212 lines
6.8 KiB
C++
212 lines
6.8 KiB
C++
/*
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* This file is part of ACADO Toolkit.
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*
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* ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
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* Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
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* Milan Vukov, Rien Quirynen, KU Leuven.
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* Developed within the Optimization in Engineering Center (OPTEC)
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* under supervision of Moritz Diehl. All rights reserved.
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*
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* ACADO Toolkit is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 3 of the License, or (at your option) any later version.
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*
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* ACADO Toolkit is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with ACADO Toolkit; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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/**
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* \file include/acado/code_generation/export_argument.hpp
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* \author Hans Joachim Ferreau, Boris Houska
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*/
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#ifndef ACADO_TOOLKIT_EXPORT_ARGUMENT_HPP
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#define ACADO_TOOLKIT_EXPORT_ARGUMENT_HPP
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#include <acado/utils/acado_utils.hpp>
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#include <acado/matrix_vector/matrix_vector.hpp>
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#include <acado/code_generation/export_data.hpp>
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#include <acado/code_generation/export_index.hpp>
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BEGIN_NAMESPACE_ACADO
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class ExportArgumentInternal;
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/**
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* \brief Defines a matrix-valued variable that can be passed as argument to exported functions.
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*
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* \ingroup AuxiliaryFunctionality
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*
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* The class ExportArgument defines a matrix-valued variable that
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* can be passed as argument to exported functions. By default, all entries
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* of an arguments are undefined, but each of its component can be set to
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* a fixed value if known beforehand.
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*
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* \author Hans Joachim Ferreau, Boris Houska, Milan Vukov
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*/
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class ExportArgument : public ExportData
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{
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//
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// PUBLIC MEMBER FUNCTIONS:
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//
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public:
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/** Default constructor.
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*/
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ExportArgument( );
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/** Constructor which takes the name, type
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* and dimensions of the argument.
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*
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* @param[in] _name Name of the argument.
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* @param[in] _nRows Number of rows of the argument.
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* @param[in] _nCols Number of columns of the argument.
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* @param[in] _type Data type of the argument.
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* @param[in] _dataStruct Global data struct to which the argument belongs to (if any).
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* @param[in] _callByValue Flag indicating whether argument it to be called by value.
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* @param[in] _addressIdx If an address index is specified, not the argument itself but
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* a pointer to this address within the memory of the argument is passed.
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*/
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ExportArgument( const std::string& _name,
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uint _nRows = 1,
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uint _nCols = 1,
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ExportType _type = REAL,
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ExportStruct _dataStruct = ACADO_LOCAL,
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bool _callByValue = false,
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const ExportIndex& _addressIdx = emptyConstExportIndex,
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const std::string& _prefix = std::string()
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);
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/** Constructor which takes the name and type of the argument.
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* Moreover, it initializes the argument with the dimensions and the
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* values of the given matrix.
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*
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* @param[in] _name Name of the argument.
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* @param[in] _data DMatrix used for initialization.
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* @param[in] _type Data type of the argument.
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* @param[in] _dataStruct Global data struct to which the argument belongs to (if any).
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* @param[in] _callByValue Flag indicating whether argument it to be called by value.
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* @param[in] _addressIdx If an address index is specified, not the argument itself but
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* a pointer to this address within the memory of the argument is passed.
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*/
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ExportArgument( const std::string& _name,
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const DMatrixPtr& _data,
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ExportType _type = REAL,
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ExportStruct _dataStruct = ACADO_LOCAL,
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bool _callByValue = false,
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const ExportIndex& _addressIdx = emptyConstExportIndex,
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const std::string& _prefix = std::string()
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);
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ExportArgument( const DMatrix& _data
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);
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ExportArgumentInternal* operator->();
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const ExportArgumentInternal* operator->() const;
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/** Returns a copy of the argument with address index set to given location.
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*
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* @param[in] rowIdx Row index of the adress.
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* @param[in] colIdx Column index of the adress.
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*
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* \return Copy of the argument with address index set to given location
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*/
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ExportArgument getAddress( const ExportIndex& _rowIdx,
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const ExportIndex& _colIdx = emptyConstExportIndex
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) const;
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/** Returns a string containing the address of the argument to be called.
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* If an address index has been set, the string contains a pointer to the
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* desired location. The string also depends on whether the argument is
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* to be called by value or not.
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*
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* \return String containing the address of the argument
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*/
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const std::string getAddressString( bool withDataStruct = true
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) const;
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/** Returns number of rows of the argument.
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*
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* \return Number of rows of the argument
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*/
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virtual uint getNumRows( ) const;
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/** Returns number of columns of the argument.
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*
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* \return Number of columns of the argument
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*/
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virtual uint getNumCols( ) const;
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/** Returns total dimension of the argument.
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*
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* \return Total dimension of the argument
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*/
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virtual uint getDim( ) const;
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/** Returns whether all components of the argument are given.
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*
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* \return true iff all components of the argument have given values, \n
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* false otherwise
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*/
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virtual bool isGiven( ) const;
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/** Returns whether argument is to be called by value.
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*
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* \return true iff argument is to be called by value, \n
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* false otherwise
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*/
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bool isCalledByValue( ) const;
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/** Specifies to call argument by value.
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*
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* \return SUCCESSFUL_RETURN
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*/
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returnValue callByValue( );
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/** Exports declaration of the argument into given file. Its appearance can
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* can be adjusted by various options.
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*
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* @param[in] file Name of file to be used to export declaration.
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* @param[in] _realString std::string to be used to declare real variables.
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* @param[in] _intString std::string to be used to declare integer variables.
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* @param[in] _precision Number of digits to be used for exporting real values.
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*
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* \return SUCCESSFUL_RETURN
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*/
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virtual returnValue exportDataDeclaration( std::ostream& stream,
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const std::string& _realString = "real_t",
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const std::string& _intString = "int",
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int _precision = 16
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) const;
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};
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static const ExportArgument emptyConstExportArgument;
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CLOSE_NAMESPACE_ACADO
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#endif // ACADO_TOOLKIT_EXPORT_ARGUMENT_HPP
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// end of file.
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