returnValue ExportArithmeticStatement::exportCodeAssign( FILE* file,
const char* const _op,
const char* _realString,
const char* _intString,
int _precision
) const
{
if ( ( lhs == 0 ) || ( rhs1 == 0 ) || ( rhs2 != 0 ) )
return ACADOERROR( RET_UNABLE_TO_EXPORT_STATEMENT );
if ( ( rhs1->getNumRows( ) != lhs->getNumRows( ) ) ||
( rhs1->getNumCols( ) != lhs->getNumCols( ) ) )
return ACADOERROR( RET_VECTOR_DIMENSION_MISMATCH );
for( uint i=0; i<getNumRows( ); ++i )
for( uint j=0; j<getNumCols( ); ++j )
{
if ( ( _op[0] == '=' ) || ( rhs1->isZero(i,j) == BT_FALSE ) )
{
acadoFPrintf( file,"%s %s ", lhs->get(i,j),_op );
acadoFPrintf( file,"%s;\n", rhs1->get(i,j) );
}
}
return SUCCESSFUL_RETURN;
}
returnValue writeDoublePointerToFile( double *x, int dim, FILE *file ){
int run1;
if( !file ) return ACADOERROR(RET_CAN_NOT_WRITE_INTO_FILE);
for( run1 = 0; run1 < dim; run1++ ){
if( x[run1] <= ACADO_NAN - 1.0 ) acadoFPrintf(file,"%.16e%c",x[run1], LINE_SEPARATOR );
else acadoFPrintf(file,"%s%c", NOT_A_NUMBER, LINE_SEPARATOR );
}
acadoFPrintf(file,"%c",LINE_SEPARATOR);
return SUCCESSFUL_RETURN;
}
returnValue writeDoublePointerToFile( double *x, int nRows, int nCols, FILE *file ){
int run1, run2;
if( !file ) return ACADOERROR(RET_CAN_NOT_WRITE_INTO_FILE);
for( run1 = 0; run1 < nRows; run1++ ){
for( run2 = 0; run2 < nCols; run2++ ){
if( x[nCols*run1+run2] <= ACADO_NAN - 1.0 ) acadoFPrintf(file,"%.16e%c",x[nCols*run1+run2], TEXT_SEPARATOR );
else acadoFPrintf(file,"%s%c",NOT_A_NUMBER, TEXT_SEPARATOR );
}
acadoFPrintf(file,"%c",LINE_SEPARATOR);
}
acadoFPrintf(file,"%c",LINE_SEPARATOR);
return SUCCESSFUL_RETURN;
}
returnValue FunctionEvaluationTree::exportForwardDeclarations( FILE *file,
const char *fcnName,
const char *realString
) const
{
acadoFPrintf(file,
"\n"
"/** Export of an ACADO symbolic function.\n"
" *\n"
" * \\param in Input to the exported function.\n"
" * \\param out Output of the exported function.\n"
" */\n"
);
acadoFPrintf(file, "void %s(const %s* in, %s* out);\n", fcnName, realString, realString);
return SUCCESSFUL_RETURN;
}
double OptimizationAlgorithmBase::getObjectiveValue( const char* fileName ) const{
FILE *file = fopen(fileName,"w");
acadoFPrintf( file , "%.16e \n", getObjectiveValue() );
fclose(file);
return SUCCESSFUL_RETURN;
}
returnValue FunctionEvaluationTree::exportForwardDeclarations( FILE *file,
const char *fcnName,
const char *realString
) const{
acadoFPrintf(file,"void %s( const %s*, %s* );\n", fcnName,realString,realString );
return SUCCESSFUL_RETURN;
}
returnValue FunctionEvaluationTree::exportHeader( FILE *file,
const char *fcnName,
const char *realString
) const{
if( n > 0 )
acadoFPrintf(file,"%s %s[%d];\n", realString, globalExportVariableName.getName(), n );
return SUCCESSFUL_RETURN;
}
returnValue ExportStatementString::exportCode( FILE *file,
const char* _realString,
const char* _intString,
int _precision
) const
{
acadoFPrintf( file,"%s", statementString );
return SUCCESSFUL_RETURN;
}
returnValue ExportArithmeticStatement::exportDataDeclaration( FILE *file,
const char* _realString,
const char* _intString,
int _precision
) const
{
if ( outerLoopVariable.isGiven() == BT_FALSE )
acadoFPrintf( file,"%s %s;\n", _intString,outerLoopVariable.name );
return SUCCESSFUL_RETURN;
}
returnValue ExportFunctionCall::exportCode( FILE *file,
const char* _realString,
const char* _intString,
int _precision
) const
{
if ( fName != 0 )
{
acadoFPrintf( file,"%s( ", fName );
arguments.exportCode( file,_realString,_intString,BT_FALSE );
acadoFPrintf( file," );\n");
}
else
{
acadoFPrintf( file,"%s( ", f.name );
arguments.exportCode( file,_realString,_intString,BT_FALSE );
acadoFPrintf( file," );\n");
}
return SUCCESSFUL_RETURN;
}
returnValue VectorspaceElement::printToFile( FILE* file,
const char* const name,
PrintScheme printScheme
) const
{
char* string = 0;
printToString( &string, name,printScheme );
acadoFPrintf( file,"%s",string );
if ( string != 0 )
delete[] string;
return SUCCESSFUL_RETURN;
}
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;
}
FILE* ExportAlgorithm::openFile( const String& dirName,
const String& fileName
) const
{
String fullFileName( dirName );
fullFileName << "/" << fileName;
FILE* file = acadoFOpen( fullFileName.getName(), "w" );
if ( file == 0 )
return 0;
acadoPrintAutoGenerationNotice( file );
if ( commonHeaderName.isEmpty() == BT_FALSE )
acadoFPrintf( file, "#include \"%s\"\n\n\n",commonHeaderName.getName() );
return file;
}
returnValue VectorspaceElement::printToFile( FILE* file,
const char* const name,
const char* const startString,
const char* const endString,
uint width,
uint precision,
const char* const colSeparator,
const char* const rowSeparator
) const
{
char* string = 0;
printToString( &string, name,startString,endString,width,precision,colSeparator,rowSeparator );
acadoFPrintf( file,"%s",string );
if ( string != 0 )
delete[] string;
return SUCCESSFUL_RETURN;
}
returnValue ExportArithmeticStatement::exportCodeAddSubtract( FILE* file,
const char* const _sign,
const char* _realString,
const char* _intString,
int _precision
) const
{
if ( ( rhs1 == 0 ) || ( rhs2 == 0 ) )
return ACADOERROR( RET_UNABLE_TO_EXPORT_STATEMENT );
if ( ( rhs1->getNumRows() != rhs2->getNumRows() ) ||
( rhs1->getNumCols() != rhs2->getNumCols() ) )
return ACADOERROR( RET_VECTOR_DIMENSION_MISMATCH );
if ( lhs != 0 )
{
if ( ( rhs1->getNumRows() != lhs->getNumRows() ) ||
( rhs1->getNumCols() != lhs->getNumCols() ) )
return ACADOERROR( RET_VECTOR_DIMENSION_MISMATCH );
}
for( uint i=0; i<getNumRows( ); ++i )
for( uint j=0; j<getNumCols( ); ++j )
{
if ( lhs != 0 )
acadoFPrintf( file,"%s = ", lhs->get(i,j) );
if ( rhs1->isZero(i,j) == BT_FALSE )
{
acadoFPrintf( file,"%s", rhs1->get(i,j) );
if ( rhs2->isZero(i,j) == BT_FALSE )
acadoFPrintf( file," %s %s;\n", _sign,rhs2->get(i,j) );
else
acadoFPrintf( file,";\n" );
}
else
{
if ( rhs2->isZero(i,j) == BT_FALSE )
acadoFPrintf( file,"%s %s;\n", _sign,rhs2->get(i,j) );
else
acadoFPrintf( file,"0.0;\n" );
}
}
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 ExportArithmeticStatement::exportCodeMultiply( FILE* file,
BooleanType transposeRhs1,
const char* _realString,
const char* _intString,
int _precision
) const
{
if ( ( lhs == 0 ) || ( rhs1 == 0 ) || ( rhs2 == 0 ) )
return ACADOERROR( RET_UNABLE_TO_EXPORT_STATEMENT );
char assignString[3];
switch ( op0 )
{
case ESO_ASSIGN:
strcpy( assignString,"=" );
break;
case ESO_ADD_ASSIGN:
strcpy( assignString,"+=" );
break;
case ESO_SUBTRACT_ASSIGN:
strcpy( assignString,"-=" );
break;
default:
return ACADOERROR( RET_UNABLE_TO_EXPORT_STATEMENT );
}
uint nRowsRhs1;
uint nColsRhs1;
if ( transposeRhs1 == BT_FALSE )
{
nRowsRhs1 = rhs1->getNumRows( );
nColsRhs1 = rhs1->getNumCols( );
}
else
{
nRowsRhs1 = rhs1->getNumCols( );
nColsRhs1 = rhs1->getNumRows( );
}
if ( ( nColsRhs1 != rhs2->getNumRows( ) ) ||
( nRowsRhs1 != lhs->getNumRows( ) ) ||
( rhs2->getNumCols( ) != lhs->getNumCols( ) ) )
return ACADOERROR( RET_VECTOR_DIMENSION_MISMATCH );
char sign[2] = "+";
if ( op2 != ESO_UNDEFINED )
{
if ( ( rhs3->getNumRows( ) != lhs->getNumRows( ) ) ||
( rhs3->getNumCols( ) != lhs->getNumCols( ) ) )
return ACADOERROR( RET_VECTOR_DIMENSION_MISMATCH );
if ( op2 == ESO_SUBTRACT )
sign[0] = '-';
}
BooleanType allZero;
// uint ii, kk;
// uint iiRhs1, kkRhs1;
ExportIndex ii( "run1" ), iiRhs1( "run1" );
ExportIndex kk( "run3" ), kkRhs1( "run3" );
uint iMax = getNumRows( );
if ( outerLoopVariable.isGiven( ) == BT_FALSE )
iMax = 1;
for( uint i=0; i<iMax; ++i )
{
if ( outerLoopVariable.isGiven( ) == BT_FALSE )
acadoFPrintf( file,"for ( %s=0; %s<%d; ++%s ){\n", ii.name,ii.name,getNumRows(),ii.name );
else
ii == i;
for( uint j=0; j<getNumCols( ); ++j )
{
allZero = BT_TRUE;
acadoFPrintf( file,"%s %s", lhs->get(ii,j),assignString );
for( uint k=0; k<nColsRhs1; ++k )
{
kk == k;
if ( transposeRhs1 == BT_FALSE )
{
iiRhs1 = ii;
kkRhs1 = kk;
}
else
{
iiRhs1 = kk;
kkRhs1 = ii;
}
if ( ( rhs1->isZero(iiRhs1,kkRhs1) == BT_FALSE ) &&
( rhs2->isZero(kk,j) == BT_FALSE ) )
{
allZero = BT_FALSE;
if ( rhs1->isOne(iiRhs1,kkRhs1) == BT_FALSE )
{
acadoFPrintf( file," %s %s", sign,rhs1->get(iiRhs1,kkRhs1) );
if ( rhs2->isOne(kk,j) == BT_FALSE )
acadoFPrintf( file,"*%s", rhs2->get(kk,j) );
}
else
{
if ( rhs2->isOne(kk,j) == BT_FALSE )
acadoFPrintf( file," %s %s", sign,rhs2->get(kk,j) );
else
acadoFPrintf( file," %s 1.0", sign );
}
}
}
if ( ( op2 == ESO_ADD ) || ( op2 == ESO_SUBTRACT ) )
acadoFPrintf( file," + %s;\n", rhs3->get(ii,j) );
if ( op2 == ESO_UNDEFINED )
{
if ( allZero == BT_TRUE )
acadoFPrintf( file," 0.0;\n" );
else
acadoFPrintf( file,";\n" );
}
}
}
if ( outerLoopVariable.isGiven( ) == BT_FALSE )
acadoFPrintf( file,"}\n" );
return SUCCESSFUL_RETURN;
}
returnValue String::print( FILE *file ) const {
acadoFPrintf( file, name );
return SUCCESSFUL_RETURN;
}
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 LogRecord::print( LogPrintMode _mode
) const
{
uint stringLength = determineRecordStringLength( )+1;
char* string = new char[stringLength];
for( uint i=0; i<stringLength; ++i )
string[i] = '\0';
char* valueString = 0;
LogRecordItem* current = first;
switch( _mode )
{
case PRINT_ITEM_BY_ITEM:
while ( current != 0 )
{
if ( current->getValueString( &valueString ) != SUCCESSFUL_RETURN )
{
delete[] valueString; delete[] string;
return ACADOERROR( RET_UNKNOWN_BUG );
}
if ( valueString != 0 )
{
strcat( string,valueString );
delete[] valueString;
valueString = 0;
}
current = current->getNext( );
}
break;
case PRINT_ITER_BY_ITER:
for( uint i=0; i<getMaxNumMatrices( ); ++i )
{
current = first;
while ( current != 0 )
{
if ( current->getValueString( &valueString,i ) != SUCCESSFUL_RETURN )
{
delete[] valueString; delete[] string;
return ACADOERROR( RET_UNKNOWN_BUG );
}
if ( valueString != 0 )
{
strcat( string,valueString );
delete[] valueString;
valueString = 0;
}
current = current->getNext( );
}
}
break;
case PRINT_LAST_ITER:
while ( current != 0 )
{
if ( current->getValueString( &valueString,getMaxNumMatrices( )-1 ) != SUCCESSFUL_RETURN )
{
delete[] valueString; delete[] string;
return ACADOERROR( RET_UNKNOWN_BUG );
}
if ( valueString != 0 )
{
strcat( string,valueString );
delete[] valueString;
valueString = 0;
}
current = current->getNext( );
}
strcat( string,"\n" );
break;
}
if ( outputFile != 0 )
{
acadoFPrintf( outputFile,string );
}
else
{
if ( outputFileName != 0 )
{
FILE* outputFileFromName = fopen( outputFileName,"w" );
acadoFPrintf( outputFileFromName,string );
fclose( outputFileFromName );
}
else
{
delete[] string;
return ACADOERROR( RET_INVALID_ARGUMENTS );
}
}
delete[] string;
return SUCCESSFUL_RETURN;
}
