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 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; }