Matrix

A matrix built from standard Matlab matrix notations. 
 Stored both as a Matrix and as a VariablesGrid Object

  Usage:
    >> Matrix([MATRIX]);

  Parameters:
    [MATRIX] a numeric  m x n matrix


  Example:
    >> m = acado.Matrix([1,2,3;4,5,6;7,8,9]);
    >> Q = eye(3,3); m = acado.Matrix(Q);


  Licence:
    This file is part of ACADO Toolkit  - (http://www.acadotoolkit.org/)

    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
    Copyright (C) 2008-2009 by Boris Houska and Hans Joachim Ferreau, K.U.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

    Author: David Ariens
    Date: 2010

0001 %A matrix built from standard Matlab matrix notations.
0002 % Stored both as a Matrix and as a VariablesGrid Object
0003 %
0004 %  Usage:
0005 %    >> Matrix([MATRIX]);
0006 %
0007 %  Parameters:
0008 %    [MATRIX] a numeric  m x n matrix
0009 %
0010 %
0011 %  Example:
0012 %    >> m = acado.Matrix([1,2,3;4,5,6;7,8,9]);
0013 %    >> Q = eye(3,3); m = acado.Matrix(Q);
0014 %
0015 %
0016 %  Licence:
0017 %    This file is part of ACADO Toolkit  - (http://www.acadotoolkit.org/)
0018 %
0019 %    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
0020 %    Copyright (C) 2008-2009 by Boris Houska and Hans Joachim Ferreau, K.U.Leuven.
0021 %    Developed within the Optimization in Engineering Center (OPTEC) under
0022 %    supervision of Moritz Diehl. All rights reserved.
0023 %
0024 %    ACADO Toolkit is free software; you can redistribute it and/or
0025 %    modify it under the terms of the GNU Lesser General Public
0026 %    License as published by the Free Software Foundation; either
0027 %    version 3 of the License, or (at your option) any later version.
0028 %
0029 %    ACADO Toolkit is distributed in the hope that it will be useful,
0030 %    but WITHOUT ANY WARRANTY; without even the implied warranty of
0031 %    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
0032 %    Lesser General Public License for more details.
0033 %
0034 %    You should have received a copy of the GNU Lesser General Public
0035 %    License along with ACADO Toolkit; if not, write to the Free Software
0036 %    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
0037 %
0038 %    Author: David Ariens
0039 %    Date: 2010
0040 %
0041 classdef Matrix < acado.VectorspaceElement    
0042     properties
0043        name_m = '';   %nameMatrix
0044        matrixIsPrinted=0;
0045     end
0046     
0047     methods
0048         function obj = Matrix(val)
0049 
0050             global ACADO_;
0051 
0052             if (isa(val, 'numeric'))
0053                 ACADO_.count_matrix = ACADO_.count_matrix+1;
0054                 obj.name = strcat('acadodata_M', num2str(ACADO_.count_matrix));
0055                 
0056                 obj.name_m = strcat(obj.name, '_m');
0057 
0058                 obj.items = val;
0059                 
0060                 ACADO_.helper.addInstruction(obj);
0061                 
0062             elseif (isa(val, 'acado.MexInput'))
0063                 
0064                 if (val.type ~= 3)
0065                     error('MexInput should be in this case a matrix, not a scalar or vector.'); 
0066                 end
0067                 
0068                 obj.name = val.name;
0069                 obj.name_m = val.name_m;
0070                 
0071             else
0072                 error('Matrix expects a numeric value or a acado.MexInput'); 
0073              
0074             end
0075             
0076         end 
0077         
0078         getInstructions(obj, cppobj, get)
0079        
0080 %
0081 %         function printMatrix(obj, cppobj)
0082 %             % Normal matrices are stored as VariablesGrids. If a matrix
0083 %             % should be used as a "Matrix" object, call this method
0084 %
0085 %             if (obj.matrixIsPrinted ~= 1)
0086 %                 fprintf(cppobj.fileMEX,sprintf('    Matrix %s(%s);\n', obj.nameMatrix, obj.name));
0087 %
0088 %                 obj.matrixIsPrinted = 1;
0089 %             end
0090 %
0091 %         end
0092        
0093        
0094     end
0095     
0096 end
0097