[in] _window Window to be added.

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

Reimplemented from Plotting.

References Logging::addLogRecord(), PlotWindow::getPlotDataRecord(), and PlotWindow::setPlotDataRecord().

Referenced by UserInteraction::operator<<().

returnValue SIMexport::checkConsistency ( ) const [protected]

Returns:: SUCCESSFUL_RETURN,
RET_INVALID_OBJECTIVE_FOR_CODE_EXPORT,
RET_ONLY_ODE_FOR_CODE_EXPORT,
RET_NO_DISCRETE_ODE_FOR_CODE_EXPORT,
RET_ONLY_STATES_AND_CONTROLS_FOR_CODE_EXPORT,
RET_ONLY_EQUIDISTANT_GRID_FOR_CODE_EXPORT,
RET_ONLY_BOUNDS_FOR_CODE_EXPORT

References ACADOERROR, BT_TRUE, ModelData::checkConsistency(), ModelData::getModel(), Function::getNPI(), Function::getNUI(), Function::getNW(), DifferentialEquation::isDiscretized(), ModelContainer::modelData, RET_INVALID_OPTION, RET_NO_DISCRETE_ODE_FOR_CODE_EXPORT, RET_ONLY_STATES_AND_CONTROLS_FOR_CODE_EXPORT, and SUCCESSFUL_RETURN.

Referenced by setup().

returnValue SIMexport::clear ( ) [protected]

Returns:: SUCCESSFUL_RETURN

References integrator, and SUCCESSFUL_RETURN.

Referenced by operator=(), and ~SIMexport().

returnValue Options::clearOptionsList ( ) [protected, inherited]

Returns:: SUCCESSFUL_RETURN

References Options::getNumOptionsLists(), Options::optionsList, SUCCESSFUL_RETURN, and uint.

Referenced by Options::operator=(), and Options::~Options().

returnValue SIMexport::collectDataDeclarations	(	ExportStatementBlock &	declarations,
		ExportStruct	dataStruct = `ACADO_ANY`
	)		const `[protected, virtual]`

Parameters:

[in] declarations List of declarations.

Returns:: SUCCESSFUL_RETURN,
RET_UNABLE_TO_EXPORT_CODE

Implements ExportModule.

References IntegratorExport::getDataDeclarations(), integrator, RET_UNABLE_TO_EXPORT_CODE, and SUCCESSFUL_RETURN.

Referenced by exportAcadoHeader().

returnValue SIMexport::collectFunctionDeclarations ( ExportStatementBlock & declarations ) const [protected, virtual]

Parameters:

[in] declarations List of declarations.

Returns:: SUCCESSFUL_RETURN,
RET_UNABLE_TO_EXPORT_CODE

Implements ExportModule.

References IntegratorExport::getFunctionDeclarations(), integrator, RET_UNABLE_TO_EXPORT_CODE, and SUCCESSFUL_RETURN.

Referenced by exportAcadoHeader().

returnValue SIMexport::copy ( const SIMexport & arg ) [protected]

Parameters:

[in] arg Right-hand side object.

Returns:: SUCCESSFUL_RETURN

References _controls, _initStates, _ref, _refOutputFiles, _results, integrator, PRINT_DETAILS, referenceProvided, SUCCESSFUL_RETURN, and timingSteps.

Referenced by operator=(), and SIMexport().

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

Parameters:

[in] arg Right-hand side object.

Returns:: SUCCESSFUL_RETURN

References ExportModule::commonHeaderName, SUCCESSFUL_RETURN, and ExportModule::timingCalls.

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

returnValue Options::declareOptionsUnchanged ( ) [protected, inherited]

Returns:: SUCCESSFUL_RETURN

References OptionsList::declareOptionsUnchanged(), Options::getNumOptionsLists(), Options::optionsList, SUCCESSFUL_RETURN, and uint.

Referenced by OptimizationAlgorithm::init(), and RealTimeAlgorithm::init().

returnValue Options::declareOptionsUnchanged ( uint idx ) [protected, inherited]

Parameters:

[in] idx Index of option list.

Returns:: SUCCESSFUL_RETURN

References ACADOERROR, OptionsList::declareOptionsUnchanged(), Options::getNumOptionsLists(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.

returnValue SIMexport::executeTest ( const String & _dirName ) [protected]

Parameters:

[in] _dirName Name of directory in which the files are exported.

Returns:: SUCCESSFUL_RETURN

References ExportModule::getName(), and SUCCESSFUL_RETURN.

Referenced by exportAndRun().

returnValue SIMexport::exportAcadoHeader	(	const String &	_dirName,
		const String &	_fileName,
		const String &	_realString = `"real_t"`,
		const String &	_intString = `"int"`,
		int	_precision = `16`
	)		const `[virtual]`

Parameters:

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

Returns:: SUCCESSFUL_RETURN

Implements ExportModule.

Referenced by exportCode().

returnValue SIMexport::exportAndRun	(	const String &	dirName,
		const String &	initStates,
		const String &	controls,
		const String &	results = `String( "results.txt" )`,
		const String &	ref = `String( "ref.txt" )`
	)		`[virtual]`

Parameters:

[in]	dirName	Name of directory to be used to export files.
[in]	initStates	Name of the file containing the initial values of all the states.
[in]	controls	Name of the file containing the control values over the OCP grid.
[in]	results	Name of the file in which the integration results will be written.
[in]	ref	Name of the file in which the reference will be written, to which the results of the integrator will be compared.

Returns:: SUCCESSFUL_RETURN

References _controls, _initStates, _outputFiles, _ref, _refOutputFiles, _results, ACADOERROR, BT_FALSE, BT_TRUE, ModelData::clearIntegrationGrid(), EPS, executeTest(), exportCode(), exportTest(), factorRef, GENERATE_TEST_FILE, ModelData::getIntegrationGrid(), ModelData::getN(), ExportModule::getName(), ModelData::getOutputGrids(), MEASUREMENT_GRID, ModelContainer::modelData, NUM_INTEGRATOR_STEPS, ONLINE_GRID, referenceProvided, RET_INVALID_OPTION, SUCCESSFUL_RETURN, ExportModule::timingCalls, timingSteps, and uint.

returnValue SIMexport::exportCode	(	const String &	dirName,
		const String &	_realString = `"real_t"`,
		const String &	_intString = `"int"`,
		int	_precision = `16`
	)		`[virtual]`

Parameters:

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

Returns:: SUCCESSFUL_RETURN

Implements ExportModule.

References acadoCopyTempateFile(), acadoCreateFolder(), ACADOERROR, ACADOINFO, acadoPrintf(), BT_TRUE, ExportModule::commonHeaderName, ExportMatlabIntegrator::configure(), ExportMatlabRhs::configure(), DYNAMIC_SENSITIVITY, exportAcadoHeader(), ExportFile::exportCode(), exportEvaluation(), exportMakefile(), GENERATE_MAKE_FILE, GENERATE_MATLAB_INTERFACE, GENERATE_TEST_FILE, IntegratorExport::getCode(), String::getName(), IntegratorExport::getNameFullRHS(), HIGH, integrator, INTEGRATOR_DEBUG_MODE, MEASUREMENT_GRID, ModelContainer::modelDimensionsSet(), NO_SENSITIVITY, NONE, ONLINE_GRID, PRINTLEVEL, QP_NONE, QP_SOLVER, RET_CODE_EXPORT_SUCCESSFUL, RET_UNABLE_TO_EXPORT_CODE, ExportModule::setExportFolderName(), setup(), SUCCESSFUL_RETURN, and ExportModule::timingCalls.

Referenced by exportAndRun().

returnValue SIMexport::exportEvaluation	(	const String &	_dirName,
		const String &	_fileName
	)		const `[protected]`

Parameters:

[in]	_dirName	Name of directory to be used to export file.
[in]	_fileName	Name of file to be exported.

Returns:: SUCCESSFUL_RETURN

References _outputFiles, _ref, _refOutputFiles, _results, ExportStatementBlock::addComment(), ExportStatementBlock::addLinebreak(), ExportStatementBlock::addStatement(), DYNAMIC_SENSITIVITY, ExportFile::exportCode(), ModelData::getDimOutputs(), ModelData::getN(), ModelData::getNumMeas(), ModelData::getNXA(), ModelData::getOutputGrids(), ModelContainer::modelData, NO_SENSITIVITY, PRINT_DETAILS, and T.

Referenced by exportCode().

returnValue SIMexport::exportMakefile	(	const String &	_dirName,
		const String &	_fileName,
		const String &	_realString = `"real_t"`,
		const String &	_intString = `"int"`,
		int	_precision = `16`
	)		const `[protected]`

Parameters:

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

Returns:: SUCCESSFUL_RETURN

References ExportStatementBlock::addLinebreak(), ExportStatementBlock::addStatement(), ExportFile::exportCode(), ModelData::exportRhs(), ModelData::getFileNameModel(), and ModelContainer::modelData.

Referenced by exportCode().

BooleanType ModelContainer::exportRhs ( ) const [inherited]

References ModelData::exportRhs(), and ModelContainer::modelData.

returnValue SIMexport::exportTest	(	const String &	_dirName,
		const String &	_fileName,
		const String &	_resultsFile,
		const std::vector< String > &	_outputFiles,
		const BooleanType &	TIMING = `BT_FALSE`,
		const uint	jumpReference = `1`
	)		const `[protected]`

Parameters:

[in]	_dirName	Name of directory to be used to export file.
[in]	_fileName	Name of file to be exported.
[in]	_resultsFile	Name of the file in which the integration results will be written.
[in]	_outputFiles	Names of the files in which the output results will be written.
[in]	TIMING	A boolean that is true when timing results are desired.
[in]	jumpReference	The reference factor if the reference output results are computed.

Returns:: SUCCESSFUL_RETURN

References _controls, _initStates, ACADOERROR, ExportStatementBlock::addComment(), ExportStatementBlock::addLinebreak(), ExportStatementBlock::addStatement(), BT_TRUE, DYNAMIC_SENSITIVITY, ExportFile::exportCode(), ModelData::getN(), ModelData::getNameOutputs(), ModelData::getNXA(), ModelData::getOutputExpressions(), ModelData::getOutputGrids(), ModelContainer::modelData, NO_SENSITIVITY, RET_INVALID_OPTION, T, ExportModule::timingCalls, and timingSteps.

Referenced by exportAndRun().

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

Parameters:

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

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS

References OptionsList::get(), and Options::optionsList.

Referenced by createDiagonallyImplicitRKExport(), createImplicitRungeKuttaExport(), AlgorithmicBase::get(), ExplicitRungeKuttaExport::getCode(), ExplicitRungeKuttaExport::getFunctionDeclarations(), ExplicitRungeKuttaExport::setDifferentialEquation(), ExportHouseholderQR::setup(), ExportGaussElim::setup(), ImplicitRungeKuttaExport::setup(), and OptimizationAlgorithmBase::setupDynamicDiscretization().

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

Parameters:

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

Returns:: SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS

References OptionsList::get(), and Options::optionsList.

returnValue Options::get	(	uint	idx,
		OptionsName	name,
		int &	value
	)		const `[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 ACADOERROR, OptionsList::get(), Options::getNumOptionsLists(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.

returnValue Options::get	(	uint	idx,
		OptionsName	name,
		double &	value
	)		const `[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 ACADOERROR, OptionsList::get(), Options::getNumOptionsLists(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.

BEGIN_NAMESPACE_ACADO returnValue Logging::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 ACADOERROR, BT_TRUE, LogCollection::getAll(), LogCollection::hasNonEmptyItem(), Logging::logCollection, and RET_LOG_ENTRY_DOESNT_EXIST.

Referenced by AlgorithmicBase::getAll(), SimulationEnvironment::getProcessAlgebraicStates(), SimulationEnvironment::getProcessDifferentialStates(), and SimulationEnvironment::getProcessIntermediateStates().

String ExportModule::getCommonHeaderName ( ) const [inherited]

Returns:: Name of common header file

References ExportModule::commonHeaderName.

Referenced by OCPexport::exportCode(), and OCPexport::setup().

Vector ModelContainer::getDimOutputs ( ) const [inherited]

Returns:: dimensions of the different output functions.

References ModelData::getDimOutputs(), and ModelContainer::modelData.

Referenced by exportAcadoHeader().

const String & ExportModule::getExportFolderName ( ) const [inherited]

const String ModelContainer::getFileNameModel ( ) const [inherited]

References ModelData::getFileNameModel(), and ModelContainer::modelData.

returnValue Logging::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 ACADOERROR, BT_TRUE, LogCollection::getFirst(), LogCollection::hasNonEmptyItem(), Logging::logCollection, and RET_LOG_ENTRY_DOESNT_EXIST.

Referenced by AlgorithmicBase::getFirst().

returnValue Logging::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 ACADOERROR, BT_TRUE, LogCollection::getFirst(), LogCollection::hasNonEmptyItem(), Logging::logCollection, and RET_LOG_ENTRY_DOESNT_EXIST.

returnValue Logging::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 ACADOERROR, BT_TRUE, LogCollection::getLast(), LogCollection::hasNonEmptyItem(), Logging::logCollection, and RET_LOG_ENTRY_DOESNT_EXIST.

Referenced by AlgorithmicBase::getLast().

returnValue Logging::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 ACADOERROR, BT_TRUE, LogCollection::getLast(), LogCollection::hasNonEmptyItem(), Logging::logCollection, and RET_LOG_ENTRY_DOESNT_EXIST.

returnValue Logging::getLogRecord	(	uint	idx,
		LogRecord &	_record
	)		const `[inherited]`

Parameters:

[in]	idx	Index of desired record.
[out]	_record	Desired record.

Returns:: SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS

References ACADOERROR, Logging::getNumLogRecords(), Logging::logCollection, RET_INDEX_OUT_OF_BOUNDS, and SUCCESSFUL_RETURN.

Referenced by Logging::getLogRecord().

returnValue Logging::getLogRecord ( LogRecord & _record ) const [inherited]

This index is not provided when calling the function, but rather obtained by using the alias index of the record. If the record is no alias record, the error RET_INDEX_OUT_OF_BOUNDS is thrown.

Parameters:

[out] _record Desired record.

Returns:: SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS

References LogRecord::getAliasIdx(), and Logging::getLogRecord().

returnValue ModelContainer::getModel ( DifferentialEquation & _f ) const [inherited]

Returns:: SUCCESSFUL_RETURN

References ModelData::getModel(), ModelContainer::modelData, and SUCCESSFUL_RETURN.

Referenced by OCPexport::checkConsistency(), and OptimizationAlgorithmBase::extractOCPdata().

ModelData & ModelContainer::getModelData ( ) [inherited]

Returns:: the model data object.

References ModelContainer::modelData.

Referenced by OCPexport::setup().

uint ModelContainer::getN ( ) const [inherited]

Returns:: Number of control intervals

References ModelData::getN(), and ModelContainer::modelData.

Referenced by exportAcadoHeader(), OCPexport::exportAcadoHeader(), OCPexport::exportCode(), and OCPexport::setup().

String ExportModule::getName ( ) const [inherited]

Referenced by executeTest(), OCPexport::exportAcadoHeader(), exportAndRun(), OCPexport::exportCode(), and OCPexport::setup().

uint ModelContainer::getNDX ( ) const [inherited]

Returns:: Number of differential state derivatives

References ModelData::getNDX(), and ModelContainer::modelData.

Referenced by exportAcadoHeader(), OCPexport::exportAcadoHeader(), OCPexport::exportCode(), and OCPexport::setup().

uint ModelContainer::getNP ( ) const [inherited]

Returns:: Number of parameters

References ModelData::getNP(), and ModelContainer::modelData.

Referenced by exportAcadoHeader(), OCPexport::exportAcadoHeader(), OCPexport::exportCode(), and OCPexport::setup().

uint ModelContainer::getNU ( ) const [inherited]

Returns:: Number of control inputs

References ModelData::getNU(), and ModelContainer::modelData.

Referenced by exportAcadoHeader(), OCPexport::exportAcadoHeader(), OCPexport::exportCode(), and OCPexport::setup().

uint Logging::getNumLogRecords ( ) const [inherited]

Returns:: Number of records

References LogCollection::getNumLogRecords(), and Logging::logCollection.

Referenced by Logging::getLogRecord().

Vector ModelContainer::getNumMeas ( ) const [inherited]

Returns:: number of measurements for the different output functions.

References ModelData::getNumMeas(), and ModelContainer::modelData.

Referenced by exportAcadoHeader().

BEGIN_NAMESPACE_ACADO uint Options::getNumOptionsLists ( ) const [inline, inherited]

Returns:: Total number of option lists

References Options::nOptionsList.

Referenced by Options::addOption(), Options::clearOptionsList(), Options::declareOptionsUnchanged(), Options::get(), Options::getOptions(), Options::haveOptionsChanged(), Options::printOptionsList(), Options::set(), and Options::setOptions().

uint Plotting::getNumPlotWindows ( ) const [inline, inherited]

Returns:: Number of windows

References PlotCollection::getNumPlotWindows(), and Plotting::plotCollection.

Referenced by Plotting::getPlotWindow().

uint ModelContainer::getNX ( ) const [inherited]

Returns:: Number of differential states

References ModelData::getNX(), and ModelContainer::modelData.

Referenced by exportAcadoHeader(), OCPexport::exportAcadoHeader(), OCPexport::exportCode(), and OCPexport::setup().

uint ModelContainer::getNXA ( ) const [inherited]

Returns:: Number of algebraic states

References ModelData::getNXA(), and ModelContainer::modelData.

Referenced by exportAcadoHeader(), OCPexport::exportAcadoHeader(), OCPexport::exportCode(), and OCPexport::setup().

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

Parameters:

[in] idx Index of option list.

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

References ACADOERROR, Options::getNumOptionsLists(), Options::Options(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.

Referenced by AlgorithmicBase::getOptions().

returnValue UserInteraction::getPlotDataFromMemberLoggings ( PlotWindow & _window ) const [protected, virtual, inherited]

This function is overloaded within the UserInterface class to syncronize the logging information collected elsewhere within the algorithm with the one stored within the given window for plotting.

Parameters:

[in] _window Window to be plotted.

Returns:: SUCCESSFUL_RETURN

Reimplemented from Plotting.

References PlotWindow::getPlotDataRecord(), PlotWindow::setPlotDataRecord(), SUCCESSFUL_RETURN, and Logging::updateLogRecord().

returnValue Plotting::getPlotWindow	(	uint	idx,
		PlotWindow &	_window
	)		const `[inline, inherited]`

Parameters:

[in]	idx	Index of desired window.
[out]	_window	Desired window.

Returns:: SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS

References ACADOERROR, Plotting::getNumPlotWindows(), Plotting::getPlotDataFromMemberLoggings(), Plotting::plotCollection, and RET_INDEX_OUT_OF_BOUNDS.

Referenced by Plotting::getPlotWindow(), Plotting::plot(), and Plotting::replot().

returnValue Plotting::getPlotWindow ( PlotWindow & _window ) const [inline, inherited]

This index is not provided when calling the function, but rather obtained by using the alias index of the window. If the window is no alias window, the error RET_INDEX_OUT_OF_BOUNDS is thrown.

Parameters:

[out] _window Desired window.

Returns:: SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS

References PlotWindow::getAliasIdx(), and Plotting::getPlotWindow().

BlockStatus UserInteraction::getStatus ( ) const [protected, inherited]

BooleanType ModelContainer::hasDifferentialEquation ( ) const [inherited]

References BT_FALSE, BT_TRUE, Function::getDim(), ModelData::getModel(), and ModelContainer::modelData.

Referenced by OptimizationAlgorithmBase::extractOCPdata().

BooleanType ModelContainer::hasEquidistantControlGrid ( ) const [inherited]

References ModelData::hasEquidistantControlGrid(), and ModelContainer::modelData.

Referenced by OCP::setNumberIntegrationSteps().

BooleanType ModelContainer::hasOutputs ( ) const [inherited]

References BT_FALSE, BT_TRUE, ModelData::getOutputExpressions(), and ModelContainer::modelData.

Referenced by setReference().

BooleanType Options::haveOptionsChanged ( ) const [protected, inherited]

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

References BT_FALSE, BT_TRUE, Options::getNumOptionsLists(), Options::optionsList, and uint.

Referenced by AlgorithmicBase::haveOptionsChanged(), OptimizationAlgorithm::init(), RealTimeAlgorithm::init(), and OptimizationAlgorithm::solve().

BooleanType Options::haveOptionsChanged ( uint idx ) const [protected, inherited]

Parameters:

[in] idx Index of option list.

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

References ACADOERROR, BT_FALSE, Options::getNumOptionsLists(), OptionsList::haveOptionsChanged(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.

BooleanType ModelContainer::modelDimensionsSet ( ) const [inherited]

References ModelContainer::modelData, and ModelData::modelDimensionsSet().

Referenced by exportCode().

int UserInteraction::operator<< ( PlotWindow & _window ) [virtual, inherited]

This function is overloaded here in order to add the plotDataRecord required to plot the window to the log collection.

Parameters:

[in] _window Window to be added.

Note:: This function is doing the same as the corresponding addPlotWindow member function and is introduced for syntax reasons only.

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

Reimplemented from Plotting.

References UserInteraction::addPlotWindow().

Referenced by UserInteraction::operator<<().

int UserInteraction::operator<< ( LogRecord & _record ) [virtual, inherited]

Parameters:

[in] record Record to be added.

Note:: This function tunnels the corresponding function of the Logging class. It is introduced to avoid syntax ambiguity only.

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

Reimplemented from Logging.

References UserInteraction::operator<<().

SIMexport & SIMexport::operator= ( const SIMexport & arg )

Parameters:

[in] arg Right-hand side object.

References clear(), and copy().

returnValue Plotting::plot ( PlotFrequency _frequency = PLOT_IN_ANY_CASE ) [virtual, inherited]

Parameters:

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

Returns:: SUCCESSFUL_RETURN

References ACADOERROR, PlotCollection::first, PlotWindow::getNext(), Plotting::getPlotWindow(), PlotWindow::plot(), PLOT_NEVER, Plotting::plotCollection, RET_PLOTTING_FAILED, and SUCCESSFUL_RETURN.

Referenced by IntegrationAlgorithm::evaluate(), and AlgorithmicBase::plot().

returnValue SIMexport::printDetails ( BooleanType details ) [virtual]

Parameters:

[in] details true if the exported simulation code should print all the details, otherwise false

Returns:: SUCCESSFUL_RETURN

References PRINT_DETAILS, and SUCCESSFUL_RETURN.

returnValue Logging::printLoggingInfo ( ) const [inherited]

Returns:: SUCCESSFUL_RETURN

References LogCollection::getNumLogRecords(), Logging::logCollection, SUCCESSFUL_RETURN, and uint.

returnValue Logging::printNumDoubles ( ) const [inherited]

References LogCollection::getNumDoubles(), Logging::logCollection, and SUCCESSFUL_RETURN.

returnValue Options::printOptionsList ( ) const [inherited]

Returns:: SUCCESSFUL_RETURN

References Options::getNumOptionsLists(), Options::optionsList, OptionsList::printOptionsList(), SUCCESSFUL_RETURN, and uint.

returnValue Options::printOptionsList ( uint idx ) const [inherited]

Parameters:

[in] idx Index of option list.

Returns:: SUCCESSFUL_RETURN

References ACADOERROR, Options::getNumOptionsLists(), Options::optionsList, OptionsList::printOptionsList(), and RET_INDEX_OUT_OF_BOUNDS.

returnValue Plotting::replot ( PlotFrequency _frequency = PLOT_IN_ANY_CASE ) [virtual, inherited]

Parameters:

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

Returns:: SUCCESSFUL_RETURN

Reimplemented in Process.

References ACADOERROR, PlotCollection::first, PlotWindow::getNext(), Plotting::getPlotWindow(), PLOT_NEVER, Plotting::plotCollection, PlotWindow::replot(), RET_PLOTTING_FAILED, and SUCCESSFUL_RETURN.

Referenced by AlgorithmicBase::replot(), and RealTimeAlgorithm::solve().

returnValue Options::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::optionsList, and OptionsList::set().

Referenced by AlgorithmicBase::set().

returnValue Options::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::optionsList, and OptionsList::set().

returnValue Options::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 ACADOERROR, Options::getNumOptionsLists(), Options::optionsList, RET_INDEX_OUT_OF_BOUNDS, and OptionsList::set().

returnValue Options::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 ACADOERROR, Options::getNumOptionsLists(), Options::optionsList, RET_INDEX_OUT_OF_BOUNDS, and OptionsList::set().

returnValue ModelContainer::setDimensions	(	uint	_NX1,
		uint	_NX2,
		uint	_NX3,
		uint	_NDX,
		uint	_NDX3,
		uint	_NXA,
		uint	_NXA3,
		uint	_NU,
		uint	_NP
	)		`[inherited]`

Parameters:

[in]	_NX1	Number of differential states in linear input subsystem.
[in]	_NX2	Number of differential states in nonlinear subsystem.
[in]	_NX3	Number of differential states in linear output subsystem.
[in]	_NDX	Number of differential states derivatives.
[in]	_NDX3	Number of differential states derivatives in the linear output subsystem.
[in]	_NXA	Number of algebraic states.
[in]	_NXA3	Number of algebraic states in the linear output subsystem.
[in]	_NU	Number of control inputs
[in]	_NP	Number of parameters

Returns:: SUCCESSFUL_RETURN

References ModelContainer::modelData, and ModelData::setDimensions().

Referenced by ModelContainer::setDimensions().

returnValue ModelContainer::setDimensions	(	uint	_NX1,
		uint	_NX2,
		uint	_NX3,
		uint	_NDX,
		uint	_NDX3,
		uint	_NXA,
		uint	_NXA3,
		uint	_NU
	)		`[inherited]`

References ModelContainer::setDimensions().

returnValue ModelContainer::setDimensions	(	uint	_NX1,
		uint	_NX2,
		uint	_NX3,
		uint	_NDX,
		uint	_NXA,
		uint	_NU,
		uint	_NP
	)		`[inherited]`

Parameters:

[in]	_NX1	Number of differential states in linear input subsystem.
[in]	_NX2	Number of differential states in nonlinear subsystem.
[in]	_NX3	Number of differential states in linear output subsystem.
[in]	_NDX	Number of differential states derivatives.
[in]	_NXA	Number of algebraic states.
[in]	_NU	Number of control inputs
[in]	_NP	Number of parameters

Returns:: SUCCESSFUL_RETURN

References ModelContainer::setDimensions().

returnValue ModelContainer::setDimensions	(	uint	_NX1,
		uint	_NX2,
		uint	_NX3,
		uint	_NDX,
		uint	_NXA,
		uint	_NU
	)		`[inherited]`

References ModelContainer::setDimensions().

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

Parameters:

[in]	_NX	Number of differential states.
[in]	_NDX	Number of differential states derivatives.
[in]	_NXA	Number of algebraic states.
[in]	_NU	Number of control inputs
[in]	_NP	Number of parameters

Returns:: SUCCESSFUL_RETURN

References ModelContainer::setDimensions().

returnValue ModelContainer::setDimensions	(	uint	_NX,
		uint	_NDX,
		uint	_NXA,
		uint	_NU
	)		`[inherited]`

References ModelContainer::setDimensions().

returnValue ModelContainer::setDimensions	(	uint	_NX,
		uint	_NU,
		uint	_NP
	)		`[inherited]`

Parameters:

[in]	_NX	Number of differential states.
[in]	_NU	Number of control inputs
[in]	_NP	Number of parameters

Returns:: SUCCESSFUL_RETURN

References ModelContainer::setDimensions().

returnValue ModelContainer::setDimensions	(	uint	_NX,
		uint	_NU
	)		`[inherited]`

References ModelContainer::setDimensions().

void ExportModule::setExportFolderName ( const String & _name ) [inherited]

Referenced by OCPexport::exportCode(), and exportCode().

returnValue ModelContainer::setIntegrationGrid	(	const Grid &	_ocpGrid,
		const uint	_numSteps
	)		`[inherited]`

Parameters:

[in]	_ocpGrid	Evaluation grid for optimal control.
[in]	numSteps	The number of integration steps along the horizon.

Returns:: SUCCESSFUL_RETURN

References ModelContainer::modelData, and ModelData::setIntegrationGrid().

Referenced by OCP::setNumberIntegrationSteps().

returnValue ModelContainer::setLinearInput	(	const Matrix &	A1_,
		const Matrix &	B1_
	)		`[inherited]`

Parameters:

[in] .

Returns:: SUCCESSFUL_RETURN

References eye(), Matrix::getNumRows(), ModelContainer::modelData, and ModelData::setLinearInput().

returnValue ModelContainer::setLinearInput	(	const Matrix &	M1_,
		const Matrix &	A1_,
		const Matrix &	B1_
	)		`[inherited]`

Parameters:

[in] .

Returns:: SUCCESSFUL_RETURN

References ModelContainer::modelData, and ModelData::setLinearInput().

returnValue ModelContainer::setLinearOutput	(	const Matrix &	A3_,
		const OutputFcn &	rhs_
	)		`[inherited]`

Parameters:

[in] .

Returns:: SUCCESSFUL_RETURN

References eye(), Matrix::getNumRows(), ModelContainer::modelData, and ModelData::setLinearOutput().

returnValue ModelContainer::setLinearOutput	(	const Matrix &	M3_,
		const Matrix &	A3_,
		const OutputFcn &	rhs_
	)		`[inherited]`

Parameters:

[in] .

Returns:: SUCCESSFUL_RETURN

References ModelContainer::modelData, and ModelData::setLinearOutput().

returnValue ModelContainer::setLinearOutput	(	const Matrix &	A3_,
		const String &	_rhs3,
		const String &	_diffs_rhs3
	)		`[inherited]`

Parameters:

[in] .

Returns:: SUCCESSFUL_RETURN

References eye(), Matrix::getNumRows(), ModelContainer::modelData, and ModelData::setLinearOutput().

returnValue ModelContainer::setLinearOutput	(	const Matrix &	M3_,
		const Matrix &	A3_,
		const String &	_rhs3,
		const String &	_diffs_rhs3
	)		`[inherited]`

Parameters:

[in] .

Returns:: SUCCESSFUL_RETURN

References ModelContainer::modelData, and ModelData::setLinearOutput().

returnValue ModelContainer::setModel ( const DifferentialEquation & _f ) [inherited]

Parameters:

[in] f Differential equation.

Returns:: SUCCESSFUL_RETURN

References ModelContainer::modelData, and ModelData::setModel().

returnValue ModelContainer::setModel	(	const String &	fileName,
		const String &	_rhs_ODE,
		const String &	_diffs_rhs_ODE
	)		`[inherited]`

Parameters:

[in]	_rhs_ODE	Name of the function, evaluating the ODE right-hand side.
[in]	_diffs_rhs_ODE	Name of the function, evaluating the derivatives of the ODE right-hand side.

Returns:: SUCCESSFUL_RETURN

References ModelContainer::modelData, and ModelData::setModel().

returnValue ModelContainer::setModelData ( const ModelData & data ) [inherited]

Parameters:

[in] data the model data object.

Returns:: SUCCESSFUL_RETURN

References ModelContainer::modelData, and SUCCESSFUL_RETURN.

returnValue ModelContainer::setN ( const uint N_ ) [inherited]

Parameters:

[in] N_ The number of shooting intervals.

Returns:: SUCCESSFUL_RETURN

References ModelContainer::modelData, ModelData::setN(), and SUCCESSFUL_RETURN.

Referenced by OCP::OCP(), OCP::setupGrid(), and SIMexport().

returnValue ExportModule::setName ( const String & _name ) [inherited]

References ACADOERROR, BT_TRUE, String::isEmpty(), RET_INVALID_ARGUMENTS, and SUCCESSFUL_RETURN.

returnValue ModelContainer::setNARXmodel	(	const uint	_delay,
		const Matrix &	_parms
	)		`[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

References ModelContainer::modelData, and ModelData::setNARXmodel().

returnValue Options::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::operator=(), and SUCCESSFUL_RETURN.

Referenced by AlgorithmicBase::setOptions().

returnValue Options::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 ACADOERROR, Options::getNumOptionsLists(), Options::optionsList, RET_INDEX_OUT_OF_BOUNDS, and SUCCESSFUL_RETURN.

returnValue SIMexport::setReference	(	const String &	reference,
		const std::vector< String > &	outputReference = `*(new std::vector<String>())`
	)		`[virtual]`

Parameters:

[in]	reference	Name of the file containing the reference.
[in]	outputReference	The names of the files containing the reference for the output results if any.

Returns:: SUCCESSFUL_RETURN

References _ref, _refOutputFiles, BT_FALSE, BT_TRUE, ModelContainer::hasOutputs(), referenceProvided, RET_UNABLE_TO_EXPORT_CODE, and SUCCESSFUL_RETURN.

returnValue UserInteraction::setStatus ( BlockStatus _status ) [protected, inherited]

Parameters:

[in] _status New status of user interface

Returns:: SUCCESSFUL_RETURN

References UserInteraction::status, and SUCCESSFUL_RETURN.

Referenced by Controller::Controller(), DynamicEstimator::DynamicEstimator(), Estimator::Estimator(), FeedforwardLaw::FeedforwardLaw(), KalmanFilter::init(), DynamicEstimator::init(), Estimator::init(), OptimizationAlgorithm::init(), LinearStateFeedback::init(), FeedforwardLaw::init(), RealTimeAlgorithm::init(), TransferDevice::init(), PIDcontroller::init(), SimulationEnvironment::init(), Controller::init(), Process::init(), Process::initializeStartValues(), IntegrationAlgorithm::IntegrationAlgorithm(), KalmanFilter::KalmanFilter(), LinearStateFeedback::LinearStateFeedback(), OCPexport::OCPexport(), UserInteraction::operator=(), OptimizationAlgorithm::OptimizationAlgorithm(), RealTimeAlgorithm::performFeedbackStep(), RealTimeAlgorithm::performPreparationStep(), PIDcontroller::PIDcontroller(), Process::Process(), RealTimeAlgorithm::RealTimeAlgorithm(), Process::setActuator(), Controller::setControlLaw(), SimulationEnvironment::setController(), Process::setDynamicSystem(), Controller::setEstimator(), SimulationEnvironment::setProcess(), Process::setProcessDisturbance(), Controller::setReferenceTrajectory(), Process::setSensor(), OCPexport::setup(), setup(), SIMexport(), SimulationEnvironment::SimulationEnvironment(), MultiObjectiveAlgorithm::solve(), MultiObjectiveAlgorithm::solveSingleObjective(), TransferDevice::TransferDevice(), and UserInteraction::UserInteraction().

returnValue ExportModule::setTimingCalls ( uint _timingCalls ) [virtual, inherited]

Parameters:

[in] _timingCalls The new number of calls performed for the timing results.

Returns:: SUCCESSFUL_RETURN

References SUCCESSFUL_RETURN, and ExportModule::timingCalls.

returnValue SIMexport::setTimingSteps ( uint _timingSteps ) [virtual]

Parameters:

[in] _timingSteps The new number of integration steps performed for the timing results.

Returns:: SUCCESSFUL_RETURN

References SUCCESSFUL_RETURN, and timingSteps.

returnValue SIMexport::setup ( ) [protected]

Returns:: SUCCESSFUL_RETURN,
RET_INVALID_OPTION,
RET_INVALID_OBJECTIVE_FOR_CODE_EXPORT,
RET_ONLY_ODE_FOR_CODE_EXPORT,
RET_NO_DISCRETE_ODE_FOR_CODE_EXPORT,
RET_ONLY_STATES_AND_CONTROLS_FOR_CODE_EXPORT,
RET_ONLY_EQUIDISTANT_GRID_FOR_CODE_EXPORT,
RET_ONLY_BOUNDS_FOR_CODE_EXPORT,
RET_UNABLE_TO_EXPORT_CODE

References _outputFiles, _refOutputFiles, ACADOERROR, BS_READY, checkConsistency(), ExportModule::commonHeaderName, ExportAlgorithmFactory< AlgorithmBase, AlgorithmType >::createAlgorithm(), IntegratorExport::equidistantControlGrid(), ModelData::getN(), ModelData::getNumOutputs(), ModelData::hasOutputs(), ExportAlgorithmFactory< AlgorithmBase, AlgorithmType >::instance(), integrator, INTEGRATOR_TYPE, ModelContainer::modelData, NUM_INTEGRATOR_STEPS, referenceProvided, RET_INVALID_OPTION, ModelData::setIntegrationGrid(), IntegratorExport::setModelData(), UserInteraction::setStatus(), SUCCESSFUL_RETURN, T, and uint.

Referenced by exportCode().

returnValue Logging::setupLogging ( ) [protected, virtual, inherited]

Returns:: SUCCESSFUL_RETURN

Reimplemented in Process, Controller, IntegrationAlgorithm, SimulationEnvironment, RealTimeAlgorithm, and OptimizationAlgorithm.

References SUCCESSFUL_RETURN.

returnValue ExportModule::setupOptions ( ) [protected, virtual, inherited]

Returns:: SUCCESSFUL_RETURN

Reimplemented from Options.

References Options::addOption(), BT_FALSE, BT_TRUE, CG_COMPUTE_COVARIANCE_MATRIX, CG_HARDCODE_CONSTRAINT_VALUES, CG_USE_ARRIVAL_COST, CG_USE_C99, CG_USE_OPENMP, CG_USE_VARIABLE_WEIGHTING_MATRIX, DISCRETIZATION_TYPE, DYNAMIC_SENSITIVITY, FIX_INITIAL_STATE, FORWARD, FULL_CONDENSING, GAUSS_LU, GAUSS_NEWTON, GENERATE_MAKE_FILE, GENERATE_MATLAB_INTERFACE, GENERATE_SIMULINK_INTERFACE, GENERATE_TEST_FILE, HESSIAN_APPROXIMATION, HOTSTART_QP, IFTR, IMPLICIT_INTEGRATOR_MODE, IMPLICIT_INTEGRATOR_NUM_ITS, IMPLICIT_INTEGRATOR_NUM_ITS_INIT, INT_RK4, INTEGRATOR_DEBUG_MODE, INTEGRATOR_TYPE, LEVENBERG_MARQUARDT, LINEAR_ALGEBRA_SOLVER, MAX_NUM_QP_ITERATIONS, MEASUREMENT_GRID, MEDIUM, MEX_ITERATION_STEPS, MEX_VERBOSE, NO, NUM_INTEGRATOR_STEPS, OFFLINE_GRID, OPERATING_SYSTEM, OS_DEFAULT, PRINTLEVEL, QP_QPOASES, QP_SOLVER, SINGLE_SHOOTING, SPARSE_QP_SOLUTION, SUCCESSFUL_RETURN, UNROLL_LINEAR_SOLVER, USE_SINGLE_PRECISION, and YES.

Referenced by ExportModule::ExportModule().

returnValue ModelContainer::setupOutput ( const Vector & numberMeasurements ) [inherited]

Parameters:

numberMeasurements the number of measurements per horizon for each output function

Returns:: SUCCESSFUL_RETURN

returnValue Logging::updateLogRecord ( LogRecord & _record ) const [inherited]

In doing so, it is checked for each item whether it is contained within one of of the records of the collection; and if so, the numerical values are copied into the argument record.

Parameters:

[in,out] _record Record to be updated