Merge pull request #337 from FreyJo/sim_clean

Integrator Cleanup - new_lifted_irk -> lifted_irk, ERK: removed unused expl_ode_jac
acados · Nov 9, 2018 · ec85a73 · ec85a73
2 parents 3fb7f19 + 54e77d7
commit ec85a73
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Showing 38 changed files with 2,482 additions and 3,974 deletions.
diff --git a/Makefile b/Makefile
@@ -55,7 +55,6 @@ OBJS += acados/sim/sim_collocation_utils.o
 OBJS += acados/sim/sim_erk_integrator.o
 OBJS += acados/sim/sim_irk_integrator.o
 OBJS += acados/sim/sim_lifted_irk_integrator.o
-OBJS += acados/sim/sim_new_lifted_irk_integrator.o
 OBJS += acados/sim/sim_common.o
 OBJS += acados/sim/sim_gnsf.o
 # utils

diff --git a/acados/sim/Makefile b/acados/sim/Makefile
@@ -8,7 +8,6 @@ OBJS += sim_collocation_utils.o
 OBJS += sim_erk_integrator.o
 OBJS += sim_common.o
 OBJS += sim_lifted_irk_integrator.o
-OBJS += sim_new_lifted_irk_integrator.o
 OBJS += sim_irk_integrator.o
 OBJS += sim_gnsf.o
 

diff --git a/acados/sim/sim_common.h b/acados/sim/sim_common.h
@@ -34,7 +34,6 @@
 typedef enum {
     // ERK and LIFTED_ERK
     EXPL_ODE_FUN,
-    EXPL_ODE_JAC,  // TODO(all): expl_ode_jac_x
     EXPL_ODE_HES,  // wrt x and u ???
     EXPL_VDE_FOR,
     EXPL_VDE_ADJ,

diff --git a/acados/sim/sim_erk_integrator.c b/acados/sim/sim_erk_integrator.c
@@ -123,9 +123,6 @@ int sim_erk_model_set_function(void *model_, sim_function_t fun_type, void *fun)
         case EXPL_ODE_FUN:
             model->expl_ode_fun = (external_function_generic *) fun;
             break;
-        case EXPL_ODE_JAC:
-            model->expl_ode_jac = (external_function_generic *) fun;
-            break;
         case EXPL_ODE_HES:
             model->expl_ode_hes = (external_function_generic *) fun;
             break;

diff --git a/acados/sim/sim_erk_integrator.h b/acados/sim/sim_erk_integrator.h
@@ -39,8 +39,6 @@ typedef struct
     /* external functions */
     // explicit ode
     external_function_generic *expl_ode_fun;
-    // jacobian explicit ode
-    external_function_generic *expl_ode_jac;
     // hessian explicit ode
     external_function_generic *expl_ode_hes;
     // forward explicit vde