casadi-bindings-1.9.0.0: Casadi/Wrappers/Classes/ControlSimulator.hs
{-# OPTIONS_GHC -Wall #-}
{-# OPTIONS_GHC -fno-warn-unused-imports #-}
{-# OPTIONS_GHC -fno-warn-orphans #-}
{-# Language ForeignFunctionInterface #-}
{-# Language FlexibleInstances #-}
{-# Language MultiParamTypeClasses #-}
module Casadi.Wrappers.Classes.ControlSimulator
(
ControlSimulator,
ControlSimulatorClass(..),
controlSimulator,
controlSimulator',
controlSimulator'',
controlSimulator''',
controlSimulator'''',
controlSimulator_checkNode,
controlSimulator_getMajorIndex,
controlSimulator_getMinorT,
controlSimulator_getMinorU,
) where
import Prelude hiding ( Functor )
import Data.Vector ( Vector )
import Foreign.C.Types
import Foreign.Ptr ( Ptr )
import Foreign.ForeignPtr ( newForeignPtr )
import System.IO.Unsafe ( unsafePerformIO ) -- for show instances
import Casadi.Wrappers.Classes.PrintableObject
import Casadi.Wrappers.CToolsInstances ( )
import Casadi.Wrappers.Data
import Casadi.Wrappers.Enums
import Casadi.MarshalTypes ( CppVec, StdString' ) -- StdOstream'
import Casadi.Marshal ( Marshal(..), withMarshal )
import Casadi.WrapReturn ( WrapReturn(..) )
instance Show ControlSimulator where
show = unsafePerformIO . printableObject_getDescription
-- direct wrapper
foreign import ccall unsafe "CasADi__ControlSimulator__checkNode" c_CasADi__ControlSimulator__checkNode
:: Ptr ControlSimulator' -> IO CInt
casADi__ControlSimulator__checkNode
:: ControlSimulator -> IO Bool
casADi__ControlSimulator__checkNode x0 =
withMarshal x0 $ \x0' ->
c_CasADi__ControlSimulator__checkNode x0' >>= wrapReturn
-- classy wrapper
{-|
>Check if the node is pointing to the right type of object.
-}
controlSimulator_checkNode :: ControlSimulatorClass a => a -> IO Bool
controlSimulator_checkNode x = casADi__ControlSimulator__checkNode (castControlSimulator x)
-- direct wrapper
foreign import ccall unsafe "CasADi__ControlSimulator__getMinorT" c_CasADi__ControlSimulator__getMinorT
:: Ptr ControlSimulator' -> IO (Ptr (CppVec CDouble))
casADi__ControlSimulator__getMinorT
:: ControlSimulator -> IO (Vector Double)
casADi__ControlSimulator__getMinorT x0 =
withMarshal x0 $ \x0' ->
c_CasADi__ControlSimulator__getMinorT x0' >>= wrapReturn
-- classy wrapper
{-|
>Get the (minor) time grid The length is (ns-1)*nf + 1
-}
controlSimulator_getMinorT :: ControlSimulatorClass a => a -> IO (Vector Double)
controlSimulator_getMinorT x = casADi__ControlSimulator__getMinorT (castControlSimulator x)
-- direct wrapper
foreign import ccall unsafe "CasADi__ControlSimulator__getMinorU" c_CasADi__ControlSimulator__getMinorU
:: Ptr ControlSimulator' -> IO (Ptr DMatrix')
casADi__ControlSimulator__getMinorU
:: ControlSimulator -> IO DMatrix
casADi__ControlSimulator__getMinorU x0 =
withMarshal x0 $ \x0' ->
c_CasADi__ControlSimulator__getMinorU x0' >>= wrapReturn
-- classy wrapper
{-|
>Get the controls, sampled on the minor timescale. Number of rows is
>(ns-1)*nf.
-}
controlSimulator_getMinorU :: ControlSimulatorClass a => a -> IO DMatrix
controlSimulator_getMinorU x = casADi__ControlSimulator__getMinorU (castControlSimulator x)
-- direct wrapper
foreign import ccall unsafe "CasADi__ControlSimulator__getMajorIndex" c_CasADi__ControlSimulator__getMajorIndex
:: Ptr ControlSimulator' -> IO (Ptr (CppVec CInt))
casADi__ControlSimulator__getMajorIndex
:: ControlSimulator -> IO (Vector Int)
casADi__ControlSimulator__getMajorIndex x0 =
withMarshal x0 $ \x0' ->
c_CasADi__ControlSimulator__getMajorIndex x0' >>= wrapReturn
-- classy wrapper
{-|
>Get the index i such that gridminor[i] == gridmajor.
-}
controlSimulator_getMajorIndex :: ControlSimulatorClass a => a -> IO (Vector Int)
controlSimulator_getMajorIndex x = casADi__ControlSimulator__getMajorIndex (castControlSimulator x)
-- direct wrapper
foreign import ccall unsafe "CasADi__ControlSimulator__ControlSimulator" c_CasADi__ControlSimulator__ControlSimulator
:: IO (Ptr ControlSimulator')
casADi__ControlSimulator__ControlSimulator
:: IO ControlSimulator
casADi__ControlSimulator__ControlSimulator =
c_CasADi__ControlSimulator__ControlSimulator >>= wrapReturn
-- classy wrapper
{-|
>> CasADi::ControlSimulator::ControlSimulator()
>------------------------------------------------------------------------
>
>Default constructor.
>
>> CasADi::ControlSimulator::ControlSimulator(const Function &dae, const Function &output_fcn, const std::vector< double > &grid)
>------------------------------------------------------------------------
>
>Creates a piecewise simulator.
>
>Parameters:
>-----------
>
>ffcn: Continuous time dynamics, an CasADi::Function with the folowing
>mapping:
>
>>Input scheme: CasADi::ControlledDAEInput (CONTROL_DAE_NUM_IN = 10) [controldaeIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| CONTROL_DAE_T | t | Global physical time. |
>| | | (1-by-1) . |
>+------------------------+------------------------+------------------------+
>| CONTROL_DAE_X | x | State vector |
>| | | (dimension nx-by-1). |
>| | | Should have same |
>| | | amount of non-zeros as |
>| | | DAEOutput:DAE_RES . |
>+------------------------+------------------------+------------------------+
>| CONTROL_DAE_Z | z | Algebraic state vector |
>| | | (dimension np-by-1). . |
>+------------------------+------------------------+------------------------+
>| CONTROL_DAE_P | p | Parameter vector |
>| | | (dimension np-by-1). . |
>+------------------------+------------------------+------------------------+
>| CONTROL_DAE_U | u | Control vector |
>| | | (dimension nu-by-1). . |
>+------------------------+------------------------+------------------------+
>| CONTROL_DAE_U_INTERP | u_interp | Control vector, |
>| | | linearly interpolated |
>| | | (dimension nu-by-1). . |
>+------------------------+------------------------+------------------------+
>| CONTROL_DAE_X_MAJOR | x_major | State vector |
>| | | (dimension nx-by-1) at |
>| | | the last major time- |
>| | | step . |
>+------------------------+------------------------+------------------------+
>| CONTROL_DAE_T0 | t0 | Time at start of |
>| | | control interval |
>| | | (1-by-1) . |
>+------------------------+------------------------+------------------------+
>| CONTROL_DAE_TF | tf | Time at end of control |
>| | | interval (1-by-1) . |
>+------------------------+------------------------+------------------------+
>
>>Output scheme: CasADi::DAEOutput (DAE_NUM_OUT = 4) [daeOut]
>+-----------+-------+--------------------------------------------+
>| Full name | Short | Description |
>+===========+=======+============================================+
>| DAE_ODE | ode | Right hand side of the implicit ODE . |
>+-----------+-------+--------------------------------------------+
>| DAE_ALG | alg | Right hand side of algebraic equations . |
>+-----------+-------+--------------------------------------------+
>| DAE_QUAD | quad | Right hand side of quadratures equations . |
>+-----------+-------+--------------------------------------------+
>
>Parameters:
>-----------
>
>output_fcn: output function which maps ControlledDAEInput or DAEInput to n
>outputs.
>
>>Input scheme: CasADi::DAEInput (DAE_NUM_IN = 5) [daeIn]
>+-----------+-------+----------------------------+
>| Full name | Short | Description |
>+===========+=======+============================+
>| DAE_X | x | Differential state . |
>+-----------+-------+----------------------------+
>| DAE_Z | z | Algebraic state . |
>+-----------+-------+----------------------------+
>| DAE_P | p | Parameter . |
>+-----------+-------+----------------------------+
>| DAE_T | t | Explicit time dependence . |
>+-----------+-------+----------------------------+
>
>>Input scheme: CasADi::ControlledDAEInput (CONTROL_DAE_NUM_IN = 10) [controldaeIn]
>+------------------------+------------------------+------------------------+
>| Full name | Short | Description |
>+========================+========================+========================+
>| CONTROL_DAE_T | t | Global physical time. |
>| | | (1-by-1) . |
>+------------------------+------------------------+------------------------+
>| CONTROL_DAE_X | x | State vector |
>| | | (dimension nx-by-1). |
>| | | Should have same |
>| | | amount of non-zeros as |
>| | | DAEOutput:DAE_RES . |
>+------------------------+------------------------+------------------------+
>| CONTROL_DAE_Z | z | Algebraic state vector |
>| | | (dimension np-by-1). . |
>+------------------------+------------------------+------------------------+
>| CONTROL_DAE_P | p | Parameter vector |
>| | | (dimension np-by-1). . |
>+------------------------+------------------------+------------------------+
>| CONTROL_DAE_U | u | Control vector |
>| | | (dimension nu-by-1). . |
>+------------------------+------------------------+------------------------+
>| CONTROL_DAE_U_INTERP | u_interp | Control vector, |
>| | | linearly interpolated |
>| | | (dimension nu-by-1). . |
>+------------------------+------------------------+------------------------+
>| CONTROL_DAE_X_MAJOR | x_major | State vector |
>| | | (dimension nx-by-1) at |
>| | | the last major time- |
>| | | step . |
>+------------------------+------------------------+------------------------+
>| CONTROL_DAE_T0 | t0 | Time at start of |
>| | | control interval |
>| | | (1-by-1) . |
>+------------------------+------------------------+------------------------+
>| CONTROL_DAE_TF | tf | Time at end of control |
>| | | interval (1-by-1) . |
>+------------------------+------------------------+------------------------+
>
>Parameters:
>-----------
>
>grid: the major time grid
>
>> CasADi::ControlSimulator::ControlSimulator(const Function &dae, const std::vector< double > &grid)
>------------------------------------------------------------------------
>
>Output function equal to the state.
-}
controlSimulator :: IO ControlSimulator
controlSimulator = casADi__ControlSimulator__ControlSimulator
-- direct wrapper
foreign import ccall unsafe "CasADi__ControlSimulator__ControlSimulator_TIC" c_CasADi__ControlSimulator__ControlSimulator_TIC
:: Ptr Function' -> Ptr Function' -> Ptr (CppVec CDouble) -> IO (Ptr ControlSimulator')
casADi__ControlSimulator__ControlSimulator'
:: Function -> Function -> Vector Double -> IO ControlSimulator
casADi__ControlSimulator__ControlSimulator' x0 x1 x2 =
withMarshal x0 $ \x0' ->
withMarshal x1 $ \x1' ->
withMarshal x2 $ \x2' ->
c_CasADi__ControlSimulator__ControlSimulator_TIC x0' x1' x2' >>= wrapReturn
-- classy wrapper
controlSimulator' :: Function -> Function -> Vector Double -> IO ControlSimulator
controlSimulator' = casADi__ControlSimulator__ControlSimulator'
-- direct wrapper
foreign import ccall unsafe "CasADi__ControlSimulator__ControlSimulator_TIC_TIC" c_CasADi__ControlSimulator__ControlSimulator_TIC_TIC
:: Ptr Function' -> Ptr Function' -> Ptr DMatrix' -> IO (Ptr ControlSimulator')
casADi__ControlSimulator__ControlSimulator''
:: Function -> Function -> DMatrix -> IO ControlSimulator
casADi__ControlSimulator__ControlSimulator'' x0 x1 x2 =
withMarshal x0 $ \x0' ->
withMarshal x1 $ \x1' ->
withMarshal x2 $ \x2' ->
c_CasADi__ControlSimulator__ControlSimulator_TIC_TIC x0' x1' x2' >>= wrapReturn
-- classy wrapper
controlSimulator'' :: Function -> Function -> DMatrix -> IO ControlSimulator
controlSimulator'' = casADi__ControlSimulator__ControlSimulator''
-- direct wrapper
foreign import ccall unsafe "CasADi__ControlSimulator__ControlSimulator_TIC_TIC_TIC" c_CasADi__ControlSimulator__ControlSimulator_TIC_TIC_TIC
:: Ptr Function' -> Ptr (CppVec CDouble) -> IO (Ptr ControlSimulator')
casADi__ControlSimulator__ControlSimulator'''
:: Function -> Vector Double -> IO ControlSimulator
casADi__ControlSimulator__ControlSimulator''' x0 x1 =
withMarshal x0 $ \x0' ->
withMarshal x1 $ \x1' ->
c_CasADi__ControlSimulator__ControlSimulator_TIC_TIC_TIC x0' x1' >>= wrapReturn
-- classy wrapper
controlSimulator''' :: Function -> Vector Double -> IO ControlSimulator
controlSimulator''' = casADi__ControlSimulator__ControlSimulator'''
-- direct wrapper
foreign import ccall unsafe "CasADi__ControlSimulator__ControlSimulator_TIC_TIC_TIC_TIC" c_CasADi__ControlSimulator__ControlSimulator_TIC_TIC_TIC_TIC
:: Ptr Function' -> Ptr DMatrix' -> IO (Ptr ControlSimulator')
casADi__ControlSimulator__ControlSimulator''''
:: Function -> DMatrix -> IO ControlSimulator
casADi__ControlSimulator__ControlSimulator'''' x0 x1 =
withMarshal x0 $ \x0' ->
withMarshal x1 $ \x1' ->
c_CasADi__ControlSimulator__ControlSimulator_TIC_TIC_TIC_TIC x0' x1' >>= wrapReturn
-- classy wrapper
controlSimulator'''' :: Function -> DMatrix -> IO ControlSimulator
controlSimulator'''' = casADi__ControlSimulator__ControlSimulator''''