getInstructions

Used to generate CPP file

  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 function getInstructions(obj, cppobj, get)
0002 %Used to generate CPP file
0003 %
0004 %  Licence:
0005 %    This file is part of ACADO Toolkit  - (http://www.acadotoolkit.org/)
0006 %
0007 %    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
0008 %    Copyright (C) 2008-2009 by Boris Houska and Hans Joachim Ferreau, K.U.Leuven.
0009 %    Developed within the Optimization in Engineering Center (OPTEC) under
0010 %    supervision of Moritz Diehl. All rights reserved.
0011 %
0012 %    ACADO Toolkit is free software; you can redistribute it and/or
0013 %    modify it under the terms of the GNU Lesser General Public
0014 %    License as published by the Free Software Foundation; either
0015 %    version 3 of the License, or (at your option) any later version.
0016 %
0017 %    ACADO Toolkit is distributed in the hope that it will be useful,
0018 %    but WITHOUT ANY WARRANTY; without even the implied warranty of
0019 %    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
0020 %    Lesser General Public License for more details.
0021 %
0022 %    You should have received a copy of the GNU Lesser General Public
0023 %    License along with ACADO Toolkit; if not, write to the Free Software
0024 %    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
0025 %
0026 %    Author: David Ariens
0027 %    Date: 2010
0028 %
0029 
0030 
0031 
0032 if (get == 'B')
0033     
0034 
0035     fprintf(cppobj.fileMEX,sprintf('    double *%s_temp = NULL; \n', obj.name));
0036     fprintf(cppobj.fileMEX,sprintf('    if( !mxIsDouble(prhs[%d]) || mxIsComplex(prhs[%d]) ) { \n', obj.counter, obj.counter));
0037     fprintf(cppobj.fileMEX,sprintf('      mexErrMsgTxt("Input %d must be a noncomplex double vector of dimension XxY.");\n', obj.counter));
0038     fprintf(cppobj.fileMEX,sprintf('    } \n'));
0039     fprintf(cppobj.fileMEX,sprintf('    %s_temp = mxGetPr(prhs[%d]); \n', obj.name, obj.counter));
0040 
0041     fprintf(cppobj.fileMEX,sprintf('    Matrix %s(mxGetM(prhs[%d]), mxGetN(prhs[%d]));\n', obj.name_m, obj.counter, obj.counter));
0042 
0043     % Mex stored all cols after each other. So first loop over cols,
0044     % then loop over rows.
0045     fprintf(cppobj.fileMEX,sprintf('    for( int i=0; i<mxGetN(prhs[%d]); ++i ){ \n', obj.counter));
0046     fprintf(cppobj.fileMEX,sprintf('        for( int j=0; j<mxGetM(prhs[%d]); ++j ){ \n', obj.counter));
0047     fprintf(cppobj.fileMEX,sprintf('           %s(j,i) = %s_temp[i*mxGetM(prhs[%d]) + j];\n', obj.name_m, obj.name, obj.counter));
0048     fprintf(cppobj.fileMEX,        '        } \n');    
0049     fprintf(cppobj.fileMEX,        '    } \n');    
0050     
0051     fprintf(cppobj.fileMEX,sprintf('    VariablesGrid %s(%s); \n', obj.name, obj.name_m));    
0052     
0053     
0054 
0055 %%test
0056 %         fprintf(cppobj.fileMEX,        '    acadoPrintf("%%f - %%f - %%f - %%f \\n", mexinput0_temp[0], mexinput0_temp[1], mexinput0_temp[2], mexinput0_temp[3]); \n');
0057 %         fprintf(cppobj.fileMEX,        '    acadoPrintf("%%f - %%f - %%f - %%f \\n", mexinput0_temp[4], mexinput0_temp[5], mexinput0_temp[6], mexinput0_temp[7]); \n');
0058 %
0059 %         fprintf(cppobj.fileMEX,        '    acadoPrintf("%%f - %%f \\n", mexinput0(0,0), mexinput0(0,1)); \n');
0060 %         fprintf(cppobj.fileMEX,        '    acadoPrintf("%%f - %%f \\n", mexinput0(1,0), mexinput0(1,1)); \n');
0061 %         fprintf(cppobj.fileMEX,        '    acadoPrintf("%%f - %%f \\n", mexinput0(2,0), mexinput0(2,1)); \n');
0062 %         fprintf(cppobj.fileMEX,        '    acadoPrintf("%%f - %%f \\n", mexinput0(3,0), mexinput0(3,1)); \n');
0063 
0064 
0065     fprintf(cppobj.fileMEX,'\n');
0066 end
0067 
0068 end