returnValue FunctionEvaluationTree::exportCode( FILE *file,
const char *fcnName,
const char *realString,
int precision,
uint _numX,
uint _numXA,
uint _numU,
uint _numP,
uint _numDX
) const{
int run1;
int nni = 0;
for (run1 = 0; run1 < n; run1++)
if (lhs_comp[run1] + 1 > nni)
nni = lhs_comp[run1] + 1;
unsigned numX = _numX > 0 ? _numX : getNX();
unsigned numXA = _numXA > 0 ? _numXA : getNXA();
unsigned numU = _numU > 0 ? _numU : getNU();
unsigned numP = _numP > 0 ? _numP : getNP();
unsigned numDX = _numDX > 0 ? _numDX : getNDX();
acadoFPrintf(file, "void %s(const %s* in, %s* out)\n{\n", fcnName,
realString, realString);
if( numX > 0 ){
acadoFPrintf(file,"const %s* xd = in;\n", realString );
}
if( numXA > 0 ){
acadoFPrintf(file,"const %s* xa = in + %d;\n", realString,numX );
}
if( getNU() > 0 ){
acadoFPrintf(file,"const %s* u = in + %d;\n", realString,numX+numXA );
}
if( getNUI() > 0 ){
acadoFPrintf(file,"const %s* v = in + %d;\n", realString,numX+numXA+numU );
}
if( numP > 0 ){
acadoFPrintf(file,"const %s* p = in + %d;\n", realString,numX+numXA+numU+getNUI() );
}
if( getNPI() > 0 ){
acadoFPrintf(file,"const %s* q = in + %d;\n", realString,numX+numXA+numU+getNUI()+numP );
}
if( getNW() > 0 ){
acadoFPrintf(file,"const %s* w = in + %d;\n", realString,numX+numXA+numU+getNUI()+numP+getNPI() );
}
if( numDX > 0 ){
acadoFPrintf(file,"const %s* dx = in + %d;\n", realString,numX+numXA+numU+getNUI()+numP+getNPI()+getNW() );
}
if( getNT() > 0 ){
acadoFPrintf(file,"const %s* t = in + %d;\n", realString,numX+numXA+numU+getNUI()+numP+getNPI()+getNW()+numDX );
}
if (n > 0)
{
acadoFPrintf(file, "/* Vector of auxiliary variables; number of elements: %d. */\n", n);
acadoFPrintf(file, "%s* a = %s;\n", realString, globalExportVariableName.getName() );
acadoFPrintf(file, "\n/* Compute intermediate quantities; */\n");
}
Stream *auxVarIndividualNames = new Stream[nni];
for( run1 = 0; run1 < n; run1++ )
auxVarIndividualNames[lhs_comp[run1]] << "a" << "[" << run1 << "]";
// Export intermediate quantities
for (run1 = 0; run1 < n; run1++)
{
// Convert the name for intermediate variables for subexpressions
sub[run1]->setVariableExportName(VT_INTERMEDIATE_STATE, auxVarIndividualNames);
acadoFPrintf(file, "%s[%d] = ", "a", run1);
file << *sub[run1];
acadoFPrintf(file, ";\n");
}
acadoFPrintf(file,"\n/* Compute outputs: */\n");
// Export output quantities
for (run1 = 0; run1 < dim; run1++)
{
// Convert names for interm. quantities for output expressions
f[run1]->setVariableExportName(VT_INTERMEDIATE_STATE, auxVarIndividualNames);
acadoFPrintf(file, "out[%d] = ", run1);
file << *f[run1];
acadoFPrintf(file, ";\n");
}
acadoFPrintf(file,"}\n\n");
delete [] auxVarIndividualNames;
return SUCCESSFUL_RETURN;
}
returnValue FunctionEvaluationTree::exportCode( FILE *file,
const char *fcnName,
const char *realString,
int precision,
uint _numX,
uint _numXA,
uint _numU
) const{
int run1;
int nni = 0;
for( run1 = 0; run1 < n; run1++ )
if( lhs_comp[run1]+1 > nni )
nni = lhs_comp[run1]+1;
uint numX;
if( _numX > 0 ) {
numX = _numX;
}
else {
numX = getNX();
}
uint numXA;
if( _numXA > 0 ) {
numXA = _numXA;
}
else {
numXA = getNXA();
}
uint numU;
if( _numU > 0 ) {
numU = _numU;
}
else {
numU = getNU();
}
acadoFPrintf(file,"void %s( const %s* acado_x, %s* acado_f ){\n", fcnName,realString,realString );
if( numX > 0 ){
acadoFPrintf(file,"const %s* acado_xd = acado_x;\n", realString );
}
if( numXA > 0 ){
acadoFPrintf(file,"const %s* acado_xa = acado_x + %d;\n", realString,numX );
}
if( getNU() > 0 ){
acadoFPrintf(file,"const %s* acado_u = acado_x + %d;\n", realString,numX+numXA );
}
if( getNUI() > 0 ){
acadoFPrintf(file,"const %s* acado_v = acado_x + %d;\n", realString,numX+numXA+numU );
}
if( getNP() > 0 ){
acadoFPrintf(file,"const %s* acado_p = acado_x + %d;\n", realString,numX+numXA+numU+getNUI() );
}
if( getNPI() > 0 ){
acadoFPrintf(file,"const %s* acado_q = acado_x + %d;\n", realString,numX+numXA+numU+getNUI()+getNP() );
}
if( getNW() > 0 ){
acadoFPrintf(file,"const %s* acado_w = acado_x + %d;\n", realString,numX+numXA+numU+getNUI()+getNP()+getNPI() );
}
if( getNDX() > 0 ){
acadoFPrintf(file,"const %s* acado_dx = acado_x + %d;\n", realString,numX+numXA+numU+getNUI()+getNP()+getNPI()+getNW() );
}
acadoFPrintf(file,"\n");
acadoFPrintf(file,"/* COMPUTE INTERMEDIATE STATES: */\n");
acadoFPrintf(file,"/* ---------------------------- */\n");
//
// This is a (not so quick) hack to have a flexible name for interm.
// quantities, but helps. It general case it should be done with
// ExportVariable -- to be able to set a working structure, too. So:
//
// TODO: setGlobalExportvariable should set the full name once....
//
String auxVarName;
if ( auxVariableStructName.isEmpty() )
{
auxVarName = auxVariableName;
}
else
{
auxVarName = auxVariableStructName;
auxVarName += ".";
auxVarName += auxVariableName;
}
Stream *auxVarIndividualNames = new Stream[nni];
for( run1 = 0; run1 < n; run1++ )
auxVarIndividualNames[lhs_comp[run1]] << auxVarName << "[" << run1 << "]";
// Export intermediate quantities
for( run1 = 0; run1 < n; run1++ )
{
// Convert the name for intermediate variables for subexpressions
sub[ run1 ]->setVariableExportName(VT_INTERMEDIATE_STATE, auxVarIndividualNames );
acadoFPrintf(file,"%s[%d] = ", auxVarName.getName(), run1 );
file << *sub[run1];
acadoFPrintf(file,";\n");
}
acadoFPrintf(file,"\n");
acadoFPrintf(file,"/* COMPUTE OUTPUT: */\n");
acadoFPrintf(file,"/* --------------- */\n");
// Export output quantities
for( run1 = 0; run1 < dim; run1++ )
{
// Convert names for interm. quantities for output expressions
f[ run1 ]->setVariableExportName(VT_INTERMEDIATE_STATE, auxVarIndividualNames );
acadoFPrintf(file,"acado_f[%d] = ", run1 );
file << *f[run1];
acadoFPrintf(file,";\n");
}
acadoFPrintf(file,"}\n\n");
delete [] auxVarIndividualNames;
return SUCCESSFUL_RETURN;
}
