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;
}
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 SIMexport::exportAcadoHeader( const String& _dirName,
const String& _fileName,
const String& _realString,
const String& _intString,
int _precision
) const
{
int qpSolver;
get( QP_SOLVER,qpSolver );
int operatingSystem;
get( OPERATING_SYSTEM,operatingSystem );
int useSinglePrecision;
get( USE_SINGLE_PRECISION,useSinglePrecision );
int fixInitialState;
get( FIX_INITIAL_STATE,fixInitialState );
String fileName( _dirName );
fileName << "/" << _fileName;
ExportFile acadoHeader( fileName,"", _realString,_intString,_precision );
acadoHeader.addStatement( "#include <stdio.h>\n" );
acadoHeader.addStatement( "#include <math.h>\n" );
if ( (OperatingSystem)operatingSystem == OS_WINDOWS )
{
acadoHeader.addStatement( "#include <windows.h>\n" );
}
else
{
// OS_UNIX
acadoHeader.addStatement( "#include <time.h>\n" );
acadoHeader.addStatement( "#include <sys/stat.h>\n" );
acadoHeader.addStatement( "#include <sys/time.h>\n" );
}
acadoHeader.addLinebreak( );
acadoHeader.addStatement( "#ifndef ACADO_H\n" );
acadoHeader.addStatement( "#define ACADO_H\n" );
acadoHeader.addLinebreak( );
switch ( (QPSolverName)qpSolver )
{
case QP_CVXGEN:
acadoHeader.addStatement( "#define USE_CVXGEN\n" );
acadoHeader.addStatement( "#include \"cvxgen/solver.h\"\n" );
acadoHeader.addLinebreak( 2 );
if ( (BooleanType)useSinglePrecision == BT_TRUE )
acadoHeader.addStatement( "typedef float real_t;\n" );
else
acadoHeader.addStatement( "typedef double real_t;\n" );
acadoHeader.addLinebreak( 2 );
break;
case QP_QPOASES:
acadoHeader.addStatement( "#ifndef __MATLAB__\n" );
acadoHeader.addStatement( "#ifdef __cplusplus\n" );
acadoHeader.addStatement( "extern \"C\"\n" );
acadoHeader.addStatement( "{\n" );
acadoHeader.addStatement( "#endif\n" );
acadoHeader.addStatement( "#endif\n" );
acadoHeader.addStatement( "#include \"qpoases/solver.hpp\"\n" );
acadoHeader.addLinebreak( 2 );
break;
case QP_QPOASES3:
acadoHeader.addStatement( "#include \"qpoases3/solver.h\"\n" );
acadoHeader.addLinebreak( 2 );
break;
case QP_NONE:
if ( (BooleanType)useSinglePrecision == BT_TRUE )
acadoHeader.addStatement( "typedef float real_t;\n" );
else
acadoHeader.addStatement( "typedef double real_t;\n" );
acadoHeader.addLinebreak( 2 );
break;
default:
return ACADOERROR( RET_INVALID_OPTION );
}
Vector nMeasV = getNumMeas();
Vector nOutV = getDimOutputs();
if( nMeasV.getDim() != nOutV.getDim() ) return ACADOERROR( RET_INVALID_OPTION );
//
// Some common defines
//
acadoHeader.addComment( "COMMON DEFINITIONS: " );
acadoHeader.addComment( "--------------------------------" );
acadoHeader.addLinebreak( 2 );
if( (uint)nOutV.getDim() > 0 ) {
acadoHeader.addComment( "Dimension of the output functions" );
acadoHeader.addDeclaration( ExportVariable( "NOUT",nOutV,STATIC_CONST_INT ) );
acadoHeader.addComment( "Measurements of the output functions per shooting interval" );
acadoHeader.addDeclaration( ExportVariable( "NMEAS",nMeasV,STATIC_CONST_INT ) );
}
acadoHeader.addLinebreak( 2 );
acadoHeader.addComment( "Number of control intervals" );
acadoHeader.addStatement( (String)"#define ACADO_N " << getN() << "\n");
acadoHeader.addComment( "Number of differential states" );
acadoHeader.addStatement( (String)"#define ACADO_NX " << getNX() << "\n" );
acadoHeader.addComment( "Number of differential state derivatives" );
acadoHeader.addStatement( (String)"#define ACADO_NDX " << getNDX() << "\n" );
acadoHeader.addComment( "Number of algebraic states" );
acadoHeader.addStatement( (String)"#define ACADO_NXA " << getNXA() << "\n" );
acadoHeader.addComment( "Number of controls" );
acadoHeader.addStatement( (String)"#define ACADO_NU " << getNU() << "\n" );
acadoHeader.addComment( "Number of parameters" );
acadoHeader.addStatement( (String)"#define ACADO_NP " << getNP() << "\n" );
acadoHeader.addComment( "Number of output functions" );
acadoHeader.addStatement( (String)"#define NUM_OUTPUTS " << (uint)nOutV.getDim() << "\n" );
acadoHeader.addLinebreak( 2 );
acadoHeader.addComment( "GLOBAL VARIABLES: " );
acadoHeader.addComment( "--------------------------------" );
ExportStatementBlock tempHeader;
if ( collectDataDeclarations( tempHeader,ACADO_VARIABLES ) != SUCCESSFUL_RETURN )
return ACADOERROR( RET_UNABLE_TO_EXPORT_CODE );
acadoHeader.addStatement( "typedef struct ACADOvariables_ {\n" );
acadoHeader.addStatement( tempHeader );
#ifdef WIN32
if( tempHeader.getNumStatements() == 0 ) {
acadoHeader.addStatement( "int dummy; \n" );
}
#endif
acadoHeader.addLinebreak( );
acadoHeader.addStatement( "} ACADOvariables;\n" );
acadoHeader.addLinebreak( 2 );
acadoHeader.addComment( "GLOBAL WORKSPACE: " );
acadoHeader.addComment( "--------------------------------" );
acadoHeader.addStatement( "typedef struct ACADOworkspace_ {\n" );
if ( collectDataDeclarations( acadoHeader,ACADO_WORKSPACE ) != SUCCESSFUL_RETURN )
return ACADOERROR( RET_UNABLE_TO_EXPORT_CODE );
acadoHeader.addLinebreak( );
acadoHeader.addStatement( "} ACADOworkspace;\n" );
acadoHeader.addLinebreak( 2 );
acadoHeader.addComment( "GLOBAL FORWARD DECLARATIONS: " );
acadoHeader.addComment( "-------------------------------------" );
if ( collectFunctionDeclarations( acadoHeader ) != SUCCESSFUL_RETURN )
return ACADOERROR( RET_UNABLE_TO_EXPORT_CODE );
acadoHeader.addComment( "-------------------------------------" );
acadoHeader.addLinebreak( 2 );
acadoHeader.addComment( "EXTERN DECLARATIONS: " );
acadoHeader.addComment( "-------------------------------------" );
acadoHeader.addStatement( "extern ACADOworkspace acadoWorkspace;\n" );
acadoHeader.addStatement( "extern ACADOvariables acadoVariables;\n" );
acadoHeader.addComment( "-------------------------------------" );
switch ( (QPSolverName) qpSolver )
{
case QP_CVXGEN:
break;
case QP_QPOASES:
acadoHeader.addStatement( "#ifndef __MATLAB__\n");
acadoHeader.addStatement( "#ifdef __cplusplus\n" );
acadoHeader.addLinebreak( );
acadoHeader.addStatement( "} /* extern \"C\" */\n" );
acadoHeader.addStatement( "#endif\n" );
acadoHeader.addStatement( "#endif\n" );
break;
case QP_QPOASES3:
break;
case QP_NONE:
break;
default:
return ACADOERROR( RET_INVALID_OPTION );
}
acadoHeader.addStatement( "#endif\n" );
acadoHeader.addLinebreak( );
acadoHeader.addComment( "END OF FILE." );
acadoHeader.addLinebreak( );
return acadoHeader.exportCode( );
}
