219 lines
8.1 KiB
C++
219 lines
8.1 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_arithmetic_statement.hpp
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* \author Hans Joachim Ferreau, Boris Houska, Milan Vukov
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* \date 2010 - 2013
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*/
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#ifndef ACADO_TOOLKIT_EXPORT_ARITHMETIC_STATEMENT_HPP
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#define ACADO_TOOLKIT_EXPORT_ARITHMETIC_STATEMENT_HPP
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#include <acado/code_generation/export_statement.hpp>
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#include <acado/code_generation/export_variable.hpp>
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#include <acado/code_generation/memory_allocator.hpp>
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BEGIN_NAMESPACE_ACADO
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/**
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* \brief Allows to export code of different arithmetic statements.
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*
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* \ingroup AuxiliaryFunctionality
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*
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* The class ExportArithmeticStatement allows to export code of different arithmetic
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* statements of the form:
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*
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* lhs <op0> rhs1 <op1> rhs2 <op2> rhs3,
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*
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* where <op0> can be "=", "+=" or "-=",
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* <op1> can be "+", "-" or "*" and
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* <op2> can be "+" or "-".
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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 ExportArithmeticStatement : public ExportStatement
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{
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friend class ExportVariable;
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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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ExportArithmeticStatement( );
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/** Constructor which takes all expressions and operators of the arithmetic statement.
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*
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* @param[in] _lhs Left-hand side expressions
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* @param[in] _op0 Operator between left- and right-hand side expression.
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* @param[in] _rhs1 First right-hand side expression.
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* @param[in] _op1 Operator between first and second right-hand side expression.
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* @param[in] _rhs2 Second right-hand side expression of arithmetic statement.
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* @param[in] _op2 Operator between second and third right-hand side expression.
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* @param[in] _rhs3 Third right-hand side expression.
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*/
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ExportArithmeticStatement( const ExportVariable& _lhs,
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ExportStatementOperator _op0,
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const ExportVariable& _rhs1,
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ExportStatementOperator _op1,
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const ExportVariable& _rhs2,
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ExportStatementOperator _op2 = ESO_UNDEFINED,
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const ExportVariable& _rhs3 = 0
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);
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/** Destructor. */
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virtual ~ExportArithmeticStatement( );
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/** Clone constructor (deep copy).
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*
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* \return Pointer to cloned object.
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*/
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virtual ExportStatement* clone( ) const;
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/** Exports data declaration of the statement 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] stream Name of file to be used to export statement.
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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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/** Exports source code of the statement 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] stream Name of file to be used to export statement.
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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 exportCode( 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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ExportArithmeticStatement& allocate( MemoryAllocatorPtr allocator );
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//
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// PROTECTED MEMBER FUNCTIONS:
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//
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protected:
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/** Exports source code for an addition or subtraction to given file.
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* Its appearance can be adjusted by various options.
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*
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* @param[in] stream Name of file to be used to export statement.
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* @param[in] _sign std::string of the operation ("+" or "-").
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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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returnValue exportCodeAddSubtract( std::ostream& stream,
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const std::string& _sign = "+",
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const std::string& _realString = "real_t",
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const std::string& _intString = "int"
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) const;
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/** Exports source code for a multiplication to given file.
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* Its appearance can be adjusted by various options.
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*
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* @param[in] stream Name of file to be used to export statement.
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* @param[in] transposeRhs1 Flag indicating whether rhs1 shall be transposed.
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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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returnValue exportCodeMultiply( std::ostream& stream,
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bool transposeRhs1 = false,
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const std::string& _realString = "real_t",
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const std::string& _intString = "int"
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) const;
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/** Exports source code for an assignment to given file.
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* Its appearance can be adjusted by various options.
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*
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* @param[in] stream Name of file to be used to export statement.
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* @param[in] _op std::string of the assignment operation ("=", "+=" or "-=").
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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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returnValue exportCodeAssign( std::ostream& stream,
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const std::string& _op = "=",
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const std::string& _realString = "real_t",
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const std::string& _intString = "int"
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) const;
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protected:
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// Refactor this guys as shared pointers
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ExportVariable lhs; /**< Left-hand side expression of arithmetic statement. */
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ExportVariable rhs1; /**< First right-hand side expression of arithmetic statement. */
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ExportVariable rhs2; /**< Second right-hand side expression of arithmetic statement. */
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ExportVariable rhs3; /**< Third right-hand side expression of arithmetic statement. */
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ExportStatementOperator op0; /**< Operator between left- and right-hand side expression of arithmetic statement. */
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ExportStatementOperator op1; /**< Operator between first and second right-hand side expression of arithmetic statement. */
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ExportStatementOperator op2; /**< Operator between second and third right-hand side expression of arithmetic statement. */
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MemoryAllocatorPtr memAllocator;
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private:
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std::string getAssignString( ) const;
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uint getNumRows( ) const;
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uint getNumCols( ) const;
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};
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CLOSE_NAMESPACE_ACADO
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#endif // ACADO_TOOLKIT_EXPORT_ARITHMETIC_STATEMENT_HPP
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// end of file.
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