206 lines
6.1 KiB
C++
206 lines
6.1 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_for_loop.hpp
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* \author Hans Joachim Ferreau, Boris Houska, Milan Vukov
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* \date 2010-2011
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*/
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#ifndef ACADO_TOOLKIT_EXPORT_FOR_LOOP_HPP
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#define ACADO_TOOLKIT_EXPORT_FOR_LOOP_HPP
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#include <acado/utils/acado_utils.hpp>
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#include <acado/code_generation/export_index.hpp>
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#include <acado/code_generation/export_statement_block.hpp>
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BEGIN_NAMESPACE_ACADO
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/**
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* \brief Allows to export code of a for-loop.
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*
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* \ingroup AuxiliaryFunctionality
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*
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* The class ExportForLoop allows to export code of a for-loop.
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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 ExportForLoop : public ExportStatementBlock
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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 which optionally takes the name of the
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* loop variable as well as other loop settings.
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*
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* @param[in] _loopVariable Name of the loop variable.
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* @param[in] _startValue Start value of the loop counter.
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* @param[in] _finalValue Final value of the loop counter.
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* @param[in] _increment Increment of the loop counter.
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* @param[in] _doLoopUnrolling Flag indicating whether loop shall be unrolled.
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*/
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ExportForLoop( const ExportIndex& _loopVariable = emptyConstExportIndex,
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const ExportIndex& _startValue = emptyConstExportIndex,
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const ExportIndex& _finalValue = emptyConstExportIndex,
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const ExportIndex& _increment = constExportIndexValueOne,
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bool _doLoopUnrolling = false
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);
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/** Copy constructor (deep copy).
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*
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* @param[in] arg Right-hand side object.
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*/
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ExportForLoop( const ExportForLoop& arg
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);
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/** Destructor.
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*/
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virtual ~ExportForLoop( );
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/** Assignment operator (deep copy).
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*
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* @param[in] arg Right-hand side object.
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*/
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ExportForLoop& operator=( const ExportForLoop& arg
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);
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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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/** Initializes for-loop with given loop settings.
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*
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* @param[in] _loopVariable Name of the loop variable.
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* @param[in] _startValue Start value of the loop counter.
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* @param[in] _finalValue Final value of the loop counter.
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* @param[in] _increment Increment of the loop counter.
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* @param[in] _doLoopUnrolling Flag indicating whether loop shall be unrolled.
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*/
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returnValue init( const ExportIndex& _loopVariable,
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const ExportIndex& _startValue,
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const ExportIndex& _finalValue,
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const ExportIndex& _increment,
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bool _doLoopUnrolling
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);
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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] file 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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/** Specifies to unroll for-loop.
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*
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* \return Reference to for-loop object
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*/
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ExportForLoop& unrollLoop( );
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/** Specifies not to unroll for-loop.
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*
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* \return Loop-unrolled copy of for-loop object
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*/
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ExportForLoop& keepLoop( );
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ExportForLoop& 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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/** Frees internal dynamic memory to yield an empty for-loop.
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*
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* \return SUCCESSFUL_RETURN
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*/
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returnValue clear( );
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private:
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returnValue sanityCheck( void ) const;
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//
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// DATA MEMBERS:
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//
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protected:
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ExportIndex loopVariable; /**< Loop variable. */
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ExportIndex startValue; /**< Start value of the loop counter. */
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ExportIndex finalValue; /**< Final value of the loop counter. */
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ExportIndex increment; /**< Increment of the loop counter. */
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bool doLoopUnrolling; /**< Flag indicating whether loop shall be unrolled when exporting the code. */
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};
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CLOSE_NAMESPACE_ACADO
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#endif // ACADO_TOOLKIT_EXPORT_FOR_LOOP_HPP
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/*
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* end of file
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*/
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