returnValue ModelData::setModel( const DifferentialEquation& _f )
{
if( rhs_name.empty() && NX2 == 0 ) {
differentialEquation = _f;
Expression rhs;
differentialEquation.getExpression( rhs );
NXA = differentialEquation.getNXA();
NX2 = rhs.getDim() - NXA;
if( NDX == 0 ) NDX = _f.getNDX();
// if( _f.getNDX() > 0 && _f.getNDX() != (int)NX2 ) { // TODO: this test returns an error for well-defined models when using a linear input subsystem!
// std::cout << "nonlinear model of size " << NX2 << " depends on " << _f.getNDX() << " differential state derivatives!" << std::endl;
// return ACADOERROR( RET_INVALID_OPTION );
// }
if( NU == 0 ) NU = _f.getNU();
if( NP == 0 ) NP = _f.getNP();
if( NOD == 0 ) NOD = _f.getNOD();
export_rhs = BT_TRUE;
}
else {
return ACADOERROR( RET_INVALID_OPTION );
}
return SUCCESSFUL_RETURN;
}
returnValue OCPexport::checkConsistency( ) const
{
//
// Consistency checks:
//
Objective objective;
ocp.getObjective( objective );
int hessianApproximation;
get( HESSIAN_APPROXIMATION, hessianApproximation );
if ( ocp.hasObjective( ) == true && !((HessianApproximationMode)hessianApproximation == EXACT_HESSIAN &&
(objective.getNumMayerTerms() == 1 || objective.getNumLagrangeTerms() == 1)) ) { // for Exact Hessian RTI
return ACADOERROR( RET_INVALID_OBJECTIVE_FOR_CODE_EXPORT );
}
int sensitivityProp;
get(DYNAMIC_SENSITIVITY, sensitivityProp);
// if( (HessianApproximationMode)hessianApproximation == EXACT_HESSIAN && (ExportSensitivityType) sensitivityProp != THREE_SWEEPS ) {
// return ACADOERROR( RET_INVALID_OPTION );
// }
DifferentialEquation f;
ocp.getModel( f );
// if ( f.isDiscretized( ) == BT_TRUE )
// return ACADOERROR( RET_NO_DISCRETE_ODE_FOR_CODE_EXPORT );
if ( f.getNUI( ) > 0 )
return ACADOERROR( RET_INVALID_ARGUMENTS );
if ( f.getNP( ) > 0 )
return ACADOERRORTEXT(RET_INVALID_ARGUMENTS,
"Free parameters are not supported. For the old functionality use OnlineData class.");
if ( (HessianApproximationMode)hessianApproximation != GAUSS_NEWTON && (HessianApproximationMode)hessianApproximation != EXACT_HESSIAN )
return ACADOERROR( RET_INVALID_OPTION );
int discretizationType;
get( DISCRETIZATION_TYPE,discretizationType );
if ( ( (StateDiscretizationType)discretizationType != SINGLE_SHOOTING ) &&
( (StateDiscretizationType)discretizationType != MULTIPLE_SHOOTING ) )
return ACADOERROR( RET_INVALID_OPTION );
return SUCCESSFUL_RETURN;
}
returnValue SIMexport::checkConsistency( ) const
{
// consistency checks:
// only time-continuous DAEs without parameter and disturbances supported!
DifferentialEquation f;
modelData.getModel(f);
if ( f.isDiscretized( ) == true )
return ACADOERROR( RET_NO_DISCRETE_ODE_FOR_CODE_EXPORT );
if ( ( f.getNUI( ) > 0 ) ||
/*( f.getNP( ) > 0 ) ||*/ ( f.getNPI( ) > 0 ) || ( f.getNW( ) > 0 ) )
return ACADOERROR( RET_ONLY_STATES_AND_CONTROLS_FOR_CODE_EXPORT );
int mode;
get( IMPLICIT_INTEGRATOR_MODE, mode );
if( (ImplicitIntegratorMode) mode == LIFTED ) return ACADOERROR( RET_NOT_IMPLEMENTED_YET );
return SUCCESSFUL_RETURN;
}
returnValue EllipsoidalIntegrator::init( const DifferentialEquation &rhs_, const int &N_ ){
if( rhs_.isODE( ) == BT_FALSE ) return ACADOERROR(RET_CANNOT_TREAT_DAE);
nx = rhs_.getDim();
Q.resize(nx,nx);
for( int i=0; i<nx*nx; i++ ) Q(i) = 0.0;
N = N_;
IntermediateState derivatives = rhs_.getODEexpansion( N );
IntermediateState gg = derivatives.getCol(0);
for( int i=0; i<N; i++ ) gg << derivatives.getCol(i+1)/acadoFactorial(i+1);
g << gg;
// FILE *file = fopen("g.c","w");
// file << g;
// fclose(file);
gr << derivatives.getCol(N+1)/acadoFactorial(N+1);
dg << gg.ADforward( VT_DIFFERENTIAL_STATE, rhs_.getComponents(), nx );
DifferentialState r(nx);
IntermediateState dgg = gg.ADforward( VT_DIFFERENTIAL_STATE, rhs_.getComponents(), r );
ddg << 0.5*dgg.ADforward( VT_DIFFERENTIAL_STATE, rhs_.getComponents(), r );
return SUCCESSFUL_RETURN;
}
returnValue SIMexport::checkConsistency( ) const
{
// Number of differential state derivatives must be either zero or equal to the number of differential states:
if( !modelData.checkConsistency() ) {
return ACADOERROR( RET_INVALID_OPTION );
}
// consistency checks:
// only time-continuous DAEs without parameter and disturbances supported!
DifferentialEquation f;
modelData.getModel(f);
if ( f.isDiscretized( ) == BT_TRUE )
return ACADOERROR( RET_NO_DISCRETE_ODE_FOR_CODE_EXPORT );
if ( ( f.getNUI( ) > 0 ) ||
/*( f.getNP( ) > 0 ) ||*/ ( f.getNPI( ) > 0 ) || ( f.getNW( ) > 0 ) )
return ACADOERROR( RET_ONLY_STATES_AND_CONTROLS_FOR_CODE_EXPORT );
// only equidistant evaluation grids supported!
return SUCCESSFUL_RETURN;
}
EllipsoidalIntegrator::EllipsoidalIntegrator( const DifferentialEquation &rhs_, const int &N_ ):AlgorithmicBase(){
ASSERT( rhs_.isODE( ) == BT_TRUE );
setupOptions();
init( rhs_, N_ );
}
inline void initPointer()
{
if (not itExt) {
itExt = &(equation->extVars().find(name)->second);
}
}
inline void initPointer()
{
if (not itVar) {
itVar = &(equation->vars().find(name)->second);
}
}