dragonpilot - 基於 openpilot 的開源駕駛輔助系統
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/*
* This file is part of ACADO Toolkit.
*
* ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
* Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
* Milan Vukov, Rien Quirynen, KU Leuven.
* Developed within the Optimization in Engineering Center (OPTEC)
* under supervision of Moritz Diehl. All rights reserved.
*
* ACADO Toolkit is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 3 of the License, or (at your option) any later version.
*
* ACADO Toolkit is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with ACADO Toolkit; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
*
*/
/**
* \file include/acado/code_generation/export_data.hpp
* \author Hans Joachim Ferreau, Boris Houska, Milan Vukov
*/
#ifndef ACADO_TOOLKIT_EXPORT_DATA_HPP
#define ACADO_TOOLKIT_EXPORT_DATA_HPP
#include <acado/utils/acado_utils.hpp>
#include <casadi/symbolic/shared_object.hpp>
BEGIN_NAMESPACE_ACADO
// Forward declaration
class ExportDataInternal;
/**
* \brief Abstract base class to define variables to be used for exporting code
*
* \ingroup AuxiliaryFunctionality
*
* The class ExportData serves as an abstract base class to define variables
* to be used for exporting code.
*
* \author Hans Joachim Ferreau, Boris Houska, Milan Vukov
*/
class ExportData : public CasADi::SharedObject
{
//
// PUBLIC MEMBER FUNCTIONS:
//
public:
/** Default constructor.
*/
ExportData( );
/** Destructor.
*/
virtual ~ExportData( );
/** An operator for access to functions and members of the node
*/
ExportDataInternal* operator->();
/** An operator for const access to functions and members of the node
*/
const ExportDataInternal* operator->() const;
/** Sets the name of the data object.
*
* @param[in] _name New name of the data object.
*
* \return SUCCESSFUL_RETURN
*/
returnValue setName( const std::string& _name
);
/** Sets the data type of the data object.
*
* @param[in] _type New data type of the data object.
*
* \return SUCCESSFUL_RETURN
*/
returnValue setType( ExportType _type
);
/** Sets the global data struct to which the data object belongs to.
*
* @param[in] _dataStruct New global data struct to which the data object belongs to.
*
* \return SUCCESSFUL_RETURN
*/
returnValue setDataStruct( ExportStruct _dataStruct
);
/** Sets the prefix which is placed before the structure name.
*
* @param[in] _prefix Prefix name.
*
* \return SUCCESSFUL_RETURN
*/
returnValue setPrefix( const std::string& _prefix
);
/** Returns the name of the data object.
*
* \return Name of the data object
*/
std::string getName( ) const;
/** Returns the data type of the data object.
*
* \return Data type of the data object
*/
ExportType getType( ) const;
/** Returns a string containing the data type of the data object.
*
* @param[in] _realString std::string to be used to declare real variables.
* @param[in] _intString std::string to be used to declare integer variables.
*
* \return std::string containing the data type of the data object.
*/
std::string getTypeString( const std::string& _realString = "real_t",
const std::string& _intString = "int"
) const;
/** Returns the global data struct to which the data object belongs to.
*
* \return Global data struct to which the data object belongs to
*/
ExportStruct getDataStruct( ) const;
/** Returns a string containing the global data struct to which the data object belongs to.
*
* \return std::string containing the global data struct to which the data object belongs to.
*/
std::string getDataStructString( ) const;
/** Returns a string which contains a prefix name.
*
* \return Prefix name
*/
std::string getPrefix( ) const;
/** Returns the full name of the data object including the possible prefix
* of the global data struct.
*
* \return Full name of the data object
*/
std::string getFullName( ) const;
/** Exports declaration of the index variable. Its appearance can
* can be adjusted by various options.
*
* @param[in] stream Name of file to be used to export function.
* @param[in] _realString std::string to be used to declare real variables.
* @param[in] _intString std::string to be used to declare integer variables.
* @param[in] _precision Number of digits to be used for exporting real values.
*
* \return SUCCESSFUL_RETURN
*/
virtual returnValue exportDataDeclaration( std::ostream& stream,
const std::string& _realString = "real_t",
const std::string& _intString = "int",
int _precision = 16
) const;
/** Returns whether the index is set to a given value.
*
* \return true iff index is set to a given value, \n
* false otherwise
*/
virtual bool isGiven( );
virtual returnValue setDoc(const std::string& _doc);
virtual std::string getDoc() const;
};
CLOSE_NAMESPACE_ACADO
#endif // ACADO_TOOLKIT_EXPORT_DATA_HPP
// end of file.