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520 lines
20 KiB
520 lines
20 KiB
5 years ago
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/*
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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/function/function_evaluation_tree.hpp
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* \authors Boris Houska, Hans Joachim Ferreau, Milan Vukov
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* \date 2008 - 2013
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*/
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#ifndef ACADO_TOOLKIT_FUNCTION_EVALUATION_TREE_HPP
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#define ACADO_TOOLKIT_FUNCTION_EVALUATION_TREE_HPP
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#include <acado/symbolic_expression/expression.hpp>
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#include <acado/symbolic_operator/evaluation_template.hpp>
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#include <acado/symbolic_operator/symbolic_index_list.hpp>
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BEGIN_NAMESPACE_ACADO
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/**
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* \brief Organizes the evaluation of the function tree.
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*
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* \ingroup BasicDataStructures
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*
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* The class FunctionEvaluationTree is designed to organize the evaluation of
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* tree structured expressions.
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*
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* \author Boris Houska, Hans Joachim Ferreau, Milan Vukov
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*/
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class FunctionEvaluationTree
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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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FunctionEvaluationTree( );
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/** Copy constructor (deep copy). */
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FunctionEvaluationTree( const FunctionEvaluationTree& arg );
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/** Destructor. */
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virtual ~FunctionEvaluationTree( );
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/** Assignment operator (deep copy). */
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FunctionEvaluationTree& operator=( const FunctionEvaluationTree& arg );
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/** Loading Expressions (deep copy). */
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virtual returnValue operator<<( const Expression& arg );
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/** Returns the dimension of the symbolic expression \n
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* \return The requested dimension.
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*/
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virtual int getDim () const;
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/** Returns the number of intermediate expressions that have \n
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* been detected in the symbolic expression. \n
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* \return The requested number of intermediate states. \n
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*/
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virtual int getN () const;
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/** Returns the number of differential states \n
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* \return The requested number of differential states. \n
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*/
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virtual int getNX () const;
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/** Returns the number of algebraic states \n
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* \return The requested number of algebraic states. \n
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*/
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virtual int getNXA () const;
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/** Returns the number of differential states derivatives \n
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* \return The requested number of differential state \n
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* derivatives. \n
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*/
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virtual int getNDX () const;
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/** Returns the number of controls \n
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* \return The requested number of controls. \n
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*/
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virtual int getNU () const;
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/** Returns the number of integer controls \n
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* \return The requested number of integer controls. \n
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*/
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virtual int getNUI () const;
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/** Returns the number of parameters \n
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* \return The requested number of parameters. \n
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*/
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virtual int getNP () const;
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/** Returns the number of integer parameters \n
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* \return The requested number of integer parameters. \n
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*/
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virtual int getNPI () const;
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/** Returns the number of disturbances \n
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* \return The requested number of disturbances. \n
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*/
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virtual int getNW () const;
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/** Returns the number of time variables \n
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* \return The requested number of time variables. \n
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*/
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virtual int getNT () const;
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/** Return number of "online data" objects. */
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virtual int getNOD () const;
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/** Returns the index of the variable with specified type and \n
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* component. \n
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* \return The index of the requested variable. \n
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*/
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virtual int index( VariableType variableType_, int index_ ) const;
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/** Returns the scale of a given variable. \n
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* \return The requested scale or \n
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* 1.0 if index is out of range \n
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*/
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virtual double scale( VariableType variableType_, int index_ ) const;
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/** Returns the variable counter. \n
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* \return The number of variables \n
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*/
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virtual int getNumberOfVariables() const;
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/** Returns the symbolic expression of the given component of the function. \n
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* \return The symbolic expression \n
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*/
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virtual Operator* getExpression( uint componentIdx
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) const;
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/** Evaluates the expression
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* \return SUCCESSFUL_RETURN \n
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* RET_NAN \n
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* */
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virtual returnValue evaluate( double *x /**< the input variable x */,
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double *result /**< the result */ );
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/** Evaluates the expression */
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template <typename T> returnValue evaluate( Tmatrix<T> *x, Tmatrix<T> *result );
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/** Evaluates the expression and also prints \n
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* the intermediate results with a specified \n
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* print level. \n
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* \return SUCCESFUL_RETURN \n
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* RET_NAN \n
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* */
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virtual returnValue evaluate( double *x /**< the input variable x */,
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double *result /**< the result */,
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PrintLevel printL /**< the print level */ );
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/** Evaluates the expression and stores the intermediate \n
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* results in a buffer (needed for automatic differentiation \n
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* in backward mode) \n
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* \return SUCCESFUL_RETURN \n
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* RET_NAN \n
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* */
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virtual returnValue evaluate( int number /**< storage position */,
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double *x /**< the input variable x */,
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double *result /**< the result */ );
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/** Returns the derivative of the expression with respect \n
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* to the variable var(index). \n
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* \return The symbolic expression for the derivative. \n
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*
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*/
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FunctionEvaluationTree* differentiate( int index /**< diff. index */ );
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/** Substitutes var(index) with the double sub. \n
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* \return The substituted expression. \n
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*
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*/
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virtual FunctionEvaluationTree substitute( VariableType variableType_,
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int index_ /**< subst. index */,
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double sub_ /**< the substitution*/);
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/** Checks whether the expression is zero or one \n
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* \return NE_ZERO \n
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* NE_ONE \n
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* NE_NEITHER_ONE_NOR_ZERO \n
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*
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*/
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virtual NeutralElement isOneOrZero();
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/** Checks whether the symbolic expression is depending on \n
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* a specified variable. \n
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* \return BT_FALSE if no dependence is detected \n
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* BT_TRUE otherwise \n
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*
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*/
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virtual BooleanType isDependingOn( const Expression &variable );
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/** Checks whether the symbolic expression is linear in \n
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* a specified variable. \n
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* \return BT_FALSE if no linearity is \n
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* detected \n
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* BT_TRUE otherwise \n
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*
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*/
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virtual BooleanType isLinearIn( const Expression &variable );
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/** Checks whether the expression is polynomial in \n
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* a variable. \n
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* \return BT_FALSE if the expression is not polynomial \n
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* BT_TRUE otherwise \n
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*
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*/
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virtual BooleanType isPolynomialIn( const Expression &variable );
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/** Checks whether the expression is rational in \n
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* the variable var(index) \n
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* \return BT_FALSE if the expression is not rational \n
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* BT_TRUE otherwise \n
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*
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*/
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virtual BooleanType isRationalIn( const Expression &variable );
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/** Returns the monotonicity of the expression. \n
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* \return MT_NONDECREASING \n
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* MT_NONINCREASING \n
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* MT_NONMONOTONIC \n
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*
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*/
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virtual MonotonicityType getMonotonicity( );
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/** Returns the curvature of the expression \n
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* \return CT_CONSTANT \n
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* CT_AFFINE \n
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* CT_CONVEX \n
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* CT_CONCAVE \n
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*
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*/
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virtual CurvatureType getCurvature( );
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/** Automatic Differentiation in forward mode. \n
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* \return SUCCESFUL_RETURN \n
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* RET_NAN \n
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*/
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virtual returnValue AD_forward( double *x /**< The evaluation
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point x */,
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double *seed /**< the seed */,
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double *f /**< the value of the
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expression at x */,
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double *df /**< the derivative of
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the expression */ );
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/** Automatic Differentiation in forward mode. \n
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* This function uses the intermediate \n
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* results from a buffer \n
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* \return SUCCESFUL_RETURN \n
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* RET_NAN \n
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*/
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virtual returnValue AD_forward( int number /**< storage position */,
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double *seed /**< the seed */,
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double *df /**< the derivative of
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the expression */ );
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/** Automatic Differentiation in forward mode. \n
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* This function stores the intermediate \n
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* results in a buffer (needed for 2nd order automatic \n
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* differentiation in backward mode) \n
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* \return SUCCESFUL_RETURN \n
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* RET_NAN \n
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*/
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virtual returnValue AD_forward( int number /**< storage position */,
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double *x /**< The evaluation
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point x */,
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double *seed /**< the seed */,
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double *f /**< the value of the
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expression at x */,
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double *df /**< the derivative of
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the expression */ );
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// IMPORTANT REMARK FOR AD_BACKWARD: run evaluate first to define
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// the point x and to compute f.
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/** Automatic Differentiation in backward mode. \n
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* \return SUCCESFUL_RETURN \n
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* RET_NAN \n
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*/
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virtual returnValue AD_backward( double *seed /**< the seed */,
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double *df /**< the derivative of
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the expression */ );
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// IMPORTANT REMARK FOR AD_BACKWARD: run evaluate first to define
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// the point x and to compute f.
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/** Automatic Differentiation in backward mode based on \n
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* buffered values \n
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* \return SUCCESFUL_RETURN \n
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* RET_NAN \n
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*/
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virtual returnValue AD_backward( int number /**< the buffer
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position */,
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double *seed /**< the seed */,
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double *df /**< the derivative of
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the expression */);
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/** Automatic Differentiation in forward mode for \n
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* 2nd derivatives. \n
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* This function uses intermediate \n
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* results from a buffer. \n
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* \return SUCCESFUL_RETURN \n
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* RET_NAN \n
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*/
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virtual returnValue AD_forward2( int number /**< the buffer
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position */,
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double *seed1 /**< the seed */,
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double *seed2 /**< the seed for the
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first derivative */,
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double *df /**< the derivative of
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the expression */,
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double *ddf /**< the 2nd derivative
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of the expression*/);
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// IMPORTANT REMARK FOR AD_BACKWARD2: run AD_forward first to define
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// the point x and to compute f and df.
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/** Automatic Differentiation in backward mode for 2nd order \n
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* derivatives based on buffered values. \n
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* \return SUCCESFUL_RETURN \n
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* RET_NAN \n
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*/
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virtual returnValue AD_backward2( int number /**< the buffer
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position */,
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double *seed1 /**< the seed1 */,
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double *seed2 /**< the seed2 */,
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double *df /**< the 1st derivative
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of the expression */,
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double *ddf /**< the 2nd derivative
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of the expression */ );
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/** Prints the expression as C-code into a file.
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* \n
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* \param file The file to which the expression should be printed. \n
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* \param fcnName The name of the generated function (default: "ACADOfcn"). \n
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* \param realString \n
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* \n
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* \return SUCCESFUL_RETURN \n
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*/
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||
|
|
returnValue C_print( std::ostream& stream = std::cout,
|
||
|
|
const char *fcnName = "ACADOfcn",
|
||
|
|
const char *realString = "double"
|
||
|
|
) const;
|
||
|
|
|
||
|
|
returnValue exportForwardDeclarations( std::ostream& stream = std::cout,
|
||
|
|
const char *fcnName = "ACADOfcn",
|
||
|
|
const char *realString = "double"
|
||
|
|
) const;
|
||
|
|
|
||
|
|
returnValue exportCode( std::ostream& stream = std::cout,
|
||
|
|
const char *fcnName = "ACADOfcn",
|
||
|
|
const char *realString = "double",
|
||
|
|
uint _numX = 0,
|
||
|
|
uint _numXA = 0,
|
||
|
|
uint _numU = 0,
|
||
|
|
uint _numP = 0,
|
||
|
|
uint _numDX = 0,
|
||
|
|
uint _numOD = 0,
|
||
|
|
bool allocateMemory = true,
|
||
|
|
bool staticMemory = false
|
||
|
|
) const;
|
||
|
|
|
||
|
|
/** Clears the buffer and resets the buffer size \n
|
||
|
|
* to 1. \n
|
||
|
|
* \return SUCCESFUL_RETURN \n
|
||
|
|
*/
|
||
|
|
virtual returnValue clearBuffer();
|
||
|
|
|
||
|
|
|
||
|
|
/** Make the symbolic expression implicit. This functionality \n
|
||
|
|
* makes only sense for Differential Equation and should in \n
|
||
|
|
* general not be used for anything else. (Although it is \n
|
||
|
|
* public here.) \n
|
||
|
|
*/
|
||
|
|
virtual returnValue makeImplicit();
|
||
|
|
virtual returnValue makeImplicit( int dim_ );
|
||
|
|
|
||
|
|
|
||
|
|
/** Returns whether the function is symbolic or not. If BT_TRUE \n
|
||
|
|
* is returned, automatic differentiation will be used by \n
|
||
|
|
* default.
|
||
|
|
*/
|
||
|
|
virtual BooleanType isSymbolic() const;
|
||
|
|
|
||
|
|
|
||
|
|
/** Defines scalings for the variables. */
|
||
|
|
virtual returnValue setScale( double *scale_ );
|
||
|
|
|
||
|
|
virtual returnValue getExpression( Expression& expression ) const;
|
||
|
|
|
||
|
|
returnValue setGlobalExportVariableName(const std::string& _name);
|
||
|
|
|
||
|
|
std::string getGlobalExportVariableName() const;
|
||
|
|
|
||
|
|
unsigned getGlobalExportVariableSize() const;
|
||
|
|
|
||
|
|
//
|
||
|
|
// DATA MEMBERS:
|
||
|
|
//
|
||
|
|
protected:
|
||
|
|
|
||
|
|
Operator **f ; /**< The right-hand side expressions */
|
||
|
|
Operator **sub ; /**< The intermediate expressions */
|
||
|
|
int *lhs_comp ; /**< The components of the intermediate states */
|
||
|
|
SymbolicIndexList *indexList; /**< an SymbolicIndexList */
|
||
|
|
int dim ; /**< The dimension of the function. */
|
||
|
|
int n ; /**< The number of Intermediate expressions */
|
||
|
|
|
||
|
|
Expression safeCopy ;
|
||
|
|
|
||
|
|
/** Name of the variable that holds intermediate expressions. */
|
||
|
|
std::string globalExportVariableName;
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
template <typename T> returnValue FunctionEvaluationTree::evaluate( Tmatrix<T> *x,
|
||
|
|
Tmatrix<T> *result ){
|
||
|
|
|
||
|
|
int run1;
|
||
|
|
|
||
|
|
EvaluationTemplate<T> y(x);
|
||
|
|
|
||
|
|
for( run1 = 0; run1 < n; run1++ ){
|
||
|
|
sub[run1]->evaluate(&y);
|
||
|
|
x->operator()(indexList->index(VT_INTERMEDIATE_STATE,lhs_comp[run1])) = y.res;
|
||
|
|
}
|
||
|
|
|
||
|
|
for( run1 = 0; run1 < dim; run1++ ){
|
||
|
|
f[run1]->evaluate(&y);
|
||
|
|
result->operator()(run1) = y.res;
|
||
|
|
}
|
||
|
|
|
||
|
|
return SUCCESSFUL_RETURN;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
CLOSE_NAMESPACE_ACADO
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
#include <acado/function/function_evaluation_tree.ipp>
|
||
|
|
|
||
|
|
|
||
|
|
#endif // ACADO_TOOLKIT_FUNCTION_HPP
|
||
|
|
|
||
|
|
// end of file.
|