ACADO Toolkit  1.2.0beta
Toolkit for Automatic Control and Dynamic Optimization
Public Member Functions | Protected Member Functions | Protected Attributes

Allows to export a tailored explicit Runge-Kutta integrator for fast model predictive control. More...

#include <erk_export.hpp>

Inheritance diagram for ExplicitRungeKuttaExport:
Inheritance graph
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List of all members.

Public Member Functions

 ExplicitRungeKuttaExport (UserInteraction *_userInteraction=0, const String &_commonHeaderName="")
 Default constructor.
 ExplicitRungeKuttaExport (const ExplicitRungeKuttaExport &arg)
 Copy constructor (deep copy).
virtual ~ExplicitRungeKuttaExport ()
 Destructor.
virtual returnValue setup ()
 Initializes export of a tailored integrator.
virtual returnValue setDifferentialEquation (const Expression &rhs)
 Assigns Differential Equation to be used by the integrator.
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 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 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 setModel (const String &_name_ODE, const String &_name_diffs_ODE)
 Assigns the model to be used by the integrator.
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

ExportVariable getAuxVariable () const
 Returns the largest global export variable.
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.
Matrix expandOutputMatrix (const Matrix &A3)
 
virtual returnValue clear ()
 Frees internal dynamic memory to yield an empty function.
virtual returnValue prepareFullRhs ()
 Prepares a function that evaluates the complete right-hand side.
uint getIntegrationInterval (double time)
 Get the index of the integration interval, corresponding a certain time.

Protected Attributes

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< GridoutputGrids
 A separate grid for each output.
std::vector< ExpressionoutputExpressions
 A separate expression for each output.
std::vector< MatrixoutputDependencies
 A separate dependency matrix for each output.
std::vector< ExportAcadoFunctionoutputs
 Module to export output functions.
std::vector< ExportAcadoFunctiondiffs_outputs
 Module to export the evaluation of the derivatives of the output functions.
std::vector< Stringname_outputs
 A separate function name for each output.
std::vector< Stringname_diffs_outputs
 A separate function name for evaluating the derivatives of each output.
std::vector< uintnum_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.
UserInteractionuserInteraction
 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 ExplicitRungeKuttaExport allows to export a tailored explicit Runge-Kutta integrator for fast model predictive control.

Author:
Rien Quirynen

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO ExplicitRungeKuttaExport::ExplicitRungeKuttaExport ( UserInteraction _userInteraction = 0,
const String _commonHeaderName = "" 
)
Parameters:
[in]_userInteractionPointer to corresponding user interface.
[in]_commonHeaderNameName of common header file to be included.
Parameters:
[in]argRight-hand side object.

References RungeKuttaExport::copy().


Member Function Documentation

int AlgorithmicBase::addLogRecord ( LogRecord _record) [inline, inherited]
Parameters:
[in]recordRecord 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]nameName of new option item.
[in]valueDefault 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]nameName of new option item.
[in]valueDefault 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]idxIndex of option list.
[in]nameName of new option item.
[in]valueDefault 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]idxIndex of option list.
[in]nameName of new option item.
[in]valueDefault 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.

Returns:
SUCCESSFUL_RETURN

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

Referenced by ShootingMethod::addStage().

returnValue IntegratorExport::clear ( ) [protected, virtual, inherited]
returnValue RungeKuttaExport::copy ( const RungeKuttaExport arg) [protected, virtual, inherited]
returnValue ExportAlgorithm::copy ( const ExportAlgorithm arg) [protected, inherited]
returnValue IntegratorExport::copy ( const IntegratorExport arg) [protected, virtual, inherited]
BooleanType IntegratorExport::equidistantControlGrid ( ) const [virtual, inherited]
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().

returnValue AlgorithmicBase::get ( OptionsName  name,
int &  value 
) const [inline, inherited]
Parameters:
[in]nameName of option item.
[out]valueValue 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]nameName of option item.
[out]valueValue 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]idxIndex of option list.
[in]nameName of option item.
[out]valueValue 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]idxIndex of option list.
[in]nameName of option item.
[out]valueValue 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]_nameInternal name of item.
[out]valuesAll numerical values at all time instants of given item.
Returns:
SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

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

Returns:
SUCCESSFUL_RETURN

Implements IntegratorExport.

References IntegratorExport::diffs_rhs, and ExportAcadoFunction::getGlobalExportVariable().

Referenced by getDataDeclarations().

Parameters:
[in]declarationsList of declarations.
Returns:
SUCCESSFUL_RETURN

Implements RungeKuttaExport.

References ExportStatementBlock::addDeclaration(), IntegratorExport::exportRhs, getAuxVariable(), RungeKuttaExport::rk_kkk, IntegratorExport::rk_ttt, IntegratorExport::rk_xxx, and SUCCESSFUL_RETURN.

Referenced by getCode().

uint IntegratorExport::getDimOUTPUT ( uint  index) const [inherited]
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]_nameInternal name of item.
[out]firstValueNumerical 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]_nameInternal name of item.
[out]firstValueNumerical value at first time instant of given item.
Returns:
SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

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

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


Returns:
SUCCESSFUL_RETURN

References IntegratorExport::grid, and SUCCESSFUL_RETURN.

uint IntegratorExport::getIntegrationInterval ( double  time) [protected, inherited]
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]_nameInternal name of item.
[out]lastValueNumerical 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]_nameInternal name of item.
[out]lastValueNumerical 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]
const String IntegratorExport::getNameDiffsRHS ( ) const [inherited]
const String IntegratorExport::getNameFullRHS ( ) const [virtual, inherited]
const String IntegratorExport::getNameOUTPUT ( uint  index) const [inherited]
const String IntegratorExport::getNameOutputDiffs ( ) const [inherited]
const String IntegratorExport::getNameOutputRHS ( ) const [inherited]
const String IntegratorExport::getNameRHS ( ) const [inherited]
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]

References RungeKuttaExport::numStages.

Referenced by setup().

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


Returns:
SUCCESSFUL_RETURN

References IntegratorExport::numSteps, and SUCCESSFUL_RETURN.

uint ExportAlgorithm::getNX ( ) const [inherited]
uint ExportAlgorithm::getNXA ( ) const [inherited]
Returns:
Number of algebraic states

References ExportAlgorithm::NXA.

Referenced by ExportNLPSolver::setupSimulation().

uint ExportAlgorithm::getNY ( ) const [inherited]
uint ExportAlgorithm::getNYN ( ) const [inherited]
Options AlgorithmicBase::getOptions ( uint  idx) const [inherited]
Parameters:
[in]idxIndex 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]idxIndex 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]
FILE * ExportAlgorithm::openFile ( const String dirName,
const String fileName 
) const [inherited]
Parameters:
[in]dirNameName of directory in which to open the file.
[in]fileNameName of file to be opened.
[in]includeCommonHeaderFlag 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]_frequencyFrequency determining at which time instants the window is to be plotted.
Returns:
SUCCESSFUL_RETURN

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

returnValue IntegratorExport::prepareFullRhs ( ) [protected, virtual, inherited]
returnValue AlgorithmicBase::printLogRecord ( int  idx,
LogPrintMode  _mode = PRINT_ITEM_BY_ITEM 
) const [inline, inherited]
Parameters:
[in]idxIndex of record to be printed.
[in]_modePrint 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]
returnValue IntegratorExport::propagateInputSystem ( ExportStatementBlock block,
const ExportIndex index1,
const ExportIndex index2,
const ExportIndex index3,
const ExportIndex tmp_index 
) [virtual, inherited]
returnValue IntegratorExport::propagateOutputSystem ( ExportStatementBlock block,
const ExportIndex index1,
const ExportIndex index2,
const ExportIndex index3,
const ExportIndex tmp_index 
) [virtual, inherited]
returnValue AlgorithmicBase::replot ( PlotFrequency  _frequency = PLOT_IN_ANY_CASE) [inline, inherited]
Parameters:
[in]_frequencyFrequency 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 AlgorithmicBase::set ( OptionsName  name,
int  value 
) [inherited]
Parameters:
[in]nameName of option item.
[in]valueNew 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]nameName of option item.
[in]valueNew 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]idxIndex of option list.
[in]nameName of option item.
[in]valueNew 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]idxIndex of option list.
[in]nameName of option item.
[in]valueNew 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]_nameInternal name of item.
[in]valuesAll 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 ExportAlgorithm::setDimensions ( uint  _NX = 0,
uint  _NU = 0,
uint  _NP = 0,
uint  _NI = 0 
) [inherited]
Parameters:
[in]_NXNew number of differential states.
[in]_NUNew number of control inputs.
[in]_NPNew number of parameters.
[in]_NINew 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]_NXNew number of differential states.
[in]_NDXNew number of differential states derivatives.
[in]_NXANew number of algebraic states.
[in]_NUNew number of control inputs.
[in]_NPNew number of parameters.
[in]_NINew 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]_gridintegration grid
Returns:
SUCCESSFUL_RETURN

References IntegratorExport::grid, and SUCCESSFUL_RETURN.

returnValue AlgorithmicBase::setLast ( LogName  _name,
int  lastValue,
double  time = -INFTY 
) [inline, inherited]
returnValue AlgorithmicBase::setLast ( LogName  _name,
double  lastValue,
double  time = -INFTY 
) [inline, inherited]
Parameters:
[in]_nameInternal name of item.
[in]lastValueNumerical value at last time instant of given item.
[in]timeTime 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]_nameInternal name of item.
[in]lastValueNumerical value at last time instant of given item.
[in]timeTime 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]_nameInternal name of item.
[in]lastValueNumerical value at last time instant of given item.
[in]timeTime 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]_nameInternal name of item.
[in]lastValueNumerical value at last time instant of given item.
[in]timeTime label of the instant.
Returns:
SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

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

returnValue ExplicitRungeKuttaExport::setLinearInput ( const Matrix M1,
const Matrix A1,
const Matrix B1 
) [virtual]
Parameters:
[in].
Returns:
SUCCESSFUL_RETURN

Reimplemented from IntegratorExport.

References ACADOERROR, and RET_INVALID_OPTION.

returnValue ExplicitRungeKuttaExport::setLinearOutput ( const Matrix M3,
const Matrix A3,
const Expression rhs 
) [virtual]
Parameters:
[in].
Returns:
SUCCESSFUL_RETURN

Reimplemented from IntegratorExport.

References ACADOERROR, and RET_INVALID_OPTION.

returnValue ExplicitRungeKuttaExport::setLinearOutput ( const Matrix M3,
const Matrix A3,
const String _rhs3,
const String _diffs_rhs3 
) [virtual]
Parameters:
[in].
Returns:
SUCCESSFUL_RETURN

Reimplemented from IntegratorExport.

References RET_INVALID_OPTION.

returnValue IntegratorExport::setModel ( const String _name_ODE,
const String _name_diffs_ODE 
) [virtual, inherited]
returnValue IntegratorExport::setModelData ( const ModelData data) [virtual, inherited]
Parameters:
[in]dataThe 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]delayThe delay for the states in the NARX model.
[in]parmsThe parameters defining the polynomial NARX model.
Returns:
SUCCESSFUL_RETURN

Implements IntegratorExport.

References RET_INVALID_OPTION.

void ExportAlgorithm::setNY ( uint  NY_) [inherited]
void ExportAlgorithm::setNYN ( uint  NYN_) [inherited]
returnValue AlgorithmicBase::setOptions ( const Options arg) [inherited]
Parameters:
[in]argNew 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]idxIndex of option list.
[in]argOptions object containing the option list to be assigned.
Returns:
SUCCESSFUL_RETURN

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

Returns:
SUCCESSFUL_RETURN

Implements RungeKuttaExport.

References RungeKuttaExport::AA, ACADO_LOCAL, ACADO_WORKSPACE, ACADOERROR, ExportStatementBlock::addFunctionCall(), ExportFunction::addIndex(), ExportStatementBlock::addLinebreak(), ExportStatementBlock::addStatement(), RungeKuttaExport::bb, BT_TRUE, RungeKuttaExport::cc, CG_USE_OPENMP, IntegratorExport::diffs_rhs, ExportFunction::doc(), DYNAMIC_SENSITIVITY, IntegratorExport::equidistantControlGrid(), IntegratorExport::error_code, eye(), FORWARD, ExportArgument::getAddress(), ExportVariable::getCol(), ExportVariable::getCols(), VectorspaceElement::getDim(), Grid::getFirstTime(), ExportAcadoFunction::getGlobalExportVariable(), Grid::getLastTime(), ExportData::getName(), IntegratorExport::getNameDiffsRHS(), Grid::getNumIntervals(), RungeKuttaExport::getNumStages(), ExportVariable::getRow(), IntegratorExport::grid, IntegratorExport::inputDim, INT, IntegratorExport::integrate, LOG, LVL_DEBUG, Matrix::makeVector(), NO_SENSITIVITY, ExportAlgorithm::NP, ExportAlgorithm::NU, IntegratorExport::numSteps, ExportAlgorithm::NX, REAL, IntegratorExport::reset_int, RET_INVALID_OPTION, IntegratorExport::rk_eta, IntegratorExport::rk_index, RungeKuttaExport::rk_kkk, IntegratorExport::rk_ttt, IntegratorExport::rk_xxx, ExportData::setDataStruct(), ExportData::setDoc(), ExportAcadoFunction::setGlobalExportVariable(), ExportData::setName(), ExportFunction::setReturnValue(), ExportVariable::setup(), SUCCESSFUL_RETURN, IntegratorExport::timeDependant, Matrix::transpose(), uint, and zeros().

returnValue ExplicitRungeKuttaExport::setupOutput ( const std::vector< Grid outputGrids_,
const std::vector< Expression rhs 
) [virtual]



Parameters:
outputGrids_The vector containing a grid for each output function.
rhsThe expressions corresponding the output functions.

Returns:
SUCCESSFUL_RETURN

Implements RungeKuttaExport.

References ACADOERROR, and RET_INVALID_OPTION.

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



Parameters:
outputGrids_The vector containing a grid for each output function.
_outputNamesThe names of the output functions.
_diffs_outputNamesThe names of the functions, evaluating the derivatives of the outputs.
_dims_outputThe dimensions of the output functions.

Returns:
SUCCESSFUL_RETURN

Implements IntegratorExport.

References ACADOERROR, and RET_INVALID_OPTION.

returnValue ExplicitRungeKuttaExport::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]



Parameters:
outputGrids_The vector containing a grid for each output function.
_outputNamesThe names of the output functions.
_diffs_outputNamesThe names of the functions, evaluating the derivatives of the outputs.
_dims_outputThe dimensions of the output functions.
_outputDependenciesA separate dependency matrix for each output.

Returns:
SUCCESSFUL_RETURN

Implements IntegratorExport.

References ACADOERROR, and RET_INVALID_OPTION.

returnValue IntegratorExport::updateImplicitSystem ( ExportStatementBlock block,
const ExportIndex index1,
const ExportIndex index2,
const ExportIndex tmp_index 
) [virtual, inherited]
returnValue IntegratorExport::updateInputSystem ( ExportStatementBlock block,
const ExportIndex index1,
const ExportIndex index2,
const ExportIndex tmp_index 
) [virtual, inherited]
returnValue IntegratorExport::updateOutputSystem ( ExportStatementBlock block,
const ExportIndex index1,
const ExportIndex index2,
const ExportIndex tmp_index 
) [virtual, inherited]

Member Data Documentation

Matrix IntegratorExport::A11 [protected, inherited]
Matrix IntegratorExport::A33 [protected, inherited]
Matrix RungeKuttaExport::AA [protected, inherited]
Matrix IntegratorExport::B11 [protected, inherited]
Vector RungeKuttaExport::bb [protected, inherited]
Vector RungeKuttaExport::cc [protected, inherited]
String ExportAlgorithm::commonHeaderName [protected, inherited]
BooleanType IntegratorExport::crsFormat [protected, inherited]
std::vector<ExportAcadoFunction> IntegratorExport::diffs_outputs [protected, inherited]
uint IntegratorExport::diffsDim [protected, inherited]
BooleanType IntegratorExport::exportRhs [protected, inherited]
ExportFunction IntegratorExport::fullRhs [protected, inherited]
Grid IntegratorExport::grid [protected, inherited]
uint IntegratorExport::inputDim [protected, inherited]
Matrix IntegratorExport::M11 [protected, inherited]
Matrix IntegratorExport::M33 [protected, inherited]
uint ExportAlgorithm::N [protected, inherited]
std::vector<String> IntegratorExport::name_diffs_outputs [protected, inherited]
String IntegratorExport::name_diffs_rhs [protected, inherited]
String IntegratorExport::name_diffs_rhs3 [protected, inherited]
std::vector<String> IntegratorExport::name_outputs [protected, inherited]
String IntegratorExport::name_rhs [protected, inherited]
String IntegratorExport::name_rhs3 [protected, inherited]
uint ExportAlgorithm::NDX [protected, inherited]
uint IntegratorExport::NDX3 [protected, inherited]
uint ExportAlgorithm::NP [protected, inherited]
uint ExportAlgorithm::NU [protected, inherited]

Referenced by ExportAlgorithm::copy(), ImplicitRungeKuttaExport::generateOutput(), AdjointIRKExport::getCode(), ForwardIRKExport::getCode(), ExportAlgorithm::getNU(), ExportGaussNewtonCN2::getNumQPvars(), ExportGaussNewtonQpDunes::getNumQPvars(), ExportGaussNewtonCondensed::getNumQPvars(), ExportGaussNewtonForces::getNumQPvars(), NARXExport::prepareFullRhs(), IntegratorExport::prepareFullRhs(), ImplicitRungeKuttaExport::prepareFullRhs(), DiagonallyImplicitRKExport::prepareInputSystem(), AdjointIRKExport::prepareInputSystem(), ForwardIRKExport::prepareInputSystem(), NARXExport::propagateImplicitSystem(), IntegratorExport::propagateImplicitSystem(), NARXExport::propagateInputSystem(), IntegratorExport::propagateInputSystem(), AdjointIRKExport::propagateOutputs(), ForwardIRKExport::propagateOutputs(), NARXExport::propagateOutputSystem(), IntegratorExport::propagateOutputSystem(), AdjointIRKExport::sensitivitiesOutputs(), ForwardIRKExport::sensitivitiesOutputs(), ExportNLPSolver::setConstraints(), setDifferentialEquation(), DiscreteTimeExport::setDifferentialEquation(), ImplicitRungeKuttaExport::setDifferentialEquation(), ExportAlgorithm::setDimensions(), IntegratorExport::setLinearInput(), IntegratorExport::setLinearOutput(), NARXExport::setLinearOutput(), IntegratorExport::setModel(), NARXExport::setNARXmodel(), ExportNLPSolver::setObjective(), setup(), NARXExport::setup(), DiscreteTimeExport::setup(), AdjointIRKExport::setup(), ImplicitRungeKuttaExport::setup(), ForwardIRKExport::setup(), ExportNLPSolver::setupArrivalCostCalculation(), ExportNLPSolver::setupAuxiliaryFunctions(), ExportGaussNewtonCN2::setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), ExportGaussNewtonCN2::setupConstraintsEvaluation(), ExportGaussNewtonForces::setupConstraintsEvaluation(), ExportGaussNewtonCondensed::setupConstraintsEvaluation(), ExportGaussNewtonQpDunes::setupEvaluation(), ExportGaussNewtonForces::setupEvaluation(), ExportGaussNewtonCN2::setupMultiplicationRoutines(), ExportGaussNewtonCondensed::setupMultiplicationRoutines(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), ExportGaussNewtonCN2::setupObjectiveEvaluation(), ExportGaussNewtonCondensed::setupObjectiveEvaluation(), ImplicitRungeKuttaExport::setupOutput(), ExportGaussNewtonForces::setupQPInterface(), ExportNLPSolver::setupSimulation(), ExportGaussNewtonCN2::setupVariables(), ExportGaussNewtonCondensed::setupVariables(), NARXExport::updateImplicitSystem(), IntegratorExport::updateImplicitSystem(), NARXExport::updateInputSystem(), IntegratorExport::updateInputSystem(), NARXExport::updateOutputSystem(), and IntegratorExport::updateOutputSystem().

std::vector<uint> IntegratorExport::num_outputs [protected, inherited]
uint RungeKuttaExport::numStages [protected, inherited]

Referenced by RungeKuttaExport::copy(), ImplicitRungeKuttaExport::copy(), ImplicitRungeKuttaExport::evaluateDerivedPolynomial(), ImplicitRungeKuttaExport::evaluateMatrix(), ImplicitRungeKuttaExport::evaluatePolynomial(), ImplicitRungeKuttaExport::evaluateStatesImplicitSystem(), ImplicitRungeKuttaExport::evaluateStatesOutputSystem(), DiagonallyImplicitRKExport::formMatrix(), ImplicitRungeKuttaExport::formMatrix(), ImplicitRungeKuttaExport::generateOutput(), ForwardIRKExport::getCode(), AdjointIRKExport::getCode(), ImplicitRungeKuttaExport::getCode(), RungeKuttaExport::getNumStages(), RungeKuttaExport::initializeButcherTableau(), ImplicitRungeKuttaExport::initializeCoefficients(), ImplicitRungeKuttaExport::initializeDDMatrix(), DiagonallyImplicitRKExport::prepareInputSystem(), ForwardIRKExport::prepareInputSystem(), AdjointIRKExport::prepareInputSystem(), ImplicitRungeKuttaExport::prepareInputSystem(), ImplicitRungeKuttaExport::prepareOutputEvaluation(), ForwardIRKExport::prepareOutputSystem(), AdjointIRKExport::prepareOutputSystem(), DiagonallyImplicitRKExport::prepareOutputSystem(), ImplicitRungeKuttaExport::prepareOutputSystem(), ForwardIRKExport::sensitivitiesImplicitSystem(), AdjointIRKExport::sensitivitiesImplicitSystem(), DiagonallyImplicitRKExport::sensitivitiesImplicitSystem(), AdjointIRKExport::sensitivitiesOutputs(), ForwardIRKExport::sensitivitiesOutputs(), DiagonallyImplicitRKExport::sensitivitiesOutputSystem(), AdjointIRKExport::sensitivitiesOutputSystem(), ForwardIRKExport::sensitivitiesOutputSystem(), ImplicitRungeKuttaExport::setup(), AdjointIRKExport::setup(), ForwardIRKExport::setup(), DiagonallyImplicitRKExport::setup(), ImplicitRungeKuttaExport::setupOutput(), DiagonallyImplicitRKExport::solveImplicitSystem(), ImplicitRungeKuttaExport::solveImplicitSystem(), DiagonallyImplicitRKExport::solveInputSystem(), ImplicitRungeKuttaExport::solveInputSystem(), DiagonallyImplicitRKExport::solveOutputSystem(), and ImplicitRungeKuttaExport::solveOutputSystem().

Vector IntegratorExport::numSteps [protected, inherited]
uint ExportAlgorithm::NX [protected, inherited]

Referenced by ExportAlgorithm::copy(), DiagonallyImplicitRKExport::evaluateStatesImplicitSystem(), ImplicitRungeKuttaExport::evaluateStatesImplicitSystem(), ImplicitRungeKuttaExport::evaluateStatesOutputSystem(), IntegratorExport::expandOutputMatrix(), ImplicitRungeKuttaExport::generateOutput(), ForwardIRKExport::getCode(), AdjointIRKExport::getCode(), DiscreteTimeExport::getCode(), ImplicitRungeKuttaExport::getCode(), DiscreteTimeExport::getFunctionDeclarations(), ImplicitRungeKuttaExport::getFunctionDeclarations(), IntegratorExport::getNameFullRHS(), ExportGaussNewtonCN2::getNumQPvars(), ExportGaussNewtonQpDunes::getNumQPvars(), ExportGaussNewtonCondensed::getNumQPvars(), ExportGaussNewtonForces::getNumQPvars(), ExportAlgorithm::getNX(), NARXExport::prepareFullRhs(), IntegratorExport::prepareFullRhs(), ImplicitRungeKuttaExport::prepareFullRhs(), NARXExport::propagateImplicitSystem(), IntegratorExport::propagateImplicitSystem(), NARXExport::propagateInputSystem(), IntegratorExport::propagateInputSystem(), ForwardIRKExport::propagateOutputs(), AdjointIRKExport::propagateOutputs(), NARXExport::propagateOutputSystem(), IntegratorExport::propagateOutputSystem(), ForwardIRKExport::sensitivitiesImplicitSystem(), AdjointIRKExport::sensitivitiesImplicitSystem(), DiagonallyImplicitRKExport::sensitivitiesImplicitSystem(), ForwardIRKExport::sensitivitiesOutputs(), AdjointIRKExport::sensitivitiesOutputs(), DiagonallyImplicitRKExport::sensitivitiesOutputSystem(), ForwardIRKExport::sensitivitiesOutputSystem(), AdjointIRKExport::sensitivitiesOutputSystem(), ExportNLPSolver::setConstraints(), setDifferentialEquation(), DiscreteTimeExport::setDifferentialEquation(), ImplicitRungeKuttaExport::setDifferentialEquation(), ExportAlgorithm::setDimensions(), IntegratorExport::setLinearInput(), IntegratorExport::setLinearOutput(), NARXExport::setLinearOutput(), IntegratorExport::setModel(), NARXExport::setNARXmodel(), ExportNLPSolver::setObjective(), NARXExport::setup(), setup(), DiscreteTimeExport::setup(), ImplicitRungeKuttaExport::setup(), AdjointIRKExport::setup(), ForwardIRKExport::setup(), ExportNLPSolver::setupArrivalCostCalculation(), ExportNLPSolver::setupAuxiliaryFunctions(), ExportGaussNewtonCN2::setupCondensing(), ExportGaussNewtonCondensed::setupCondensing(), ExportGaussNewtonQpDunes::setupConstraintsEvaluation(), ExportGaussNewtonCN2::setupConstraintsEvaluation(), ExportGaussNewtonForces::setupConstraintsEvaluation(), ExportGaussNewtonCondensed::setupConstraintsEvaluation(), ExportGaussNewtonQpDunes::setupEvaluation(), ExportGaussNewtonForces::setupEvaluation(), ExportGaussNewtonCN2::setupMultiplicationRoutines(), ExportGaussNewtonCondensed::setupMultiplicationRoutines(), ExportGaussNewtonQpDunes::setupObjectiveEvaluation(), ExportGaussNewtonCN2::setupObjectiveEvaluation(), ExportGaussNewtonForces::setupObjectiveEvaluation(), ExportGaussNewtonCondensed::setupObjectiveEvaluation(), ImplicitRungeKuttaExport::setupOutput(), ExportGaussNewtonForces::setupQPInterface(), ExportNLPSolver::setupSimulation(), ExportGaussNewtonQpDunes::setupVariables(), ExportGaussNewtonForces::setupVariables(), ExportGaussNewtonCN2::setupVariables(), ExportGaussNewtonCondensed::setupVariables(), DiagonallyImplicitRKExport::solveImplicitSystem(), ImplicitRungeKuttaExport::solveImplicitSystem(), DiagonallyImplicitRKExport::solveOutputSystem(), NARXExport::updateImplicitSystem(), IntegratorExport::updateImplicitSystem(), NARXExport::updateInputSystem(), IntegratorExport::updateInputSystem(), NARXExport::updateOutputSystem(), and IntegratorExport::updateOutputSystem().

uint IntegratorExport::NX1 [protected, inherited]

Referenced by DiagonallyImplicitRKExport::evaluateMatrix(), ImplicitRungeKuttaExport::evaluateMatrix(), DiagonallyImplicitRKExport::evaluateRhsImplicitSystem(), ImplicitRungeKuttaExport::evaluateRhsImplicitSystem(), DiagonallyImplicitRKExport::evaluateStatesImplicitSystem(), ImplicitRungeKuttaExport::evaluateStatesImplicitSystem(), ImplicitRungeKuttaExport::evaluateStatesOutputSystem(), NARXExport::formNARXpolynomial(), DiscreteTimeExport::getAuxVariable(), AdjointIRKExport::getAuxVariable(), ForwardIRKExport::getAuxVariable(), ImplicitRungeKuttaExport::getAuxVariable(), ForwardIRKExport::getCode(), AdjointIRKExport::getCode(), DiscreteTimeExport::getCode(), ImplicitRungeKuttaExport::getCode(), ImplicitRungeKuttaExport::getDataDeclarations(), ImplicitRungeKuttaExport::ImplicitRungeKuttaExport(), IntegratorExport::IntegratorExport(), NARXExport::prepareFullRhs(), IntegratorExport::prepareFullRhs(), ImplicitRungeKuttaExport::prepareFullRhs(), DiagonallyImplicitRKExport::prepareInputSystem(), AdjointIRKExport::prepareInputSystem(), ForwardIRKExport::prepareInputSystem(), ImplicitRungeKuttaExport::prepareInputSystem(), NARXExport::propagateImplicitSystem(), IntegratorExport::propagateImplicitSystem(), NARXExport::propagateInputSystem(), IntegratorExport::propagateInputSystem(), ForwardIRKExport::propagateOutputs(), AdjointIRKExport::propagateOutputs(), NARXExport::propagateOutputSystem(), IntegratorExport::propagateOutputSystem(), AdjointIRKExport::sensitivitiesImplicitSystem(), ForwardIRKExport::sensitivitiesImplicitSystem(), DiagonallyImplicitRKExport::sensitivitiesImplicitSystem(), ForwardIRKExport::sensitivitiesInputSystem(), AdjointIRKExport::sensitivitiesInputSystem(), ForwardIRKExport::sensitivitiesOutputs(), AdjointIRKExport::sensitivitiesOutputs(), DiagonallyImplicitRKExport::sensitivitiesOutputSystem(), AdjointIRKExport::sensitivitiesOutputSystem(), ForwardIRKExport::sensitivitiesOutputSystem(), ImplicitRungeKuttaExport::setDifferentialEquation(), DiscreteTimeExport::setDifferentialEquation(), IntegratorExport::setLinearInput(), IntegratorExport::setLinearOutput(), NARXExport::setLinearOutput(), IntegratorExport::setModel(), IntegratorExport::setModelData(), NARXExport::setNARXmodel(), NARXExport::setup(), DiscreteTimeExport::setup(), ForwardIRKExport::setup(), AdjointIRKExport::setup(), ImplicitRungeKuttaExport::setup(), DiagonallyImplicitRKExport::setup(), DiagonallyImplicitRKExport::solveImplicitSystem(), ImplicitRungeKuttaExport::solveImplicitSystem(), DiagonallyImplicitRKExport::solveInputSystem(), ImplicitRungeKuttaExport::solveInputSystem(), DiagonallyImplicitRKExport::solveOutputSystem(), ImplicitRungeKuttaExport::solveOutputSystem(), NARXExport::updateImplicitSystem(), IntegratorExport::updateImplicitSystem(), NARXExport::updateInputSystem(), IntegratorExport::updateInputSystem(), NARXExport::updateOutputSystem(), and IntegratorExport::updateOutputSystem().

uint IntegratorExport::NX2 [protected, inherited]

Referenced by DiagonallyImplicitRKExport::evaluateMatrix(), ImplicitRungeKuttaExport::evaluateMatrix(), DiagonallyImplicitRKExport::evaluateRhsImplicitSystem(), ImplicitRungeKuttaExport::evaluateRhsImplicitSystem(), DiagonallyImplicitRKExport::evaluateStatesImplicitSystem(), ImplicitRungeKuttaExport::evaluateStatesImplicitSystem(), ImplicitRungeKuttaExport::evaluateStatesOutputSystem(), NARXExport::formNARXpolynomial(), DiscreteTimeExport::getAuxVariable(), ForwardIRKExport::getAuxVariable(), AdjointIRKExport::getAuxVariable(), ImplicitRungeKuttaExport::getAuxVariable(), ForwardIRKExport::getCode(), AdjointIRKExport::getCode(), DiscreteTimeExport::getCode(), ImplicitRungeKuttaExport::getCode(), ImplicitRungeKuttaExport::getDataDeclarations(), DiscreteTimeExport::getFunctionDeclarations(), ImplicitRungeKuttaExport::getFunctionDeclarations(), IntegratorExport::getNameFullRHS(), ImplicitRungeKuttaExport::ImplicitRungeKuttaExport(), IntegratorExport::IntegratorExport(), NARXExport::prepareFullRhs(), IntegratorExport::prepareFullRhs(), ImplicitRungeKuttaExport::prepareFullRhs(), NARXExport::propagateImplicitSystem(), IntegratorExport::propagateImplicitSystem(), AdjointIRKExport::propagateOutputs(), ForwardIRKExport::propagateOutputs(), NARXExport::propagateOutputSystem(), IntegratorExport::propagateOutputSystem(), ForwardIRKExport::sensitivitiesImplicitSystem(), AdjointIRKExport::sensitivitiesImplicitSystem(), DiagonallyImplicitRKExport::sensitivitiesImplicitSystem(), AdjointIRKExport::sensitivitiesOutputs(), ForwardIRKExport::sensitivitiesOutputs(), DiagonallyImplicitRKExport::sensitivitiesOutputSystem(), AdjointIRKExport::sensitivitiesOutputSystem(), ForwardIRKExport::sensitivitiesOutputSystem(), ImplicitRungeKuttaExport::setDifferentialEquation(), DiscreteTimeExport::setDifferentialEquation(), IntegratorExport::setLinearOutput(), NARXExport::setLinearOutput(), IntegratorExport::setModel(), IntegratorExport::setModelData(), NARXExport::setNARXmodel(), NARXExport::setup(), DiscreteTimeExport::setup(), ForwardIRKExport::setup(), AdjointIRKExport::setup(), ImplicitRungeKuttaExport::setup(), DiagonallyImplicitRKExport::setup(), DiagonallyImplicitRKExport::solveImplicitSystem(), ImplicitRungeKuttaExport::solveImplicitSystem(), DiagonallyImplicitRKExport::solveOutputSystem(), ImplicitRungeKuttaExport::solveOutputSystem(), NARXExport::updateImplicitSystem(), IntegratorExport::updateImplicitSystem(), NARXExport::updateOutputSystem(), and IntegratorExport::updateOutputSystem().

uint IntegratorExport::NX3 [protected, inherited]

Referenced by ImplicitRungeKuttaExport::evaluateStatesOutputSystem(), IntegratorExport::expandOutputMatrix(), DiscreteTimeExport::getAuxVariable(), AdjointIRKExport::getAuxVariable(), ForwardIRKExport::getAuxVariable(), ImplicitRungeKuttaExport::getAuxVariable(), ForwardIRKExport::getCode(), AdjointIRKExport::getCode(), DiscreteTimeExport::getCode(), ImplicitRungeKuttaExport::getCode(), ForwardIRKExport::getFunctionDeclarations(), AdjointIRKExport::getFunctionDeclarations(), ImplicitRungeKuttaExport::getFunctionDeclarations(), ImplicitRungeKuttaExport::ImplicitRungeKuttaExport(), IntegratorExport::IntegratorExport(), NARXExport::prepareFullRhs(), IntegratorExport::prepareFullRhs(), ImplicitRungeKuttaExport::prepareFullRhs(), ForwardIRKExport::prepareOutputSystem(), AdjointIRKExport::prepareOutputSystem(), DiagonallyImplicitRKExport::prepareOutputSystem(), ImplicitRungeKuttaExport::prepareOutputSystem(), NARXExport::propagateOutputSystem(), IntegratorExport::propagateOutputSystem(), DiagonallyImplicitRKExport::sensitivitiesOutputSystem(), ForwardIRKExport::sensitivitiesOutputSystem(), AdjointIRKExport::sensitivitiesOutputSystem(), IntegratorExport::setLinearOutput(), NARXExport::setLinearOutput(), IntegratorExport::setModel(), IntegratorExport::setModelData(), NARXExport::setup(), DiscreteTimeExport::setup(), ImplicitRungeKuttaExport::setup(), ForwardIRKExport::setup(), AdjointIRKExport::setup(), DiagonallyImplicitRKExport::setup(), DiagonallyImplicitRKExport::solveOutputSystem(), ImplicitRungeKuttaExport::solveOutputSystem(), IntegratorExport::updateImplicitSystem(), NARXExport::updateOutputSystem(), and IntegratorExport::updateOutputSystem().

uint ExportAlgorithm::NXA [protected, inherited]

Referenced by ExportAlgorithm::copy(), DiagonallyImplicitRKExport::evaluateMatrix(), ImplicitRungeKuttaExport::evaluateMatrix(), DiagonallyImplicitRKExport::evaluateRhsImplicitSystem(), ImplicitRungeKuttaExport::evaluateRhsImplicitSystem(), DiagonallyImplicitRKExport::evaluateStatesImplicitSystem(), ImplicitRungeKuttaExport::evaluateStatesImplicitSystem(), ImplicitRungeKuttaExport::generateOutput(), ForwardIRKExport::getAuxVariable(), AdjointIRKExport::getAuxVariable(), ImplicitRungeKuttaExport::getAuxVariable(), ForwardIRKExport::getCode(), AdjointIRKExport::getCode(), DiscreteTimeExport::getCode(), ImplicitRungeKuttaExport::getCode(), ImplicitRungeKuttaExport::getDataDeclarations(), ExportAlgorithm::getNXA(), IntegratorExport::prepareFullRhs(), ImplicitRungeKuttaExport::prepareFullRhs(), ImplicitRungeKuttaExport::prepareOutputEvaluation(), IntegratorExport::propagateImplicitSystem(), IntegratorExport::propagateInputSystem(), IntegratorExport::propagateOutputSystem(), ForwardIRKExport::sensitivitiesImplicitSystem(), AdjointIRKExport::sensitivitiesImplicitSystem(), DiagonallyImplicitRKExport::sensitivitiesImplicitSystem(), AdjointIRKExport::sensitivitiesOutputs(), ForwardIRKExport::sensitivitiesOutputs(), DiagonallyImplicitRKExport::sensitivitiesOutputSystem(), ForwardIRKExport::sensitivitiesOutputSystem(), AdjointIRKExport::sensitivitiesOutputSystem(), setDifferentialEquation(), DiscreteTimeExport::setDifferentialEquation(), ImplicitRungeKuttaExport::setDifferentialEquation(), ExportAlgorithm::setDimensions(), IntegratorExport::setLinearInput(), IntegratorExport::setLinearOutput(), NARXExport::setLinearOutput(), IntegratorExport::setModel(), NARXExport::setNARXmodel(), DiscreteTimeExport::setup(), AdjointIRKExport::setup(), ForwardIRKExport::setup(), ImplicitRungeKuttaExport::setup(), DiagonallyImplicitRKExport::setup(), ExportNLPSolver::setupArrivalCostCalculation(), ExportNLPSolver::setupAuxiliaryFunctions(), ImplicitRungeKuttaExport::setupOutput(), ExportNLPSolver::setupSimulation(), DiagonallyImplicitRKExport::solveImplicitSystem(), ImplicitRungeKuttaExport::solveImplicitSystem(), IntegratorExport::updateImplicitSystem(), IntegratorExport::updateInputSystem(), and IntegratorExport::updateOutputSystem().

uint IntegratorExport::NXA3 [protected, inherited]
uint ExportAlgorithm::NY [protected, inherited]
uint ExportAlgorithm::NYN [protected, inherited]
std::vector<Matrix> IntegratorExport::outputDependencies [protected, inherited]
std::vector<Expression> IntegratorExport::outputExpressions [protected, inherited]
std::vector<Grid> IntegratorExport::outputGrids [protected, inherited]
int AlgorithmicBase::outputLoggingIdx [protected, inherited]
std::vector<ExportAcadoFunction> IntegratorExport::outputs [protected, inherited]
Parameter IntegratorExport::p [protected, inherited]
ExportVariable IntegratorExport::rhs_in [protected, inherited]
ExportVariable IntegratorExport::rhs_out [protected, inherited]
ExportVariable IntegratorExport::rk_eta [protected, inherited]
ExportVariable RungeKuttaExport::rk_kkk [protected, inherited]
ExportVariable IntegratorExport::rk_ttt [protected, inherited]
ExportVariable IntegratorExport::rk_xxx [protected, inherited]
Control IntegratorExport::u [protected, inherited]
DifferentialState IntegratorExport::x [protected, inherited]
AlgebraicState IntegratorExport::z [protected, inherited]

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