returnValue ThreeSweepsERKExport::getCode(	ExportStatementBlock& code
											)
{
	int useOMP;
	get(CG_USE_OPENMP, useOMP);
	if ( useOMP )
	{
		getDataDeclarations( code, ACADO_LOCAL );

		code << "#pragma omp threadprivate( "
				<< getAuxVariable().getFullName()  << ", "
				<< rk_xxx.getFullName() << ", "
				<< rk_ttt.getFullName() << ", "
				<< rk_kkk.getFullName() << ", "
				<< rk_forward_sweep.getFullName() << ", "
				<< rk_backward_sweep.getFullName()
				<< " )\n\n";
	}

	int sensGen;
	get( DYNAMIC_SENSITIVITY,sensGen );
	if( exportRhs ) {
		code.addFunction( rhs );
		code.addFunction( diffs_rhs );
		code.addFunction( diffs_sweep3 );
	}

	double h = (grid.getLastTime() - grid.getFirstTime())/grid.getNumIntervals();
	code.addComment(std::string("Fixed step size:") + toString(h));
	code.addFunction( integrate );

	return SUCCESSFUL_RETURN;
}
Example #2
0
returnValue DiscreteTimeExport::getCode(	ExportStatementBlock& code
										)
{
	if( NX1 > 0 ) {
		code.addFunction( lin_input );
		code.addStatement( "\n\n" );
	}

	if( NX2 > 0 ) {
		code.addFunction( rhs );
		code.addStatement( "\n\n" );
		code.addFunction( diffs_rhs );
		code.addStatement( "\n\n" );
	}

	if( !equidistantControlGrid() ) {
		ExportVariable numStepsV( "numSteps", numSteps, STATIC_CONST_INT );
		code.addDeclaration( numStepsV );
		code.addLinebreak( 2 );
	}
	double h = (grid.getLastTime() - grid.getFirstTime())/grid.getNumIntervals();
	code.addComment(String("Fixed step size:") << String(h));

	code.addFunction( integrate );

	if( NX2 != NX ) {
		prepareFullRhs();
		code.addFunction( fullRhs );
	}

	return SUCCESSFUL_RETURN;
}
returnValue LiftedERKExport::getCode(	ExportStatementBlock& code
										)
{
	// 	int printLevel;
	// 	get( PRINTLEVEL,printLevel );
	//
	// 	if ( (PrintLevel)printLevel >= HIGH )
	// 		acadoPrintf( "--> Exporting %s... ",fileName.getName() );

	int useOMP;
	get(CG_USE_OPENMP, useOMP);
	if ( useOMP )
	{
		getDataDeclarations( code, ACADO_LOCAL );

		code << "#pragma omp threadprivate( "
				<< getAuxVariable().getFullName()  << ", "
				<< rk_xxx.getFullName() << ", "
				<< rk_ttt.getFullName() << ", "
				<< rk_kkk.getFullName()
				<< " )\n\n";
	}

	int sensGen;
	get( DYNAMIC_SENSITIVITY,sensGen );
	if( exportRhs ) {
		code.addFunction( rhs );
		code.addFunction( diffs_rhs );
		code.addFunction( alg_rhs );
		solver->getCode( code ); // solver for the algebraic equations
	}
	else {
		return ACADOERRORTEXT( RET_NOT_YET_IMPLEMENTED, "Externally defined dynamics not yet supported for the lifted ERK integrator!");
	}

	double h = (grid.getLastTime() - grid.getFirstTime())/grid.getNumIntervals();
	code.addComment(std::string("Fixed step size:") + toString(h));
	code.addFunction( integrate );


	// 	if ( (PrintLevel)printLevel >= HIGH )
	// 		acadoPrintf( "done.\n" );

	return SUCCESSFUL_RETURN;
}
Example #4
0
returnValue ExplicitRungeKuttaExport::getCode(	ExportStatementBlock& code
                                             )
{
// 	int printLevel;
// 	get( PRINTLEVEL,printLevel );
//
// 	if ( (PrintLevel)printLevel >= HIGH )
// 		acadoPrintf( "--> Exporting %s... ",fileName.getName() );

    int useOMP;
    get(CG_USE_OPENMP, useOMP);
    if ( useOMP )
    {
        getDataDeclarations( code, ACADO_LOCAL );

        code << "#pragma omp threadprivate( "
             << getAuxVariable().getFullName()  << ", "
             << rk_xxx.getFullName() << ", "
             << rk_ttt.getFullName() << ", "
             << rk_kkk.getFullName()
             << " )\n\n";
    }

    int sensGen;
    get( DYNAMIC_SENSITIVITY,sensGen );
    if( exportRhs ) {
        code.addFunction( rhs );
        code.addFunction( diffs_rhs );
    }

    double h = (grid.getLastTime() - grid.getFirstTime())/grid.getNumIntervals();
    code.addComment(std::string("Fixed step size:") + toString(h));
    code.addFunction( integrate );


// 	if ( (PrintLevel)printLevel >= HIGH )
// 		acadoPrintf( "done.\n" );

    return SUCCESSFUL_RETURN;
}
Example #5
0
returnValue DiscreteTimeExport::getCode(	ExportStatementBlock& code
										)
{
	int useOMP;
	get(CG_USE_OPENMP, useOMP);
	if ( useOMP ) {
		ExportVariable max = getAuxVariable();
		max.setName( "auxVar" );
		max.setDataStruct( ACADO_LOCAL );
		if( NX2 > 0 ) {
			rhs.setGlobalExportVariable( max );
			diffs_rhs.setGlobalExportVariable( max );
		}
		if( NX3 > 0 ) {
			rhs3.setGlobalExportVariable( max );
			diffs_rhs3.setGlobalExportVariable( max );
		}

		getDataDeclarations( code, ACADO_LOCAL );

		stringstream s;
		s << "#pragma omp threadprivate( "
				<< max.getFullName() << ", "
				<< rk_xxx.getFullName();
		if( NX1 > 0 ) {
			if( grid.getNumIntervals() > 1 || !equidistantControlGrid() ) s << ", " << rk_diffsPrev1.getFullName();
			s << ", " << rk_diffsNew1.getFullName();
		}
		if( NX2 > 0 || NXA > 0 ) {
			if( grid.getNumIntervals() > 1 || !equidistantControlGrid() ) s << ", " << rk_diffsPrev2.getFullName();
			s << ", " << rk_diffsNew2.getFullName();
		}
		if( NX3 > 0 ) {
			if( grid.getNumIntervals() > 1 || !equidistantControlGrid() ) s << ", " << rk_diffsPrev3.getFullName();
			s << ", " << rk_diffsNew3.getFullName();
			s << ", " << rk_diffsTemp3.getFullName();
		}
		s << " )" << endl << endl;
		code.addStatement( s.str().c_str() );
	}

	if( NX1 > 0 ) {
		code.addFunction( lin_input );
		code.addStatement( "\n\n" );
	}

	if( NX2 > 0 ) {
		code.addFunction( rhs );
		code.addStatement( "\n\n" );
		code.addFunction( diffs_rhs );
		code.addStatement( "\n\n" );
	}

	if( NX3 > 0 ) {
		code.addFunction( rhs3 );
		code.addStatement( "\n\n" );
		code.addFunction( diffs_rhs3 );
		code.addStatement( "\n\n" );
	}

	if( !equidistantControlGrid() ) {
		ExportVariable numStepsV( "numSteps", numSteps, STATIC_CONST_INT );
		code.addDeclaration( numStepsV );
		code.addLinebreak( 2 );
	}
	double h = (grid.getLastTime() - grid.getFirstTime())/grid.getNumIntervals();
	code.addComment(std::string("Fixed step size:") + toString(h));

	code.addFunction( integrate );

	return SUCCESSFUL_RETURN;
}