#6 extension to the ACADO syntax: adding diag

[ghorn]

Milestone: 1.0 Status: closed Owner: nobody Labels: new feature (4)
Updated: 2012-12-06 Created: 2012-11-22 Creator: Joachim Ferreau Private: No
Why not support the diag command? Here the code for
Vector v = diag(Matrix M) ,
Matrix M = diag(Vector v) ,
ExportVariable Q = diag( name,dim ) ,
the latter setting up a diagonal, user-defined variable (i.e. off-diagonal elements are ignored when exporting code):
I) include/acado/symbolic_expression/acado_syntax.hpp:

include <acado/code_generation/export_variable.hpp>

REFER_NAMESPACE_ACADO Matrix diag ( const REFER_NAMESPACE_ACADO Vector& v );
REFER_NAMESPACE_ACADO Vector diag ( const REFER_NAMESPACE_ACADO Matrix& M );
REFER_NAMESPACE_ACADO ExportVariable diag( const REFER_NAMESPACE_ACADO String& _name, unsigned int _n );
II) src/symbolic_expression/acado_syntax.cpp:
Matrix diag( const Vector& v )
{
int n = v.getDim();

Matrix t = zeros( n,n );
for( int i=0; i<n; ++i )
    t(i,i) = v(i);

return t;

}

Vector diag( const Matrix& M )
{
ASSERT( M.isSquare() == BT_TRUE );

int n = M.getNumRows();

Vector t( n );
for( int i=0; i<n; ++i )
    t(i) = M(i,i);

return t;

}

ExportVariable diag( const String& _name,
unsigned int _n )
{
ExportVariable t( _name, _n,_n );
t = eye( _n );
t.resetDiagonal( );
return t;
}
Discussion

Joachim Ferreau
2012-12-06
status: open --> closed