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C++ ExportVariable::getRow方法代码示例

本文整理汇总了C++中ExportVariable::getRow方法的典型用法代码示例。如果您正苦于以下问题：C++ ExportVariable::getRow方法的具体用法？C++ ExportVariable::getRow怎么用？C++ ExportVariable::getRow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ExportVariable的用法示例。


在下文中一共展示了ExportVariable::getRow方法的4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: setupSolveReuseTranspose

returnValue ExportGaussElim::setupSolveReuseTranspose( ExportFunction& _solveReuse, ExportVariable& _bPerm ) {

	ExportIndex run1( "i" );
	ExportIndex run2( "j" );
	ExportVariable tmp( "tmp_var", 1, 1, _bPerm.getType(), ACADO_LOCAL, true );
	_solveReuse.addIndex( run1 );
	_solveReuse.addIndex( run2 );
	_solveReuse.addDeclaration(tmp);

	_solveReuse.addStatement( _bPerm == b_trans );

	ExportForLoop loop2( run2, 0, dim );	// row run2
	ExportForLoop loop3( run1, 0, run2 );	// column run1
	loop3.addStatement( _bPerm.getRow(run2) -= A.getElement(run1,run2)*_bPerm.getRow(run1) );
	loop2.addStatement( loop3 );
	loop2 << tmp.getName() << " = 1.0/A[" << run2.getName() << "*" << toString(dim+1) << "];\n";
	loop2.addStatement( _bPerm.getRow(run2) == _bPerm.getRow(run2)*tmp );
	_solveReuse.addStatement( loop2 );


	// Solve the upper triangular system of equations:
	ExportForLoop loop4( run1, dim-1, -1, -1 );
	ExportForLoop loop5( run2, dim-1, run1, -1 );
	loop5.addStatement( _bPerm.getRow(run1) += A.getElement(run2,run1)*_bPerm.getRow(run2) );
	loop4.addStatement( loop5 );
	_solveReuse.addStatement( loop4 );


	// The permutation now happens HERE!
	ExportForLoop loop1( run1, 0, dim );
	loop1 << run2.getName() << " = " << rk_perm.getFullName() << "[" << run1.getName() << "];\n";
	loop1.addStatement( b_trans.getRow(run2) == _bPerm.getRow(run1) );
	_solveReuse.addStatement( loop1 );

	return SUCCESSFUL_RETURN;
}
开发者ID:RobotXiaoFeng，项目名称:acado，代码行数:36，代码来源:gaussian_elimination_export.cpp

示例2: setup


//.........这里部分代码省略.........
	if( DERIVATIVES ) {
		// initialize sensitivities:
		DMatrix idX    = eye<double>( NX );
		DMatrix zeroXU = zeros<double>( NX,NU );
		integrate.addStatement( rk_eta.getCols( NX+NXA,NXA+NX*(1+NX) ) == idX.makeVector().transpose() );
		integrate.addStatement( rk_eta.getCols( (NX+NXA)*(1+NX),(NX+NXA)*(1+NX)+NX*NU ) == zeroXU.makeVector().transpose() );
	}

	if( inputDim > (rhsDim+zDim) ) {
		integrate.addStatement( rk_xxx.getCols( NXA+rhsDim+zDim,NXA+inputDim ) == rk_eta.getCols( rhsDim+zDim,inputDim ) );
	}
//	if( liftMode == 1 ) {
		integrate.addStatement( rk_delta.getCols( 0,NX ) == rk_eta.getCols( 0,NX ) - rk_prev.getSubMatrix(shoot_index,shoot_index+1,0,NX) );
		integrate.addStatement( rk_delta.getCols( NX,NX+NU ) == rk_eta.getCols( rhsDim+zDim,rhsDim+zDim+NU ) - rk_prev.getSubMatrix(shoot_index,shoot_index+1,NX,NX+NU) );

		integrate.addStatement( rk_prev.getSubMatrix(shoot_index,shoot_index+1,0,NX) == rk_eta.getCols( 0,NX ) );
		integrate.addStatement( rk_prev.getSubMatrix(shoot_index,shoot_index+1,NX,NX+NU) == rk_eta.getCols( rhsDim+zDim,rhsDim+zDim+NU ) );
//	}
	integrate.addLinebreak( );

	// integrator loop
	ExportForLoop loop;
	if( equidistantControlGrid() ) {
		loop = ExportForLoop( run, 0, grid.getNumIntervals() );
	}
	else {
		loop = ExportForLoop( run, 0, 1 );
		loop.addStatement( std::string("for(") + run.getName() + " = 0; " + run.getName() + " < " + numInt.getName() + "; " + run.getName() + "++ ) {\n" );
	}
	loop.addStatement( k_index == (shoot_index*grid.getNumIntervals()+run) );

	for( uint run1 = 0; run1 < rkOrder; run1++ )
	{
		loop.addStatement( rk_xxx.getCols( 0,NX ) == rk_eta.getCols( 0,NX ) + Ah.getRow(run1)*rk_kkk.getCols( 0,NX ) );
		loop.addStatement( rk_xxx.getCols( NX,NX*(1+NX) ) == rk_eta.getCols( NX+NXA,NXA+NX*(1+NX) ) + Ah.getRow(run1)*rk_kkk.getCols( NX,NX*(1+NX) ) );
		loop.addStatement( rk_xxx.getCols( NX*(1+NX),rhsDim ) == rk_eta.getCols( (NX+NXA)*(1+NX),(NX+NXA)*(1+NX)+NX*NU ) + Ah.getRow(run1)*rk_kkk.getCols( NX*(1+NX),rhsDim ) );
		if( timeDependant ) loop.addStatement( rk_xxx.getCol( NXA+inputDim ) == rk_ttt + ((double)cc(run1))/grid.getNumIntervals() );

		// update algebraic variables based on previous SQP step:
//		if( liftMode == 1 ) {
			loop.addStatement( rk_zzz.getRow(k_index*rkOrder+run1) += rk_delta*rk_diffZ.getRows( k_index*rkOrder*NXA+run1*NXA,k_index*rkOrder*NXA+run1*NXA+NXA ).getTranspose() );
//		}

		// evaluate the right algebraic variables and equations:
		loop.addStatement( rk_xxx.getCols( rhsDim,rhsDim+NXA ) == rk_zzz.getRow(k_index*rkOrder+run1) );
		if( liftMode == 2 ) {
			for( uint i = 0; i < NXA; i++ ) {
				for( uint j = 0; j < NX; j++ ) {
					loop.addStatement( rk_xxx.getCol( rhsDim+2*NXA+i*NX+j ) == rk_diffZ.getElement( k_index*rkOrder*NXA+run1*NXA+i,j ) );
				}
				for( uint j = 0; j < NU; j++ ) {
					loop.addStatement( rk_xxx.getCol( rhsDim+NXA*(2+NX)+i*NU+j ) == rk_diffZ.getElement( k_index*rkOrder*NXA+run1*NXA+i,NX+j ) );
				}
			}
		}
		loop.addFunctionCall( alg_rhs.getName(),rk_xxx,rk_zTemp );

		// JACOBIAN FACTORIZATION ALGEBRAIC EQUATIONS
		if( liftMode == 1 ) { // EXACT
			for( uint i = 0; i < NXA; i++ ) {
				for( uint j = 0; j < NXA; j++ ) {
					loop.addStatement( rk_A.getElement(i,j) == rk_zTemp.getCol(NXA*(1+NX)+i*NXA+j) );
				}
			}
			loop.addStatement( det.getFullName() + " = " + solver->getNameSolveFunction() + "( " + rk_A.getFullName() + ", " + rk_auxSolver.getFullName() + " );\n" );
		}
开发者ID:RobotXiaoFeng，项目名称:acado，代码行数:67，代码来源:lifted_erk_export.cpp

示例3: setup


//.........这里部分代码省略.........
    rk_eta = ExportVariable( "rk_eta", 1, inputDim );

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

    rk_ttt.setup( "rk_ttt", 1, 1, REAL, structWspace, true );
    uint timeDep = 0;
    if( timeDependant ) timeDep = 1;

    rk_xxx.setup("rk_xxx", 1, inputDim+timeDep, REAL, structWspace);
    rk_kkk.setup("rk_kkk", rkOrder, rhsDim, REAL, structWspace);

    if ( useOMP )
    {
        ExportVariable auxVar;

        auxVar = getAuxVariable();
        auxVar.setName( "odeAuxVar" );
        auxVar.setDataStruct( ACADO_LOCAL );
        rhs.setGlobalExportVariable( auxVar );
        diffs_rhs.setGlobalExportVariable( auxVar );
    }

    ExportIndex run( "run1" );

    // setup INTEGRATE function
    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 );

    ExportVariable numInt( "numInts", 1, 1, INT );
    if( !equidistantControlGrid() ) {
        integrate.addStatement( std::string( "int numSteps[" ) + toString( numSteps.getDim() ) + "] = {" + toString( numSteps(0) ) );
        uint i;
        for( i = 1; i < numSteps.getDim(); i++ ) {
            integrate.addStatement( std::string( ", " ) + toString( numSteps(i) ) );
        }
        integrate.addStatement( std::string( "};\n" ) );
        integrate.addStatement( std::string( "int " ) + numInt.getName() + " = numSteps[" + rk_index.getName() + "];\n" );
    }

    integrate.addStatement( rk_ttt == DMatrix(grid.getFirstTime()) );

    if( DERIVATIVES ) {
        // initialize sensitivities:
        DMatrix idX    = eye<double>( NX );
        DMatrix zeroXU = zeros<double>( NX,NU );
        integrate.addStatement( rk_eta.getCols( NX,NX*(1+NX) ) == idX.makeVector().transpose() );
        integrate.addStatement( rk_eta.getCols( NX*(1+NX),NX*(1+NX+NU) ) == zeroXU.makeVector().transpose() );
    }

    if( inputDim > rhsDim ) {
        integrate.addStatement( rk_xxx.getCols( rhsDim,inputDim ) == rk_eta.getCols( rhsDim,inputDim ) );
    }
    integrate.addLinebreak( );

    // integrator loop
    ExportForLoop loop;
    if( equidistantControlGrid() ) {
        loop = ExportForLoop( run, 0, grid.getNumIntervals() );
    }
    else {
        loop = ExportForLoop( run, 0, 1 );
        loop.addStatement( std::string("for(") + run.getName() + " = 0; " + run.getName() + " < " + numInt.getName() + "; " + run.getName() + "++ ) {\n" );
    }

    for( uint run1 = 0; run1 < rkOrder; run1++ )
    {
        loop.addStatement( rk_xxx.getCols( 0,rhsDim ) == rk_eta.getCols( 0,rhsDim ) + Ah.getRow(run1)*rk_kkk );
        if( timeDependant ) loop.addStatement( rk_xxx.getCol( inputDim ) == rk_ttt + ((double)cc(run1))/grid.getNumIntervals() );
        loop.addFunctionCall( getNameDiffsRHS(),rk_xxx,rk_kkk.getAddress(run1,0) );
    }
    loop.addStatement( rk_eta.getCols( 0,rhsDim ) += b4h^rk_kkk );
    loop.addStatement( rk_ttt += DMatrix(1.0/grid.getNumIntervals()) );
    // end of integrator loop

    if( !equidistantControlGrid() ) {
        loop.addStatement( "}\n" );
//		loop.unrollLoop();
    }
    integrate.addStatement( loop );

    integrate.addStatement( error_code == 0 );

    LOG( LVL_DEBUG ) << "done" << endl;

    return SUCCESSFUL_RETURN;
}
开发者ID:rienq，项目名称:acado，代码行数:101，代码来源:erk_export.cpp

示例4: setup

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

	// NOT SUPPORTED: since the forward sweep needs to be saved
	if( !equidistantControlGrid() ) 	ACADOERROR( RET_INVALID_OPTION );

	// NOT SUPPORTED: since the adjoint derivatives could be 'arbitrarily bad'
	if( !is_symmetric ) 				ACADOERROR( RET_INVALID_OPTION );

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

	// export RK scheme
	uint numX = NX*(NX+1)/2.0;
	uint numU = NU*(NU+1)/2.0;
	uint rhsDim   = NX + NX + NX*(NX+NU) + numX + NX*NU + numU;
	inputDim = rhsDim + NU + NOD;
	const uint rkOrder  = getNumStages();

	double h = (grid.getLastTime() - grid.getFirstTime())/grid.getNumIntervals();    

	ExportVariable Ah ( "A*h",  DMatrix( AA )*=h );
	ExportVariable b4h( "b4*h", DMatrix( bb )*=h );

	rk_index = ExportVariable( "rk_index", 1, 1, INT, ACADO_LOCAL, true );
	rk_eta = ExportVariable( "rk_eta", 1, inputDim );
//	seed_backward.setup( "seed", 1, NX );

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

	rk_ttt.setup( "rk_ttt", 1, 1, REAL, structWspace, true );
	uint timeDep = 0;
	if( timeDependant ) timeDep = 1;
	
	rk_xxx.setup("rk_xxx", 1, inputDim+timeDep, REAL, structWspace);
	uint numK = NX*(NX+NU)+numX+NX*NU+numU;
	rk_kkk.setup("rk_kkk", rkOrder, numK, REAL, structWspace);
	rk_forward_sweep.setup("rk_sweep1", 1, grid.getNumIntervals()*rkOrder*NX, REAL, structWspace);
	rk_backward_sweep.setup("rk_sweep2", 1, grid.getNumIntervals()*rkOrder*NX, REAL, structWspace);

	if ( useOMP )
	{
		ExportVariable auxVar;

		auxVar = diffs_rhs.getGlobalExportVariable();
		auxVar.setName( "odeAuxVar" );
		auxVar.setDataStruct( ACADO_LOCAL );
		diffs_rhs.setGlobalExportVariable( auxVar );
	}

	ExportIndex run( "run1" );

	// setup INTEGRATE function
	integrate = ExportFunction( "integrate", rk_eta, reset_int );
	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.addStatement( rk_ttt == DMatrix(grid.getFirstTime()) );

	if( inputDim > rhsDim ) {
		// initialize sensitivities:
//		integrate.addStatement( rk_eta.getCols( NX,2*NX ) == seed_backward );
		DMatrix idX    = eye<double>( NX );
		DMatrix zeroXU = zeros<double>( NX,NU );
		integrate.addStatement( rk_eta.getCols( 2*NX,NX*(2+NX) ) == idX.makeVector().transpose() );
		integrate.addStatement( rk_eta.getCols( NX*(2+NX),NX*(2+NX+NU) ) == zeroXU.makeVector().transpose() );

		integrate.addStatement( rk_eta.getCols( NX*(2+NX+NU),rhsDim ) == zeros<double>( 1,numX+NX*NU+numU ) );
		// FORWARD SWEEP FIRST
		integrate.addStatement( rk_xxx.getCols( NX,NX+NU+NOD ) == rk_eta.getCols( rhsDim,inputDim ) );
	}
	integrate.addLinebreak( );

    // integrator loop: FORWARD SWEEP
	ExportForLoop loop = ExportForLoop( run, 0, grid.getNumIntervals() );
	for( uint run1 = 0; run1 < rkOrder; run1++ )
	{
		loop.addStatement( rk_xxx.getCols( 0,NX ) == rk_eta.getCols( 0,NX ) + Ah.getRow(run1)*rk_kkk.getCols( 0,NX ) );
		// save forward trajectory
		loop.addStatement( rk_forward_sweep.getCols( run*rkOrder*NX+run1*NX,run*rkOrder*NX+(run1+1)*NX ) == rk_xxx.getCols( 0,NX ) );
		if( timeDependant ) loop.addStatement( rk_xxx.getCol( NX+NU+NOD ) == rk_ttt + ((double)cc(run1))/grid.getNumIntervals() );
		loop.addFunctionCall( getNameRHS(),rk_xxx,rk_kkk.getAddress(run1,0) );
	}
	loop.addStatement( rk_eta.getCols( 0,NX ) += b4h^rk_kkk.getCols( 0,NX ) );
	loop.addStatement( rk_ttt += DMatrix(1.0/grid.getNumIntervals()) );
    // end of integrator loop: FORWARD SWEEP
	integrate.addStatement( loop );

	if( inputDim > rhsDim ) {
		// BACKWARD SWEEP NEXT
//.........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:erk_3sweep_export.cpp


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