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545 lines
19 KiB
545 lines
19 KiB
/*
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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_.hpp
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* \author Boris Houska, Hans Joachim Ferreau
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*/
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#ifndef ACADO_TOOLKIT_FUNCTION__HPP
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#define ACADO_TOOLKIT_FUNCTION__HPP
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#include <acado/function/function_evaluation_tree.hpp>
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BEGIN_NAMESPACE_ACADO
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class EvaluationPoint;
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template <typename T> class TevaluationPoint;
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/**
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* \brief Allows to setup and evaluate a general function based on SymbolicExpressions.
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*
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* \ingroup BasicDataStructures
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*
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* The class Function allows to setup and evaluate general functions
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* based on SymbolicExpressions.
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*
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* \author Boris Houska, Hans Joachim Ferreau
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*/
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class Function{
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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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Function();
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/** Copy constructor (deep copy). */
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Function( const Function& rhs );
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/** Destructor. */
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virtual ~Function( );
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/** Assignment operator (deep copy). */
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Function& operator=( const Function& rhs );
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/** Loading Expressions (deep copy). */
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Function& operator<<( const Expression& arg );
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/** Loading Expressions (deep copy). */
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Function& operator<<( const double &arg );
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/** Loading Symbolic DVector (deep copy). */
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Function& operator<<( const DVector& arg );
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/** Loading Symbolic DMatrix (deep copy). */
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Function& operator<<( const DMatrix& arg );
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Function operator()( uint idx
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) const;
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returnValue getExpression( Expression& expression ) const;
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returnValue reset( );
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/** Returns the dimension of the function \n
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* \return The requested dimension.
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*/
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inline int getDim () const;
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/** Returns the number of intermediate expressions that have \n
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* been detected in the function. \n
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* \return The requested number of intermediate states. \n
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*/
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inline 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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int getN (VariableType &variableType_) 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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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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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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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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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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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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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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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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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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int getNT () const;
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/** Return number of "online data" objects. */
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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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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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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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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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Operator* getExpression( uint componentIdx
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) const;
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/** Evaluates the function. \n
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* \n
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* \param x the evaluation point \n
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* \param number the storage position \n
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* \n
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* \return The result of the evaluation. \n
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*/
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DVector evaluate( const EvaluationPoint &x ,
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const int &number = 0 );
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/** Redundant evaluation routine which is equivalent to \n
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* to the evaluate routine above. \n
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* \n
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* \param x the evaluation point \n
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* \param number the storage position \n
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* \n
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* \return The result of the evaluation. \n
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*/
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inline DVector operator()( const EvaluationPoint &x ,
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const int &number = 0 );
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/** Evaluates the function at a templated \n
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* evaluation point. \n
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* \n
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* \param x the evaluation point \n
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* \n
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* \return The result of the evaluation. \n
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*/
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template <typename T> Tmatrix<T> evaluate( const TevaluationPoint<T> &x );
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/** Evaluates the function 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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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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/** 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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returnValue 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 function 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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NeutralElement isOneOrZero();
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/** Checks whether the function is depending on \n
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* var(index) \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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BooleanType isDependingOn( const Expression &variable );
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/** Checks whether the function is linear in \n
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* (or not depending on) var(index) \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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BooleanType isLinearIn( const Expression &variable );
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/** Checks whether the function is polynomial in \n
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* the variable var(index) \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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BooleanType isPolynomialIn( const Expression &variable );
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/** Checks whether the function 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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BooleanType isRationalIn( const Expression &variable );
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/** Checks whether the function is nondecreasing. \n
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* \return BT_FALSE if the expression is not nondecreasing \n
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* BT_TRUE otherwise \n
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*
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*/
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BooleanType isNondecreasing();
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/** Checks whether the function is nonincreasing. \n
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* \return BT_FALSE if the expression is not nonincreasing \n
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* BT_TRUE otherwise \n
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*
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*/
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BooleanType isNonincreasing();
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/** Checks whether function is a constant. */
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BooleanType isConstant();
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/** Checks whether the function is affine. \n
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* \return BT_FALSE if the expression is not affine \n
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* BT_TRUE otherwise \n
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*
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*/
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BooleanType isAffine();
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/** Checks whether the function is convex. \n
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* \return BT_FALSE if the expression is not (DCP-) convex \n
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* BT_TRUE otherwise \n
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*
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*/
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BooleanType isConvex();
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/** Checks whether the function is concave. \n
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* \return BT_FALSE if the expression is not (DCP-) concave \n
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* BT_TRUE otherwise \n
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*
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*/
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BooleanType isConcave();
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/** Automatic Differentiation in forward mode. \n
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* \n
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* \param x the evaluation point \n
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* \param number the storage position \n
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* \n
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* \return The result of the evaluation. \n
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*/
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DVector AD_forward( const EvaluationPoint &x ,
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const int &number = 0 );
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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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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 backward mode. \n
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* \n
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* \param seed the backward seed \n
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* \param df the directional derivative (output) \n
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* \param number the storage position \n
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* \n
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* \return the result for the derivative. \n
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*/
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returnValue AD_backward( const DVector &seed ,
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EvaluationPoint &df ,
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const int &number = 0 );
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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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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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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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/** Automatic Differentiation in backward mode for 2nd order \n
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* derivatives based on buffered values. \n
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* IMPORTANT REMARK: run AD_forward first to define \n
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* the point x and to compute f and df. \n
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* \return SUCCESFUL_RETURN \n
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* RET_NAN \n
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*/
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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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/** \brief calculate the jacobian of an evaluated function
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*
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* Calculates the matrix diff(fun(x,u,v,p,q,w),x)
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*
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* \param x will be assigned jacobian(fun,differential states)
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*/
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returnValue jacobian(DMatrix &x);
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//returnValue jacobian(DMatrix &x,DMatrix &p=emptyMatrix,DMatrix &u=emptyMatrix,DMatrix &w=emptyMatrix);
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/** Prints the function into a stream. */
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friend std::ostream& operator<<( std::ostream& stream, const Function &arg);
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/** Prints the function in form of plain C-code into a file. The integer \n
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* "precision" must be in [1,16] and defines the number of internal decimal places \n
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* which occur in "double" - valued parts of the expression tree. \n
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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 precision The number of internal dec. places to be printed (default: 16). \n
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* \n
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* \return SUCCESFUL_RETURN \n
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*/
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returnValue print( std::ostream& stream,
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const char *fcnName = "ACADOfcn",
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const char *realString = "double"
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) const;
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returnValue exportForwardDeclarations( std::ostream& stream,
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const char *fcnName = "ACADOfcn",
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const char *realString = "double"
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) const;
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returnValue exportCode( std::ostream& stream,
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const char *fcnName = "ACADOfcn",
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const char *realString = "double",
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uint _numX = 0,
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uint _numXA = 0,
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uint _numU = 0,
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uint _numP = 0,
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uint _numDX = 0,
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uint _numOD = 0,
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bool allocateMemory = true,
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bool staticMemory = false
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) const;
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/** Clears the buffer and resets the buffer size \n
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* to 1. \n
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* \return SUCCESFUL_RETURN \n
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*/
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returnValue clearBuffer();
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/** Defines a scale for the case that a C-function is used \n
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* \return SUCCESSFUL_RETURN
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*/
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returnValue setScale( double *scale_ );
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/** Returns whether the function is symbolic or not. If BT_TRUE \n
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* is returned, automatic differentiation will be used by \n
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* default.
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*/
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inline BooleanType isSymbolic() const;
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inline BooleanType ADisSupported() const;
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inline returnValue setMemoryOffset( int memoryOffset_ );
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/** Set name of the variable that holds intermediate values. */
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returnValue setGlobalExportVariableName(const std::string& var);
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/** Get name of the variable that holds intermediate values. */
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std::string getGlobalExportVariableName( ) const;
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/** Get size of the variable that holds intermediate values. */
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unsigned getGlobalExportVariableSize( ) const;
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// PROTECTED MEMBERS:
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// ------------------
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protected:
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FunctionEvaluationTree evaluationTree;
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int memoryOffset ;
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double* result;
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};
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template <typename T> Tmatrix<T> Function::evaluate( const TevaluationPoint<T> &x ){
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Tmatrix<T> Tresult(getDim());
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evaluationTree.evaluate( x.getEvaluationPointer(), &Tresult );
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return Tresult;
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}
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CLOSE_NAMESPACE_ACADO
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#include <acado/function/function.ipp>
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#endif // ACADO_TOOLKIT_FUNCTION__HPP
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/*
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* end of file
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*/
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