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C++ ExportStatementBlock::addStatement方法代码示例

本文整理汇总了C++中ExportStatementBlock::addStatement方法的典型用法代码示例。如果您正苦于以下问题：C++ ExportStatementBlock::addStatement方法的具体用法？C++ ExportStatementBlock::addStatement怎么用？C++ ExportStatementBlock::addStatement使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类ExportStatementBlock的用法示例。


在下文中一共展示了ExportStatementBlock::addStatement方法的10个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。

示例1: getCode

returnValue DiscreteTimeExport::getCode(	ExportStatementBlock& code
										)
{
	if( NX1 > 0 ) {
		code.addFunction( lin_input );
		code.addStatement( "\n\n" );
	}

	if( NX2 > 0 ) {
		code.addFunction( rhs );
		code.addStatement( "\n\n" );
		code.addFunction( diffs_rhs );
		code.addStatement( "\n\n" );
	}

	if( !equidistantControlGrid() ) {
		ExportVariable numStepsV( "numSteps", numSteps, STATIC_CONST_INT );
		code.addDeclaration( numStepsV );
		code.addLinebreak( 2 );
	}
	double h = (grid.getLastTime() - grid.getFirstTime())/grid.getNumIntervals();
	code.addComment(String("Fixed step size:") << String(h));

	code.addFunction( integrate );

	if( NX2 != NX ) {
		prepareFullRhs();
		code.addFunction( fullRhs );
	}

	return SUCCESSFUL_RETURN;
}
开发者ID:skyhawkf119，项目名称:acado，代码行数:32，代码来源:discrete_export.cpp

示例2: getCode

returnValue ExportGaussNewtonForces::getCode(	ExportStatementBlock& code
														)
{
	setupQPInterface();
	code.addStatement( *qpInterface );

	code.addLinebreak( 2 );
	code.addStatement( "/******************************************************************************/\n" );
	code.addStatement( "/*                                                                            */\n" );
	code.addStatement( "/* ACADO code generation                                                      */\n" );
	code.addStatement( "/*                                                                            */\n" );
	code.addStatement( "/******************************************************************************/\n" );
	code.addLinebreak( 2 );

	int useOMP;
	get(CG_USE_OPENMP, useOMP);
	if ( useOMP )
	{
		code.addDeclaration( state );
	}

	code.addFunction( modelSimulation );

	code.addFunction( evaluateStageCost );
	code.addFunction( evaluateTerminalCost );
	code.addFunction( setObjQ1Q2 );
	code.addFunction( setObjR1R2 );
	code.addFunction( setObjS1 );
	code.addFunction( setObjQN1QN2 );
	code.addFunction( setStageH );
	code.addFunction( setStagef );
	code.addFunction( evaluateObjective );

	code.addFunction( conSetGxGu );
	code.addFunction( conSetd );
	code.addFunction( evaluateConstraints );

	code.addFunction( acc );

	code.addFunction( preparation );
	code.addFunction( feedback );

	code.addFunction( initialize );
	code.addFunction( initializeNodes );
	code.addFunction( shiftStates );
	code.addFunction( shiftControls );
	code.addFunction( getKKT );
	code.addFunction( getObjective );

	return SUCCESSFUL_RETURN;
}
开发者ID:ferreau，项目名称:acado，代码行数:51，代码来源:export_gauss_newton_forces.cpp

示例3: getCode

returnValue ExportGaussNewtonBlockForces::getCode(	ExportStatementBlock& code
											)
{
	setupQPInterface();
	code.addStatement( *qpInterface );

	code.addFunction( cleanup );
	code.addFunction( shiftQpData );

	code.addFunction( evaluateConstraints );
	code.addFunction( evaluateAffineConstraints );

	return ExportGaussNewtonCN2::getCode( code );
}
开发者ID:RobotXiaoFeng，项目名称:acado，代码行数:14，代码来源:export_gauss_newton_block_forces.cpp

示例4: stepSizeV

returnValue ExportIRK4StageSimplifiedNewton::transformRightHandSide(	ExportStatementBlock& code, const ExportIndex& index )
{
    uint i, j;

    ExportVariable transf1_var( transf1 );
    ExportVariable stepSizeV( 1.0/stepsize );

    ExportForLoop loop1( index, 0, dim );
    for( j = 0; j < nRightHandSides; j++ ) {
        loop1.addStatement( b_mem_complex1.getElement(index,j) == 0.0 );
        for( i = 0; i < 4; i++ ) {
            loop1.addStatement( b_mem_complex1.getElement(index,j) += transf1_var.getElement(0,i)*b_full.getElement(index+i*dim,j) );
        }
        stringstream ss1;
        ss1 << b_mem_complex1.get(index,j) << " += (";
        for( i = 0; i < 4; i++ ) {
            if( i > 0 ) ss1 << " + ";
            ss1 << transf1_var.get(1,i) << "*" << b_full.get(index+i*dim,j);
        }
        ss1 << ")*I;\n";
        ss1 << b_mem_complex1.get(index,j) << " *= " << stepSizeV.get(0,0) << ";\n";
        loop1 << ss1.str();


        loop1.addStatement( b_mem_complex2.getElement(index,j) == 0.0 );
        for( i = 0; i < 4; i++ ) {
            loop1.addStatement( b_mem_complex2.getElement(index,j) += transf1_var.getElement(2,i)*b_full.getElement(index+i*dim,j) );
        }
        stringstream ss2;
        ss2 << b_mem_complex2.get(index,j) << " += (";
        for( i = 0; i < 4; i++ ) {
            if( i > 0 ) ss2 << " + ";
            ss2 << transf1_var.get(3,i) << "*" << b_full.get(index+i*dim,j);
        }
        ss2 << ")*I;\n";
        ss2 << b_mem_complex2.get(index,j) << " *= " << stepSizeV.get(0,0) << ";\n";
        loop1 << ss2.str();
    }
    code.addStatement( loop1 );

    return SUCCESSFUL_RETURN;
}
开发者ID:helloxss，项目名称:acado，代码行数:42，代码来源:irk_4stage_simplified_newton_export.cpp

示例5: 

returnValue ExportIRK4StageSimplifiedNewton::transformSolution(	ExportStatementBlock& code, const ExportIndex& index )
{
    uint j;
    ExportVariable transf2_var( transf2 );

    ExportForLoop loop1( index, 0, dim );
    for( j = 0; j < nRightHandSides; j++ ) {
        stringstream ss;
        ss << b_full.get(index,j) << " = ";
        ss << transf2_var.get(0,0) << "*creal(" << b_mem_complex1.get(index,j) << ") + ";
        ss << transf2_var.get(0,1) << "*cimag(" << b_mem_complex1.get(index,j) << ") + ";
        ss << transf2_var.get(0,2) << "*creal(" << b_mem_complex2.get(index,j) << ") + ";
        ss << transf2_var.get(0,3) << "*cimag(" << b_mem_complex2.get(index,j) << ");\n";

        ss << b_full.get(index+dim,j) << " = ";
        ss << transf2_var.get(1,0) << "*creal(" << b_mem_complex1.get(index,j) << ") + ";
        ss << transf2_var.get(1,1) << "*cimag(" << b_mem_complex1.get(index,j) << ") + ";
        ss << transf2_var.get(1,2) << "*creal(" << b_mem_complex2.get(index,j) << ") + ";
        ss << transf2_var.get(1,3) << "*cimag(" << b_mem_complex2.get(index,j) << ");\n";

        ss << b_full.get(index+2*dim,j) << " = ";
        ss << transf2_var.get(2,0) << "*creal(" << b_mem_complex1.get(index,j) << ") + ";
        ss << transf2_var.get(2,1) << "*cimag(" << b_mem_complex1.get(index,j) << ") + ";
        ss << transf2_var.get(2,2) << "*creal(" << b_mem_complex2.get(index,j) << ") + ";
        ss << transf2_var.get(2,3) << "*cimag(" << b_mem_complex2.get(index,j) << ");\n";

        ss << b_full.get(index+3*dim,j) << " = ";
        ss << transf2_var.get(3,0) << "*creal(" << b_mem_complex1.get(index,j) << ") + ";
        ss << transf2_var.get(3,1) << "*cimag(" << b_mem_complex1.get(index,j) << ") + ";
        ss << transf2_var.get(3,2) << "*creal(" << b_mem_complex2.get(index,j) << ") + ";
        ss << transf2_var.get(3,3) << "*cimag(" << b_mem_complex2.get(index,j) << ");\n";
        loop1 << ss.str();
    }
    code.addStatement( loop1 );

    return SUCCESSFUL_RETURN;
}
开发者ID:helloxss，项目名称:acado，代码行数:37，代码来源:irk_4stage_simplified_newton_export.cpp

示例6: 

returnValue ExportGaussNewtonCN2::getCode(	ExportStatementBlock& code
											)
{
	setupQPInterface();

	code.addLinebreak( 2 );
	code.addStatement( "/******************************************************************************/\n" );
	code.addStatement( "/*                                                                            */\n" );
	code.addStatement( "/* ACADO code generation                                                      */\n" );
	code.addStatement( "/*                                                                            */\n" );
	code.addStatement( "/******************************************************************************/\n" );
	code.addLinebreak( 2 );

	int useOMP;
	get(CG_USE_OPENMP, useOMP);
	if ( useOMP )
	{
		code.addDeclaration( state );
	}

	code.addFunction( modelSimulation );

	code.addFunction( evaluateLSQ );
	code.addFunction( evaluateLSQEndTerm );

	code.addFunction( setObjQ1Q2 );
	code.addFunction( setObjR1R2 );
	code.addFunction( setObjS1 );
	code.addFunction( setObjQN1QN2 );
	code.addFunction( evaluateObjective );

	code.addFunction( multGxGu );
	code.addFunction( moveGuE );

	code.addFunction( multBTW1 );
	code.addFunction( mac_S1T_E );
	code.addFunction( macBTW1_R1 );
	code.addFunction( multGxTGu );
	code.addFunction( macQEW2 );

	code.addFunction( macATw1QDy );
	code.addFunction( macBTw1 );
	code.addFunction( macS1TSbar );
	code.addFunction( macQSbarW2 );
	code.addFunction( macASbar );
	code.addFunction( expansionStep );

	code.addFunction( copyHTH );

	code.addFunction( multRDy );
	code.addFunction( multQDy );

	code.addFunction( multQN1Gu );

	code.addFunction( evaluatePathConstraints );

	for (unsigned i = 0; i < evaluatePointConstraints.size(); ++i)
	{
		if (evaluatePointConstraints[ i ] == 0)
			continue;
		code.addFunction( *evaluatePointConstraints[ i ] );
	}

	code.addFunction( condensePrep );
	code.addFunction( condenseFdb );
	code.addFunction( expand );

	code.addFunction( preparation );
	code.addFunction( feedback );

	code.addFunction( initialize );
	code.addFunction( initializeNodes );
	code.addFunction( shiftStates );
	code.addFunction( shiftControls );
	code.addFunction( getKKT );
	code.addFunction( getObjective );

	return SUCCESSFUL_RETURN;
}
开发者ID:mvukov，项目名称:acado，代码行数:79，代码来源:export_gauss_newton_cn2.cpp

示例7: getCode

returnValue ExportExactHessianQpDunes::getCode(	ExportStatementBlock& code
														)
{
	setupQPInterface();
	code.addStatement( *qpInterface );

	code.addLinebreak( 2 );
	code.addStatement( "/******************************************************************************/\n" );
	code.addStatement( "/*                                                                            */\n" );
	code.addStatement( "/* ACADO code generation                                                      */\n" );
	code.addStatement( "/*                                                                            */\n" );
	code.addStatement( "/******************************************************************************/\n" );
	code.addLinebreak( 2 );

	int useOMP;
	get(CG_USE_OPENMP, useOMP);
	if ( useOMP )
	{
		code.addDeclaration( state );
	}

	code.addFunction( modelSimulation );

	code.addFunction( evaluateStageCost );
	code.addFunction( evaluateTerminalCost );
	code.addFunction( setObjQ1Q2 );
	code.addFunction( setObjR1R2 );
	code.addFunction( setObjQN1QN2 );
	code.addFunction( setStageH );
	code.addFunction( setStagef );
	code.addFunction( evaluateObjective );

	code.addFunction( regularizeHessian );

	code.addFunction( evaluatePathConstraints );

	for (unsigned i = 0; i < evaluatePointConstraints.size(); ++i)
	{
		if (evaluatePointConstraints[ i ] == 0)
			continue;
		code.addFunction( *evaluatePointConstraints[ i ] );
	}

	code.addFunction( setStagePac );
	code.addFunction( evaluateConstraints );

	code.addFunction( acc );

	code.addFunction( preparation );
	code.addFunction( feedback );

	code.addFunction( initialize );
	code.addFunction( initializeNodes );
	code.addFunction( shiftStates );
	code.addFunction( shiftControls );
	code.addFunction( getKKT );
	code.addFunction( getObjective );

	code.addFunction( cleanup );
	code.addFunction( shiftQpData );

	return SUCCESSFUL_RETURN;
}
开发者ID:RobotXiaoFeng，项目名称:acado，代码行数:63，代码来源:export_exact_hessian_qpdunes.cpp

示例8: getCode

returnValue DiscreteTimeExport::getCode(	ExportStatementBlock& code
										)
{
	int useOMP;
	get(CG_USE_OPENMP, useOMP);
	if ( useOMP ) {
		ExportVariable max = getAuxVariable();
		max.setName( "auxVar" );
		max.setDataStruct( ACADO_LOCAL );
		if( NX2 > 0 ) {
			rhs.setGlobalExportVariable( max );
			diffs_rhs.setGlobalExportVariable( max );
		}
		if( NX3 > 0 ) {
			rhs3.setGlobalExportVariable( max );
			diffs_rhs3.setGlobalExportVariable( max );
		}

		getDataDeclarations( code, ACADO_LOCAL );

		stringstream s;
		s << "#pragma omp threadprivate( "
				<< max.getFullName() << ", "
				<< rk_xxx.getFullName();
		if( NX1 > 0 ) {
			if( grid.getNumIntervals() > 1 || !equidistantControlGrid() ) s << ", " << rk_diffsPrev1.getFullName();
			s << ", " << rk_diffsNew1.getFullName();
		}
		if( NX2 > 0 || NXA > 0 ) {
			if( grid.getNumIntervals() > 1 || !equidistantControlGrid() ) s << ", " << rk_diffsPrev2.getFullName();
			s << ", " << rk_diffsNew2.getFullName();
		}
		if( NX3 > 0 ) {
			if( grid.getNumIntervals() > 1 || !equidistantControlGrid() ) s << ", " << rk_diffsPrev3.getFullName();
			s << ", " << rk_diffsNew3.getFullName();
			s << ", " << rk_diffsTemp3.getFullName();
		}
		s << " )" << endl << endl;
		code.addStatement( s.str().c_str() );
	}

	if( NX1 > 0 ) {
		code.addFunction( lin_input );
		code.addStatement( "\n\n" );
	}

	if( NX2 > 0 ) {
		code.addFunction( rhs );
		code.addStatement( "\n\n" );
		code.addFunction( diffs_rhs );
		code.addStatement( "\n\n" );
	}

	if( NX3 > 0 ) {
		code.addFunction( rhs3 );
		code.addStatement( "\n\n" );
		code.addFunction( diffs_rhs3 );
		code.addStatement( "\n\n" );
	}

	if( !equidistantControlGrid() ) {
		ExportVariable numStepsV( "numSteps", numSteps, STATIC_CONST_INT );
		code.addDeclaration( numStepsV );
		code.addLinebreak( 2 );
	}
	double h = (grid.getLastTime() - grid.getFirstTime())/grid.getNumIntervals();
	code.addComment(std::string("Fixed step size:") + toString(h));

	code.addFunction( integrate );

	return SUCCESSFUL_RETURN;
}
开发者ID:RobotXiaoFeng，项目名称:acado，代码行数:72，代码来源:discrete_export.cpp

示例9: setup

returnValue DiscreteTimeExport::setup( )
{
	int sensGen;
	get( DYNAMIC_SENSITIVITY,sensGen );
	if ( (ExportSensitivityType)sensGen != FORWARD ) ACADOERROR( RET_INVALID_OPTION );

	int useOMP;
	get(CG_USE_OPENMP, useOMP);
	ExportStruct structWspace;
	structWspace = useOMP ? ACADO_LOCAL : ACADO_WORKSPACE;

	LOG( LVL_DEBUG ) << "Preparing to export DiscreteTimeExport... " << endl;

	ExportIndex run( "run" );
	ExportIndex i( "i" );
	ExportIndex j( "j" );
	ExportIndex k( "k" );
	ExportIndex tmp_index("tmp_index");
	diffsDim = NX*(NX+NU);
	inputDim = NX*(NX+NU+1) + NU + NOD;
	// setup INTEGRATE function
	rk_index = ExportVariable( "rk_index", 1, 1, INT, ACADO_LOCAL, true );
	rk_eta = ExportVariable( "rk_eta", 1, inputDim, REAL );
	if( equidistantControlGrid() ) {
		integrate = ExportFunction( "integrate", rk_eta, reset_int );
	}
	else {
		integrate = ExportFunction( "integrate", rk_eta, reset_int, rk_index );
	}
	integrate.setReturnValue( error_code );
	rk_eta.setDoc( "Working array to pass the input values and return the results." );
	reset_int.setDoc( "The internal memory of the integrator can be reset." );
	rk_index.setDoc( "Number of the shooting interval." );
	error_code.setDoc( "Status code of the integrator." );
	integrate.doc( "Performs the integration and sensitivity propagation for one shooting interval." );
	integrate.addIndex( run );
	integrate.addIndex( i );
	integrate.addIndex( j );
	integrate.addIndex( k );
	integrate.addIndex( tmp_index );
	rhs_in = ExportVariable( "x", inputDim-diffsDim, 1, REAL, ACADO_LOCAL );
	rhs_out = ExportVariable( "f", NX, 1, REAL, ACADO_LOCAL );
	fullRhs = ExportFunction( "full_rhs", rhs_in, rhs_out );
	rhs_in.setDoc( "The state and parameter values." );
	rhs_out.setDoc( "Right-hand side evaluation." );
	fullRhs.doc( "Evaluates the right-hand side of the full model." );
	rk_xxx = ExportVariable( "rk_xxx", 1, inputDim-diffsDim, REAL, structWspace );
	if( grid.getNumIntervals() > 1 || !equidistantControlGrid() ) {
		rk_diffsPrev1 = ExportVariable( "rk_diffsPrev1", NX1, NX1+NU, REAL, structWspace );
		rk_diffsPrev2 = ExportVariable( "rk_diffsPrev2", NX2, NX1+NX2+NU, REAL, structWspace );
		rk_diffsPrev3 = ExportVariable( "rk_diffsPrev3", NX3, NX+NU, REAL, structWspace );
	}
	rk_diffsNew1 = ExportVariable( "rk_diffsNew1", NX1, NX1+NU, REAL, structWspace );
	rk_diffsNew2 = ExportVariable( "rk_diffsNew2", NX2, NX1+NX2+NU, REAL, structWspace );
	rk_diffsNew3 = ExportVariable( "rk_diffsNew3", NX3, NX+NU, REAL, structWspace );
	rk_diffsTemp3 = ExportVariable( "rk_diffsTemp3", NX3, NX1+NX2+NU, REAL, structWspace );

	ExportVariable numInt( "numInts", 1, 1, INT );
	if( !equidistantControlGrid() ) {
		ExportVariable numStepsV( "numSteps", numSteps, STATIC_CONST_INT );
		integrate.addStatement( std::string( "int " ) + numInt.getName() + " = " + numStepsV.getName() + "[" + rk_index.getName() + "];\n" );
	}

	integrate.addStatement( rk_xxx.getCols( NX,inputDim-diffsDim ) == rk_eta.getCols( NX+diffsDim,inputDim ) );
	integrate.addLinebreak( );
	// evaluate sensitivities linear input:
	if( NX1 > 0 ) {
		for( uint i1 = 0; i1 < NX1; i1++ ) {
			for( uint i2 = 0; i2 < NX1; i2++ ) {
				integrate.addStatement( rk_diffsNew1.getSubMatrix(i1,i1+1,i2,i2+1) == A11(i1,i2) );
			}
			for( uint i2 = 0; i2 < NU; i2++ ) {
				integrate.addStatement( rk_diffsNew1.getSubMatrix(i1,i1+1,NX1+i2,NX1+i2+1) == B11(i1,i2) );
			}
		}
	}
	// evaluate sensitivities linear output:
	if( NX1 > 0 ) {
		for( uint i1 = 0; i1 < NX3; i1++ ) {
			for( uint i2 = 0; i2 < NX3; i2++ ) {
				integrate.addStatement( rk_diffsNew3.getSubMatrix(i1,i1+1,NX-NX3+i2,NX-NX3+i2+1) == A33(i1,i2) );
			}
		}
	}
	integrate.addLinebreak( );

	// integrator loop:
	ExportForLoop tmpLoop( run, 0, grid.getNumIntervals() );
	ExportStatementBlock *loop;
	if( equidistantControlGrid() ) {
		loop = &tmpLoop;
	}
	else {
		loop = &integrate;
		loop->addStatement( std::string("for(") + run.getName() + " = 0; " + run.getName() + " < " + numInt.getName() + "; " + run.getName() + "++ ) {\n" );
	}

	loop->addStatement( rk_xxx.getCols( 0,NX ) == rk_eta.getCols( 0,NX ) );

	if( grid.getNumIntervals() > 1 || !equidistantControlGrid() ) {
//.........这里部分代码省略.........
开发者ID:RobotXiaoFeng，项目名称:acado，代码行数:101，代码来源:discrete_export.cpp

示例10: setup

returnValue DiscreteTimeExport::setup( )
{
	int useOMP;
	get(CG_USE_OPENMP, useOMP);
	ExportStruct structWspace;
	structWspace = useOMP ? ACADO_LOCAL : ACADO_WORKSPACE;

	// non equidistant integration grids not implemented for NARX integrators
	if( !equidistant ) return ACADOERROR( RET_INVALID_OPTION );

	String fileName( "integrator.c" );

	int printLevel;
	get( PRINTLEVEL,printLevel );

	if ( (PrintLevel)printLevel >= HIGH )
		acadoPrintf( "--> Preparing to export %s... ",fileName.getName() );

	ExportIndex run( "run" );
	ExportIndex i( "i" );
	ExportIndex j( "j" );
	ExportIndex k( "k" );
	ExportIndex tmp_index("tmp_index");
	uint diffsDim = NX*(NX+NU);
	uint inputDim = NX*(NX+NU+1) + NU + NP;
	// setup INTEGRATE function
	rk_index = ExportVariable( "rk_index", 1, 1, INT, ACADO_LOCAL, BT_TRUE );
	rk_eta = ExportVariable( "rk_eta", 1, inputDim, REAL );
	if( equidistantControlGrid() ) {
		integrate = ExportFunction( "integrate", rk_eta, reset_int );
	}
	else {
		integrate = ExportFunction( "integrate", rk_eta, reset_int, rk_index );
	}
	integrate.setReturnValue( error_code );
	integrate.addIndex( run );
	integrate.addIndex( i );
	integrate.addIndex( j );
	integrate.addIndex( k );
	integrate.addIndex( tmp_index );
	rhs_in = ExportVariable( "x", inputDim-diffsDim, 1, REAL, ACADO_LOCAL );
	rhs_out = ExportVariable( "f", NX, 1, REAL, ACADO_LOCAL );
	fullRhs = ExportFunction( "full_rhs", rhs_in, rhs_out );
	rk_xxx = ExportVariable( "rk_xxx", 1, inputDim-diffsDim, REAL, structWspace );
	if( grid.getNumIntervals() > 1 || !equidistantControlGrid() ) {
		rk_diffsPrev1 = ExportVariable( "rk_diffsPrev1", NX1, NX1+NU, REAL, structWspace );
		rk_diffsPrev2 = ExportVariable( "rk_diffsPrev2", NX2, NX1+NX2+NU, REAL, structWspace );
	}
	rk_diffsNew1 = ExportVariable( "rk_diffsNew1", NX1, NX1+NU, REAL, structWspace );
	rk_diffsNew2 = ExportVariable( "rk_diffsNew2", NX2, NX1+NX2+NU, REAL, structWspace );

	ExportVariable numInt( "numInts", 1, 1, INT );
	if( !equidistantControlGrid() ) {
		ExportVariable numStepsV( "numSteps", numSteps, STATIC_CONST_INT );
		integrate.addStatement( String( "int " ) << numInt.getName() << " = " << numStepsV.getName() << "[" << rk_index.getName() << "];\n" );
	}

	integrate.addStatement( rk_xxx.getCols( NX,inputDim-diffsDim ) == rk_eta.getCols( NX+diffsDim,inputDim ) );
	integrate.addLinebreak( );

	// integrator loop:
	ExportForLoop tmpLoop( run, 0, grid.getNumIntervals() );
	ExportStatementBlock *loop;
	if( equidistantControlGrid() ) {
		loop = &tmpLoop;
	}
	else {
		loop = &integrate;
		loop->addStatement( String("for(") << run.getName() << " = 0; " << run.getName() << " < " << numInt.getName() << "; " << run.getName() << "++ ) {\n" );
	}

	loop->addStatement( rk_xxx.getCols( 0,NX ) == rk_eta.getCols( 0,NX ) );

	if( grid.getNumIntervals() > 1 || !equidistantControlGrid() ) {
		// Set rk_diffsPrev:
		loop->addStatement( String("if( run > 0 ) {\n") );
		if( NX1 > 0 ) {
			ExportForLoop loopTemp1( i,0,NX1 );
			loopTemp1.addStatement( rk_diffsPrev1.getSubMatrix( i,i+1,0,NX1 ) == rk_eta.getCols( i*NX+NX+NXA,i*NX+NX+NXA+NX1 ) );
			if( NU > 0 ) loopTemp1.addStatement( rk_diffsPrev1.getSubMatrix( i,i+1,NX1,NX1+NU ) == rk_eta.getCols( i*NU+(NX+NXA)*(NX+1),i*NU+(NX+NXA)*(NX+1)+NU ) );
			loop->addStatement( loopTemp1 );
		}
		if( NX2 > 0 ) {
			ExportForLoop loopTemp2( i,0,NX2 );
			loopTemp2.addStatement( rk_diffsPrev2.getSubMatrix( i,i+1,0,NX1+NX2 ) == rk_eta.getCols( i*NX+NX+NXA+NX1*NX,i*NX+NX+NXA+NX1*NX+NX1+NX2 ) );
			if( NU > 0 ) loopTemp2.addStatement( rk_diffsPrev2.getSubMatrix( i,i+1,NX1+NX2,NX1+NX2+NU ) == rk_eta.getCols( i*NU+(NX+NXA)*(NX+1)+NX1*NU,i*NU+(NX+NXA)*(NX+1)+NX1*NU+NU ) );
			loop->addStatement( loopTemp2 );
		}
		loop->addStatement( String("}\n") );
	}

	// evaluate states:
	if( NX1 > 0 ) {
		loop->addFunctionCall( lin_input.getName(), rk_xxx, rk_eta.getAddress(0,0) );
	}
	if( NX2 > 0 ) {
		loop->addFunctionCall( getNameRHS(), rk_xxx, rk_eta.getAddress(0,NX1) );
	}

	// evaluate sensitivities:
//.........这里部分代码省略.........
开发者ID:skyhawkf119，项目名称:acado，代码行数:101，代码来源:discrete_export.cpp


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