ACADOintegrators is a collection of different integrators for solving ODE and
DAE systems including efficient sensitivity generation.
ACADOintegratorsOutputs returns an outputs struct as returned after calling
ACADOintegrators comprising the following items:
Status -- 0 on successful return of the integrator,
otherwise -1
NumberOfSteps -- Number of actually performed integrator steps
NumberOfRejectedSteps -- Number of rejected integrator steps
xTrajectory -- Matrix, first column are the time points,
next columns contain values for all
differential states
xaTrajectory -- Matrix, first column are the time points,
next columns contain values for all
algebraic states
J -- Forward mode Jacobian
Jx -- Backward mode Jacobian w.r.t. to differential states x
Ju -- Backward mode Jacobian w.r.t. to controls u
Jp -- Backward mode Jacobian w.r.t. to parameters p
Jw -- Backward mode Jacobian w.r.t. to disturbances w
J2 -- Forward mode Jacobian (2nd order)
J2x -- Backward mode Jacobian w.r.t. to differential states x (2nd order)
J2u -- Backward mode Jacobian w.r.t. to controls u (2nd order)
J2p -- Backward mode Jacobian w.r.t. to parameters p (2nd order)
J2w -- Backward mode Jacobian w.r.t. to disturbances w (2nd order)
On successful return (i.e. Status == 0), the number of steps, the mesh and the
trajectory information are written. Sensitivity output is only written, if
SensitivityMode had not been empty and corresponding seeds had been written
within the ACADOintegratorsSettings struct.
If Status is -1, all other components remain empty.
See also ACADOINTEGRATORS, ACADOINTEGRATORSSETTINGS
For additional information see the ACADOintegrators Tutorial and User's Manual
or visit http://www.acadotoolkit.org.
Please send remarks and questions to support@acadotoolkit.org!
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: Niels Haverbeke, Boris Houska, Hans Joachim Ferreau, David Ariens
Date: 2008-20100001 %ACADOintegrators is a collection of different integrators for solving ODE and 0002 %DAE systems including efficient sensitivity generation. 0003 %ACADOintegratorsOutputs returns an outputs struct as returned after calling 0004 %ACADOintegrators comprising the following items: 0005 % 0006 % Status -- 0 on successful return of the integrator, 0007 % otherwise -1 0008 % NumberOfSteps -- Number of actually performed integrator steps 0009 % NumberOfRejectedSteps -- Number of rejected integrator steps 0010 % 0011 % xTrajectory -- Matrix, first column are the time points, 0012 % next columns contain values for all 0013 % differential states 0014 % xaTrajectory -- Matrix, first column are the time points, 0015 % next columns contain values for all 0016 % algebraic states 0017 % 0018 % J -- Forward mode Jacobian 0019 % Jx -- Backward mode Jacobian w.r.t. to differential states x 0020 % Ju -- Backward mode Jacobian w.r.t. to controls u 0021 % Jp -- Backward mode Jacobian w.r.t. to parameters p 0022 % Jw -- Backward mode Jacobian w.r.t. to disturbances w 0023 % J2 -- Forward mode Jacobian (2nd order) 0024 % J2x -- Backward mode Jacobian w.r.t. to differential states x (2nd order) 0025 % J2u -- Backward mode Jacobian w.r.t. to controls u (2nd order) 0026 % J2p -- Backward mode Jacobian w.r.t. to parameters p (2nd order) 0027 % J2w -- Backward mode Jacobian w.r.t. to disturbances w (2nd order) 0028 % 0029 %On successful return (i.e. Status == 0), the number of steps, the mesh and the 0030 %trajectory information are written. Sensitivity output is only written, if 0031 %SensitivityMode had not been empty and corresponding seeds had been written 0032 %within the ACADOintegratorsSettings struct. 0033 % 0034 %If Status is -1, all other components remain empty. 0035 % 0036 % 0037 %See also ACADOINTEGRATORS, ACADOINTEGRATORSSETTINGS 0038 % 0039 % 0040 %For additional information see the ACADOintegrators Tutorial and User's Manual 0041 %or visit http://www.acadotoolkit.org. 0042 % 0043 %Please send remarks and questions to support@acadotoolkit.org! 0044 % 0045 % 0046 % Licence: 0047 % This file is part of ACADO Toolkit - (http://www.acadotoolkit.org/) 0048 % 0049 % ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization. 0050 % Copyright (C) 2008-2009 by Boris Houska and Hans Joachim Ferreau, K.U.Leuven. 0051 % Developed within the Optimization in Engineering Center (OPTEC) under 0052 % supervision of Moritz Diehl. All rights reserved. 0053 % 0054 % ACADO Toolkit is free software; you can redistribute it and/or 0055 % modify it under the terms of the GNU Lesser General Public 0056 % License as published by the Free Software Foundation; either 0057 % version 3 of the License, or (at your option) any later version. 0058 % 0059 % ACADO Toolkit is distributed in the hope that it will be useful, 0060 % but WITHOUT ANY WARRANTY; without even the implied warranty of 0061 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 0062 % Lesser General Public License for more details. 0063 % 0064 % You should have received a copy of the GNU Lesser General Public 0065 % License along with ACADO Toolkit; if not, write to the Free Software 0066 % Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 0067 % 0068 % Author: Niels Haverbeke, Boris Houska, Hans Joachim Ferreau, David Ariens 0069 % Date: 2008-2010 0070 % 0071 0072 0073 function [ outputs ] = ACADOintegratorsOutputs( ) 0074 0075 outputs = struct( 'Status',[],... 0076 'NumberOfSteps',[],... 0077 'NumberOfRejectedSteps',[],... 0078 'xTrajectory',[],... 0079 'xaTrajectory',[],... 0080 'J',[],... 0081 'Jx',[],... 0082 'Ju',[],... 0083 'Jp',[],... 0084 'Jw',[],... 0085 'J2',[],... 0086 'J2x',[],... 0087 'J2u',[],... 0088 'J2p',[],... 0089 'J2w' ); 0090 0091 end