returnValue FunctionEvaluationTree::C_print( FILE *file ,
const char *fcnName ,
const char *realString,
int precision
) const{
acadoFPrintf(file,"/*\n");
acadoFPrintf(file," * This file was auto-generated by ACADO Toolkit.\n");
acadoFPrintf(file," *\n");
acadoFPrintf(file," * ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.\n");
acadoFPrintf(file," * Copyright (C) 2008-2011 by Boris Houska and Hans Joachim Ferreau, K.U.Leuven.\n");
acadoFPrintf(file," * Developed within the Optimization in Engineering Center (OPTEC) under\n");
acadoFPrintf(file," * supervision of Moritz Diehl. All rights reserved.\n");
acadoFPrintf(file," *\n");
acadoFPrintf(file," */\n");
exportHeader ( file,fcnName,realString );
exportForwardDeclarations( file,fcnName,realString );
exportCode ( file,fcnName,realString,precision );
return SUCCESSFUL_RETURN;
}
returnValue SIMexport::exportAndRun( const String& dirName,
const String& initStates,
const String& controls,
const String& results,
const String& ref
)
{
set( GENERATE_TEST_FILE, 1 );
Grid integrationGrid;
modelData.getIntegrationGrid(integrationGrid);
std::vector<Grid> outputGrids;
modelData.getOutputGrids(outputGrids);
int measGrid;
get( MEASUREMENT_GRID, measGrid );
if( (MeasurementGrid)measGrid == ONLINE_GRID || ((MeasurementGrid)measGrid == EQUIDISTANT_SUBGRID && !modelData.hasEquidistantIntegrationGrid()) ) return ACADOERROR( RET_INVALID_OPTION );
_initStates = initStates;
_controls = controls;
_results = results;
_ref = ref;
uint i, j;
Vector meas( (uint)outputGrids.size() );
Vector measRef( (uint)outputGrids.size() );
for( i = 0; i < outputGrids.size(); i++ ) {
meas(i) = (double)outputGrids[i].getNumIntervals();
measRef(i) = (double)outputGrids[i].getNumIntervals()*factorRef;
}
Vector intGrid( integrationGrid.getNumIntervals()+1 );
Vector refIntGrid( factorRef*integrationGrid.getNumIntervals()+1 );
if( !modelData.hasEquidistantIntegrationGrid() ) {
intGrid(0) = integrationGrid.getTime( 0 );
refIntGrid(0) = integrationGrid.getTime( 0 );
for( i = 0; i < integrationGrid.getNumIntervals(); i++ ) {
intGrid(i+1) = integrationGrid.getTime( i+1 );
double step = (integrationGrid.getTime( i+1 ) - integrationGrid.getTime( i ))/factorRef;
for( j = 0; j < factorRef; j++ ) {
refIntGrid(i*factorRef+1+j) = refIntGrid(i*factorRef+j) + step;
}
}
}
int numSteps;
get( NUM_INTEGRATOR_STEPS, numSteps );
timingCalls = (uint) ceil((double)(timingSteps*modelData.getN())/((double) numSteps) - 10.0*EPS);
timingSteps = (uint) ceil((double)timingCalls*((double) numSteps/((double) modelData.getN())) - 10.0*EPS);
if( !referenceProvided ) {
// REFERENCE:
if( !modelData.hasEquidistantIntegrationGrid() ) {
modelData.setMeasurements( meas ); // EQUIDISTANT_GRID option is used
modelData.setIntegrationGrid( refIntGrid );
exportCode( dirName );
exportTest( dirName, String( "test.c" ), _ref, _refOutputFiles, BT_FALSE, 1 );
}
else if( (MeasurementGrid)measGrid == EQUIDISTANT_GRID ) {
modelData.setMeasurements( meas );
set( NUM_INTEGRATOR_STEPS, (int)factorRef*numSteps );
exportCode( dirName );
exportTest( dirName, String( "test.c" ), _ref, _refOutputFiles, BT_FALSE, 1 );
}
else {
modelData.setMeasurements( measRef );
set( NUM_INTEGRATOR_STEPS, (int)factorRef*numSteps );
exportCode( dirName );
exportTest( dirName, String( "test.c" ), _ref, _refOutputFiles, BT_FALSE, factorRef );
}
executeTest( dirName );
}
modelData.clearIntegrationGrid();
// THE INTEGRATOR:
modelData.setMeasurements( meas );
set( NUM_INTEGRATOR_STEPS, numSteps );
if( !modelData.hasEquidistantIntegrationGrid() ) {
modelData.setIntegrationGrid( intGrid );
}
exportCode( dirName );
if(timingSteps > 0 && timingCalls > 0) exportTest( dirName, String( "test.c" ), _results, _outputFiles, BT_TRUE, 1 );
else exportTest( dirName, String( "test.c" ), _results, _outputFiles, BT_FALSE, 1 );
executeTest( dirName );
// THE EVALUATION:
int nil;
nil = system( (String(dirName) << "/./compare").getName() );
return SUCCESSFUL_RETURN;
}