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 ExportGaussNewtonForces::getCode( ExportStatementBlock& code
)
{
setupQPInterface();
code.addStatement( *qpInterface );
code.addLinebreak( 2 );
code.addStatement( "/******************************************************************************/\n" );
code.addStatement( "/* */\n" );
code.addStatement( "/* ACADO code generation */\n" );
code.addStatement( "/* */\n" );
code.addStatement( "/******************************************************************************/\n" );
code.addLinebreak( 2 );
int useOMP;
get(CG_USE_OPENMP, useOMP);
if ( useOMP )
{
code.addDeclaration( state );
}
code.addFunction( modelSimulation );
code.addFunction( evaluateStageCost );
code.addFunction( evaluateTerminalCost );
code.addFunction( setObjQ1Q2 );
code.addFunction( setObjR1R2 );
code.addFunction( setObjS1 );
code.addFunction( setObjQN1QN2 );
code.addFunction( setStageH );
code.addFunction( setStagef );
code.addFunction( evaluateObjective );
code.addFunction( conSetGxGu );
code.addFunction( conSetd );
code.addFunction( evaluateConstraints );
code.addFunction( acc );
code.addFunction( preparation );
code.addFunction( feedback );
code.addFunction( initialize );
code.addFunction( initializeNodes );
code.addFunction( shiftStates );
code.addFunction( shiftControls );
code.addFunction( getKKT );
code.addFunction( getObjective );
return SUCCESSFUL_RETURN;
}
returnValue ExportGaussNewtonBlockForces::getCode( ExportStatementBlock& code
)
{
setupQPInterface();
code.addStatement( *qpInterface );
code.addFunction( cleanup );
code.addFunction( shiftQpData );
code.addFunction( evaluateConstraints );
code.addFunction( evaluateAffineConstraints );
return ExportGaussNewtonCN2::getCode( code );
}
returnValue ExportIRK4StageSimplifiedNewton::transformRightHandSide( ExportStatementBlock& code, const ExportIndex& index )
{
uint i, j;
ExportVariable transf1_var( transf1 );
ExportVariable stepSizeV( 1.0/stepsize );
ExportForLoop loop1( index, 0, dim );
for( j = 0; j < nRightHandSides; j++ ) {
loop1.addStatement( b_mem_complex1.getElement(index,j) == 0.0 );
for( i = 0; i < 4; i++ ) {
loop1.addStatement( b_mem_complex1.getElement(index,j) += transf1_var.getElement(0,i)*b_full.getElement(index+i*dim,j) );
}
stringstream ss1;
ss1 << b_mem_complex1.get(index,j) << " += (";
for( i = 0; i < 4; i++ ) {
if( i > 0 ) ss1 << " + ";
ss1 << transf1_var.get(1,i) << "*" << b_full.get(index+i*dim,j);
}
ss1 << ")*I;\n";
ss1 << b_mem_complex1.get(index,j) << " *= " << stepSizeV.get(0,0) << ";\n";
loop1 << ss1.str();
loop1.addStatement( b_mem_complex2.getElement(index,j) == 0.0 );
for( i = 0; i < 4; i++ ) {
loop1.addStatement( b_mem_complex2.getElement(index,j) += transf1_var.getElement(2,i)*b_full.getElement(index+i*dim,j) );
}
stringstream ss2;
ss2 << b_mem_complex2.get(index,j) << " += (";
for( i = 0; i < 4; i++ ) {
if( i > 0 ) ss2 << " + ";
ss2 << transf1_var.get(3,i) << "*" << b_full.get(index+i*dim,j);
}
ss2 << ")*I;\n";
ss2 << b_mem_complex2.get(index,j) << " *= " << stepSizeV.get(0,0) << ";\n";
loop1 << ss2.str();
}
code.addStatement( loop1 );
return SUCCESSFUL_RETURN;
}
returnValue ExportIRK4StageSimplifiedNewton::transformSolution( ExportStatementBlock& code, const ExportIndex& index )
{
uint j;
ExportVariable transf2_var( transf2 );
ExportForLoop loop1( index, 0, dim );
for( j = 0; j < nRightHandSides; j++ ) {
stringstream ss;
ss << b_full.get(index,j) << " = ";
ss << transf2_var.get(0,0) << "*creal(" << b_mem_complex1.get(index,j) << ") + ";
ss << transf2_var.get(0,1) << "*cimag(" << b_mem_complex1.get(index,j) << ") + ";
ss << transf2_var.get(0,2) << "*creal(" << b_mem_complex2.get(index,j) << ") + ";
ss << transf2_var.get(0,3) << "*cimag(" << b_mem_complex2.get(index,j) << ");\n";
ss << b_full.get(index+dim,j) << " = ";
ss << transf2_var.get(1,0) << "*creal(" << b_mem_complex1.get(index,j) << ") + ";
ss << transf2_var.get(1,1) << "*cimag(" << b_mem_complex1.get(index,j) << ") + ";
ss << transf2_var.get(1,2) << "*creal(" << b_mem_complex2.get(index,j) << ") + ";
ss << transf2_var.get(1,3) << "*cimag(" << b_mem_complex2.get(index,j) << ");\n";
ss << b_full.get(index+2*dim,j) << " = ";
ss << transf2_var.get(2,0) << "*creal(" << b_mem_complex1.get(index,j) << ") + ";
ss << transf2_var.get(2,1) << "*cimag(" << b_mem_complex1.get(index,j) << ") + ";
ss << transf2_var.get(2,2) << "*creal(" << b_mem_complex2.get(index,j) << ") + ";
ss << transf2_var.get(2,3) << "*cimag(" << b_mem_complex2.get(index,j) << ");\n";
ss << b_full.get(index+3*dim,j) << " = ";
ss << transf2_var.get(3,0) << "*creal(" << b_mem_complex1.get(index,j) << ") + ";
ss << transf2_var.get(3,1) << "*cimag(" << b_mem_complex1.get(index,j) << ") + ";
ss << transf2_var.get(3,2) << "*creal(" << b_mem_complex2.get(index,j) << ") + ";
ss << transf2_var.get(3,3) << "*cimag(" << b_mem_complex2.get(index,j) << ");\n";
loop1 << ss.str();
}
code.addStatement( loop1 );
return SUCCESSFUL_RETURN;
}
returnValue ExportGaussNewtonCN2::getCode( ExportStatementBlock& code
)
{
setupQPInterface();
code.addLinebreak( 2 );
code.addStatement( "/******************************************************************************/\n" );
code.addStatement( "/* */\n" );
code.addStatement( "/* ACADO code generation */\n" );
code.addStatement( "/* */\n" );
code.addStatement( "/******************************************************************************/\n" );
code.addLinebreak( 2 );
int useOMP;
get(CG_USE_OPENMP, useOMP);
if ( useOMP )
{
code.addDeclaration( state );
}
code.addFunction( modelSimulation );
code.addFunction( evaluateLSQ );
code.addFunction( evaluateLSQEndTerm );
code.addFunction( setObjQ1Q2 );
code.addFunction( setObjR1R2 );
code.addFunction( setObjS1 );
code.addFunction( setObjQN1QN2 );
code.addFunction( evaluateObjective );
code.addFunction( multGxGu );
code.addFunction( moveGuE );
code.addFunction( multBTW1 );
code.addFunction( mac_S1T_E );
code.addFunction( macBTW1_R1 );
code.addFunction( multGxTGu );
code.addFunction( macQEW2 );
code.addFunction( macATw1QDy );
code.addFunction( macBTw1 );
code.addFunction( macS1TSbar );
code.addFunction( macQSbarW2 );
code.addFunction( macASbar );
code.addFunction( expansionStep );
code.addFunction( copyHTH );
code.addFunction( multRDy );
code.addFunction( multQDy );
code.addFunction( multQN1Gu );
code.addFunction( evaluatePathConstraints );
for (unsigned i = 0; i < evaluatePointConstraints.size(); ++i)
{
if (evaluatePointConstraints[ i ] == 0)
continue;
code.addFunction( *evaluatePointConstraints[ i ] );
}
code.addFunction( condensePrep );
code.addFunction( condenseFdb );
code.addFunction( expand );
code.addFunction( preparation );
code.addFunction( feedback );
code.addFunction( initialize );
code.addFunction( initializeNodes );
code.addFunction( shiftStates );
code.addFunction( shiftControls );
code.addFunction( getKKT );
code.addFunction( getObjective );
return SUCCESSFUL_RETURN;
}
returnValue ExportExactHessianQpDunes::getCode( ExportStatementBlock& code
)
{
setupQPInterface();
code.addStatement( *qpInterface );
code.addLinebreak( 2 );
code.addStatement( "/******************************************************************************/\n" );
code.addStatement( "/* */\n" );
code.addStatement( "/* ACADO code generation */\n" );
code.addStatement( "/* */\n" );
code.addStatement( "/******************************************************************************/\n" );
code.addLinebreak( 2 );
int useOMP;
get(CG_USE_OPENMP, useOMP);
if ( useOMP )
{
code.addDeclaration( state );
}
code.addFunction( modelSimulation );
code.addFunction( evaluateStageCost );
code.addFunction( evaluateTerminalCost );
code.addFunction( setObjQ1Q2 );
code.addFunction( setObjR1R2 );
code.addFunction( setObjQN1QN2 );
code.addFunction( setStageH );
code.addFunction( setStagef );
code.addFunction( evaluateObjective );
code.addFunction( regularizeHessian );
code.addFunction( evaluatePathConstraints );
for (unsigned i = 0; i < evaluatePointConstraints.size(); ++i)
{
if (evaluatePointConstraints[ i ] == 0)
continue;
code.addFunction( *evaluatePointConstraints[ i ] );
}
code.addFunction( setStagePac );
code.addFunction( evaluateConstraints );
code.addFunction( acc );
code.addFunction( preparation );
code.addFunction( feedback );
code.addFunction( initialize );
code.addFunction( initializeNodes );
code.addFunction( shiftStates );
code.addFunction( shiftControls );
code.addFunction( getKKT );
code.addFunction( getObjective );
code.addFunction( cleanup );
code.addFunction( shiftQpData );
return SUCCESSFUL_RETURN;
}
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;
}
returnValue DiscreteTimeExport::setup( )
{
int sensGen;
get( DYNAMIC_SENSITIVITY,sensGen );
if ( (ExportSensitivityType)sensGen != FORWARD ) ACADOERROR( RET_INVALID_OPTION );
int useOMP;
get(CG_USE_OPENMP, useOMP);
ExportStruct structWspace;
structWspace = useOMP ? ACADO_LOCAL : ACADO_WORKSPACE;
LOG( LVL_DEBUG ) << "Preparing to export DiscreteTimeExport... " << endl;
ExportIndex run( "run" );
ExportIndex i( "i" );
ExportIndex j( "j" );
ExportIndex k( "k" );
ExportIndex tmp_index("tmp_index");
diffsDim = NX*(NX+NU);
inputDim = NX*(NX+NU+1) + NU + NOD;
// setup INTEGRATE function
rk_index = ExportVariable( "rk_index", 1, 1, INT, ACADO_LOCAL, true );
rk_eta = ExportVariable( "rk_eta", 1, inputDim, REAL );
if( equidistantControlGrid() ) {
integrate = ExportFunction( "integrate", rk_eta, reset_int );
}
else {
integrate = ExportFunction( "integrate", rk_eta, reset_int, rk_index );
}
integrate.setReturnValue( error_code );
rk_eta.setDoc( "Working array to pass the input values and return the results." );
reset_int.setDoc( "The internal memory of the integrator can be reset." );
rk_index.setDoc( "Number of the shooting interval." );
error_code.setDoc( "Status code of the integrator." );
integrate.doc( "Performs the integration and sensitivity propagation for one shooting interval." );
integrate.addIndex( run );
integrate.addIndex( i );
integrate.addIndex( j );
integrate.addIndex( k );
integrate.addIndex( tmp_index );
rhs_in = ExportVariable( "x", inputDim-diffsDim, 1, REAL, ACADO_LOCAL );
rhs_out = ExportVariable( "f", NX, 1, REAL, ACADO_LOCAL );
fullRhs = ExportFunction( "full_rhs", rhs_in, rhs_out );
rhs_in.setDoc( "The state and parameter values." );
rhs_out.setDoc( "Right-hand side evaluation." );
fullRhs.doc( "Evaluates the right-hand side of the full model." );
rk_xxx = ExportVariable( "rk_xxx", 1, inputDim-diffsDim, REAL, structWspace );
if( grid.getNumIntervals() > 1 || !equidistantControlGrid() ) {
rk_diffsPrev1 = ExportVariable( "rk_diffsPrev1", NX1, NX1+NU, REAL, structWspace );
rk_diffsPrev2 = ExportVariable( "rk_diffsPrev2", NX2, NX1+NX2+NU, REAL, structWspace );
rk_diffsPrev3 = ExportVariable( "rk_diffsPrev3", NX3, NX+NU, REAL, structWspace );
}
rk_diffsNew1 = ExportVariable( "rk_diffsNew1", NX1, NX1+NU, REAL, structWspace );
rk_diffsNew2 = ExportVariable( "rk_diffsNew2", NX2, NX1+NX2+NU, REAL, structWspace );
rk_diffsNew3 = ExportVariable( "rk_diffsNew3", NX3, NX+NU, REAL, structWspace );
rk_diffsTemp3 = ExportVariable( "rk_diffsTemp3", NX3, NX1+NX2+NU, REAL, structWspace );
ExportVariable numInt( "numInts", 1, 1, INT );
if( !equidistantControlGrid() ) {
ExportVariable numStepsV( "numSteps", numSteps, STATIC_CONST_INT );
integrate.addStatement( std::string( "int " ) + numInt.getName() + " = " + numStepsV.getName() + "[" + rk_index.getName() + "];\n" );
}
integrate.addStatement( rk_xxx.getCols( NX,inputDim-diffsDim ) == rk_eta.getCols( NX+diffsDim,inputDim ) );
integrate.addLinebreak( );
// evaluate sensitivities linear input:
if( NX1 > 0 ) {
for( uint i1 = 0; i1 < NX1; i1++ ) {
for( uint i2 = 0; i2 < NX1; i2++ ) {
integrate.addStatement( rk_diffsNew1.getSubMatrix(i1,i1+1,i2,i2+1) == A11(i1,i2) );
}
for( uint i2 = 0; i2 < NU; i2++ ) {
integrate.addStatement( rk_diffsNew1.getSubMatrix(i1,i1+1,NX1+i2,NX1+i2+1) == B11(i1,i2) );
}
}
}
// evaluate sensitivities linear output:
if( NX1 > 0 ) {
for( uint i1 = 0; i1 < NX3; i1++ ) {
for( uint i2 = 0; i2 < NX3; i2++ ) {
integrate.addStatement( rk_diffsNew3.getSubMatrix(i1,i1+1,NX-NX3+i2,NX-NX3+i2+1) == A33(i1,i2) );
}
}
}
integrate.addLinebreak( );
// integrator loop:
ExportForLoop tmpLoop( run, 0, grid.getNumIntervals() );
ExportStatementBlock *loop;
if( equidistantControlGrid() ) {
loop = &tmpLoop;
}
else {
loop = &integrate;
loop->addStatement( std::string("for(") + run.getName() + " = 0; " + run.getName() + " < " + numInt.getName() + "; " + run.getName() + "++ ) {\n" );
}
loop->addStatement( rk_xxx.getCols( 0,NX ) == rk_eta.getCols( 0,NX ) );
if( grid.getNumIntervals() > 1 || !equidistantControlGrid() ) {
// Set rk_diffsPrev:
loop->addStatement( std::string("if( run > 0 ) {\n") );
if( NX1 > 0 ) {
ExportForLoop loopTemp1( i,0,NX1 );
loopTemp1.addStatement( rk_diffsPrev1.getSubMatrix( i,i+1,0,NX1 ) == rk_eta.getCols( i*NX+NX+NXA,i*NX+NX+NXA+NX1 ) );
if( NU > 0 ) loopTemp1.addStatement( rk_diffsPrev1.getSubMatrix( i,i+1,NX1,NX1+NU ) == rk_eta.getCols( i*NU+(NX+NXA)*(NX+1),i*NU+(NX+NXA)*(NX+1)+NU ) );
loop->addStatement( loopTemp1 );
}
if( NX2 > 0 ) {
ExportForLoop loopTemp2( i,0,NX2 );
loopTemp2.addStatement( rk_diffsPrev2.getSubMatrix( i,i+1,0,NX1+NX2 ) == rk_eta.getCols( i*NX+NX+NXA+NX1*NX,i*NX+NX+NXA+NX1*NX+NX1+NX2 ) );
if( NU > 0 ) loopTemp2.addStatement( rk_diffsPrev2.getSubMatrix( i,i+1,NX1+NX2,NX1+NX2+NU ) == rk_eta.getCols( i*NU+(NX+NXA)*(NX+1)+NX1*NU,i*NU+(NX+NXA)*(NX+1)+NX1*NU+NU ) );
loop->addStatement( loopTemp2 );
}
if( NX3 > 0 ) {
ExportForLoop loopTemp3( i,0,NX3 );
loopTemp3.addStatement( rk_diffsPrev3.getSubMatrix( i,i+1,0,NX ) == rk_eta.getCols( i*NX+NX+NXA+(NX1+NX2)*NX,i*NX+NX+NXA+(NX1+NX2)*NX+NX ) );
if( NU > 0 ) loopTemp3.addStatement( rk_diffsPrev3.getSubMatrix( i,i+1,NX,NX+NU ) == rk_eta.getCols( i*NU+(NX+NXA)*(NX+1)+(NX1+NX2)*NU,i*NU+(NX+NXA)*(NX+1)+(NX1+NX2)*NU+NU ) );
loop->addStatement( loopTemp3 );
}
loop->addStatement( std::string("}\n") );
}
// evaluate states:
if( NX1 > 0 ) {
loop->addFunctionCall( lin_input.getName(), rk_xxx, rk_eta.getAddress(0,0) );
}
if( NX2 > 0 ) {
loop->addFunctionCall( getNameRHS(), rk_xxx, rk_eta.getAddress(0,NX1) );
}
if( NX3 > 0 ) {
loop->addFunctionCall( getNameOutputRHS(), rk_xxx, rk_eta.getAddress(0,NX1+NX2) );
}
// evaluate sensitivities
if( NX2 > 0 ) {
loop->addFunctionCall( getNameDiffsRHS(), rk_xxx, rk_diffsNew2.getAddress(0,0) );
}
if( NX3 > 0 ) {
loop->addFunctionCall( getNameOutputDiffs(), rk_xxx, rk_diffsTemp3.getAddress(0,0) );
ExportForLoop loop1( i,0,NX3 );
ExportForLoop loop2( j,0,NX1+NX2 );
loop2.addStatement( rk_diffsNew3.getSubMatrix(i,i+1,j,j+1) == rk_diffsTemp3.getSubMatrix(i,i+1,j,j+1) );
loop1.addStatement( loop2 );
loop2 = ExportForLoop( j,0,NU );
loop2.addStatement( rk_diffsNew3.getSubMatrix(i,i+1,NX+j,NX+j+1) == rk_diffsTemp3.getSubMatrix(i,i+1,NX1+NX2+j,NX1+NX2+j+1) );
loop1.addStatement( loop2 );
loop->addStatement( loop1 );
}
// computation of the sensitivities using chain rule:
if( grid.getNumIntervals() > 1 || !equidistantControlGrid() ) {
loop->addStatement( std::string( "if( run == 0 ) {\n" ) );
}
// PART 1
updateInputSystem(loop, i, j, tmp_index);
// PART 2
updateImplicitSystem(loop, i, j, tmp_index);
// PART 3
updateOutputSystem(loop, i, j, tmp_index);
if( grid.getNumIntervals() > 1 || !equidistantControlGrid() ) {
loop->addStatement( std::string( "}\n" ) );
loop->addStatement( std::string( "else {\n" ) );
// PART 1
propagateInputSystem(loop, i, j, k, tmp_index);
// PART 2
propagateImplicitSystem(loop, i, j, k, tmp_index);
// PART 3
propagateOutputSystem(loop, i, j, k, tmp_index);
loop->addStatement( std::string( "}\n" ) );
}
// end of the integrator loop.
if( !equidistantControlGrid() ) {
loop->addStatement( "}\n" );
}
else {
integrate.addStatement( *loop );
}
// PART 1
if( NX1 > 0 ) {
DMatrix zeroR = zeros<double>(1, NX2+NX3);
ExportForLoop loop1( i,0,NX1 );
loop1.addStatement( rk_eta.getCols( i*NX+NX+NXA+NX1,i*NX+NX+NXA+NX ) == zeroR );
integrate.addStatement( loop1 );
}
// PART 2
DMatrix zeroR = zeros<double>(1, NX3);
if( NX2 > 0 ) {
ExportForLoop loop2( i,NX1,NX1+NX2 );
loop2.addStatement( rk_eta.getCols( i*NX+NX+NXA+NX1+NX2,i*NX+NX+NXA+NX ) == zeroR );
integrate.addStatement( loop2 );
}
LOG( LVL_DEBUG ) << "done" << endl;
return SUCCESSFUL_RETURN;
}
returnValue DiscreteTimeExport::setup( )
{
int useOMP;
get(CG_USE_OPENMP, useOMP);
ExportStruct structWspace;
structWspace = useOMP ? ACADO_LOCAL : ACADO_WORKSPACE;
// non equidistant integration grids not implemented for NARX integrators
if( !equidistant ) return ACADOERROR( RET_INVALID_OPTION );
String fileName( "integrator.c" );
int printLevel;
get( PRINTLEVEL,printLevel );
if ( (PrintLevel)printLevel >= HIGH )
acadoPrintf( "--> Preparing to export %s... ",fileName.getName() );
ExportIndex run( "run" );
ExportIndex i( "i" );
ExportIndex j( "j" );
ExportIndex k( "k" );
ExportIndex tmp_index("tmp_index");
uint diffsDim = NX*(NX+NU);
uint inputDim = NX*(NX+NU+1) + NU + NP;
// setup INTEGRATE function
rk_index = ExportVariable( "rk_index", 1, 1, INT, ACADO_LOCAL, BT_TRUE );
rk_eta = ExportVariable( "rk_eta", 1, inputDim, REAL );
if( equidistantControlGrid() ) {
integrate = ExportFunction( "integrate", rk_eta, reset_int );
}
else {
integrate = ExportFunction( "integrate", rk_eta, reset_int, rk_index );
}
integrate.setReturnValue( error_code );
integrate.addIndex( run );
integrate.addIndex( i );
integrate.addIndex( j );
integrate.addIndex( k );
integrate.addIndex( tmp_index );
rhs_in = ExportVariable( "x", inputDim-diffsDim, 1, REAL, ACADO_LOCAL );
rhs_out = ExportVariable( "f", NX, 1, REAL, ACADO_LOCAL );
fullRhs = ExportFunction( "full_rhs", rhs_in, rhs_out );
rk_xxx = ExportVariable( "rk_xxx", 1, inputDim-diffsDim, REAL, structWspace );
if( grid.getNumIntervals() > 1 || !equidistantControlGrid() ) {
rk_diffsPrev1 = ExportVariable( "rk_diffsPrev1", NX1, NX1+NU, REAL, structWspace );
rk_diffsPrev2 = ExportVariable( "rk_diffsPrev2", NX2, NX1+NX2+NU, REAL, structWspace );
}
rk_diffsNew1 = ExportVariable( "rk_diffsNew1", NX1, NX1+NU, REAL, structWspace );
rk_diffsNew2 = ExportVariable( "rk_diffsNew2", NX2, NX1+NX2+NU, REAL, structWspace );
ExportVariable numInt( "numInts", 1, 1, INT );
if( !equidistantControlGrid() ) {
ExportVariable numStepsV( "numSteps", numSteps, STATIC_CONST_INT );
integrate.addStatement( String( "int " ) << numInt.getName() << " = " << numStepsV.getName() << "[" << rk_index.getName() << "];\n" );
}
integrate.addStatement( rk_xxx.getCols( NX,inputDim-diffsDim ) == rk_eta.getCols( NX+diffsDim,inputDim ) );
integrate.addLinebreak( );
// integrator loop:
ExportForLoop tmpLoop( run, 0, grid.getNumIntervals() );
ExportStatementBlock *loop;
if( equidistantControlGrid() ) {
loop = &tmpLoop;
}
else {
loop = &integrate;
loop->addStatement( String("for(") << run.getName() << " = 0; " << run.getName() << " < " << numInt.getName() << "; " << run.getName() << "++ ) {\n" );
}
loop->addStatement( rk_xxx.getCols( 0,NX ) == rk_eta.getCols( 0,NX ) );
if( grid.getNumIntervals() > 1 || !equidistantControlGrid() ) {
// Set rk_diffsPrev:
loop->addStatement( String("if( run > 0 ) {\n") );
if( NX1 > 0 ) {
ExportForLoop loopTemp1( i,0,NX1 );
loopTemp1.addStatement( rk_diffsPrev1.getSubMatrix( i,i+1,0,NX1 ) == rk_eta.getCols( i*NX+NX+NXA,i*NX+NX+NXA+NX1 ) );
if( NU > 0 ) loopTemp1.addStatement( rk_diffsPrev1.getSubMatrix( i,i+1,NX1,NX1+NU ) == rk_eta.getCols( i*NU+(NX+NXA)*(NX+1),i*NU+(NX+NXA)*(NX+1)+NU ) );
loop->addStatement( loopTemp1 );
}
if( NX2 > 0 ) {
ExportForLoop loopTemp2( i,0,NX2 );
loopTemp2.addStatement( rk_diffsPrev2.getSubMatrix( i,i+1,0,NX1+NX2 ) == rk_eta.getCols( i*NX+NX+NXA+NX1*NX,i*NX+NX+NXA+NX1*NX+NX1+NX2 ) );
if( NU > 0 ) loopTemp2.addStatement( rk_diffsPrev2.getSubMatrix( i,i+1,NX1+NX2,NX1+NX2+NU ) == rk_eta.getCols( i*NU+(NX+NXA)*(NX+1)+NX1*NU,i*NU+(NX+NXA)*(NX+1)+NX1*NU+NU ) );
loop->addStatement( loopTemp2 );
}
loop->addStatement( String("}\n") );
}
// evaluate states:
if( NX1 > 0 ) {
loop->addFunctionCall( lin_input.getName(), rk_xxx, rk_eta.getAddress(0,0) );
}
if( NX2 > 0 ) {
loop->addFunctionCall( getNameRHS(), rk_xxx, rk_eta.getAddress(0,NX1) );
}
// evaluate sensitivities:
if( NX1 > 0 ) {
for( uint i1 = 0; i1 < NX1; i1++ ) {
for( uint i2 = 0; i2 < NX1; i2++ ) {
loop->addStatement( rk_diffsNew1.getSubMatrix(i1,i1+1,i2,i2+1) == A11(i1,i2) );
}
for( uint i2 = 0; i2 < NU; i2++ ) {
loop->addStatement( rk_diffsNew1.getSubMatrix(i1,i1+1,NX1+i2,NX1+i2+1) == B11(i1,i2) );
}
}
}
if( NX2 > 0 ) {
loop->addFunctionCall( getNameDiffsRHS(), rk_xxx, rk_diffsNew2.getAddress(0,0) );
}
// computation of the sensitivities using chain rule:
if( grid.getNumIntervals() > 1 || !equidistantControlGrid() ) {
loop->addStatement( String( "if( run == 0 ) {\n" ) );
}
// PART 1
updateInputSystem(loop, i, j, tmp_index);
// PART 2
updateImplicitSystem(loop, i, j, tmp_index);
if( grid.getNumIntervals() > 1 || !equidistantControlGrid() ) {
loop->addStatement( String( "}\n" ) );
loop->addStatement( String( "else {\n" ) );
// PART 1
propagateInputSystem(loop, i, j, k, tmp_index);
// PART 2
propagateImplicitSystem(loop, i, j, k, tmp_index);
loop->addStatement( String( "}\n" ) );
}
// end of the integrator loop.
if( !equidistantControlGrid() ) {
loop->addStatement( "}\n" );
}
else {
integrate.addStatement( *loop );
}
// PART 1
if( NX1 > 0 ) {
Matrix zeroR = zeros(1, NX2);
ExportForLoop loop1( i,0,NX1 );
loop1.addStatement( rk_eta.getCols( i*NX+NX+NXA+NX1,i*NX+NX+NXA+NX ) == zeroR );
integrate.addStatement( loop1 );
}
if ( (PrintLevel)printLevel >= HIGH )
acadoPrintf( "done.\n" );
return SUCCESSFUL_RETURN;
}
