erk.hpp

/*
 *    This file is part of CasADi.
 *
 *    CasADi -- A symbolic framework for dynamic optimization.
 *    Copyright (C) 2010-2026 Joel Andersson, Joris Gillis, Moritz Diehl,
 *                            KU Leuven. All rights reserved.
 *    Copyright (C) 2011-2014 Greg Horn
 *
 *    CasADi 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.
 *
 *    CasADi 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 CasADi; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */
 
 
#ifndef CASADI_ERK_HPP
#define CASADI_ERK_HPP
 
#include "casadi/core/runtime_integrator.hpp"
#include <casadi/solvers/casadi_integrator_erk_export.h>
 
namespace casadi {
 
  // Memory
  struct  ErkMemory : public RuntimeIntegratorMemory {
    // Method data, and of the nominal integration whose steps are replayed
    casadi_erk_data<double> e, e_nom;
  };
 
  class  Erk : public RuntimeIntegrator {
   public:
 
    Erk(const std::string& name, const Function& dae, double t0,
      const std::vector<double>& tout);
 
    static Integrator* creator(const std::string& name, const Function& dae,
        double t0, const std::vector<double>& tout) {
      return new Erk(name, dae, t0, tout);
    }
 
    ~Erk() override;
 
    // Get name of the plugin
    const char* plugin_name() const override { return "erk";}
 
    // Get name of the class
    std::string class_name() const override { return "Erk";}
 
 
    static const Options options_;
    const Options& get_options() const override { return options_;}
 
    void init(const Dict& opts) override;
 
    void set_work(void* mem, const double**& arg, double**& res,
      casadi_int*& iw, double*& w) const override;
 
    void* alloc_mem() const override { return new ErkMemory();}
 
    void free_mem(void *mem) const override { delete static_cast<ErkMemory*>(mem);}
 
    static const std::string meta_doc;
 
    void serialize_body(SerializingStream &s) const override;
 
    static ProtoFunction* deserialize(DeserializingStream& s) { return new Erk(s); }
 
   protected:
 
    explicit Erk(DeserializingStream& s);
 
    // Explicit stages: no linearization
    bool needs_jacobian() const override { return false;}
 
    // Call the kernel
    int kernel(RuntimeIntegratorMemory* m) const override;
 
    // Generate code for the problem and data of the method
    void codegen_method(CodeGenerator& g) const override;
 
   private:
    // Method coefficients
    void set_coefficients();
 
    // Problem structure of the method
    void set_erk_prob();
    casadi_erk_prob<double> pe_;
 
    // Options
    std::string method_;
  };
 
} // namespace casadi
 
#endif // CASADI_ERK_HPP