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;
}
