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removed EXPL_ODE_JAC, moved lifted_irk info

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FreyJo committed Nov 8, 2018
1 parent 6fbff9e commit fffeb0abd5caee006e0087255b64079310c67a74
@@ -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;
@@ -131,41 +131,6 @@ outputs:
/************************************************
* sim_lifted_irk_integrator
************************************************/
// function and jacobian of explicit ode model
external function: expl_ode_jac
inputs:
0) [x] size: nx type: COLMAJ
1) [u] size: nu type: COLMAJ
outputs:
0) [fun] size: nx type: COLMAJ
1) [jac] size: nx*ns type: COLMAJ
// function and jacobian-times-seeds (forward sensitivities) of explicit ode model, computed using vde model
external function: expl_vde_for
inputs:
0) [x] size: nx type: COLMAJ
1) [Sx] size: nx*nx type: COLMAJ
2) [Su] size: nx*nu type: COLMAJ
3) [u] size: nu type: COLMAJ
outputs:
0) [fun] size: nx type: COLMAJ
1) [jac_x*Sx] size: nx*nx type: COLMAJ
2) [jac_x*Su+jac_u] size: nx*nu type: COLMAJ
/************************************************
* sim_irk_integrator
************************************************/
@@ -254,10 +254,6 @@ add_executable(mass_spring_nmpc_example mass_spring_nmpc_example.c mass_spring_m
target_link_libraries(mass_spring_nmpc_example acados)
add_test(mass_spring_nmpc_example mass_spring_example)
add_executable(mass_spring_example_no_interface mass_spring_example_no_interface.c mass_spring_model/mass_spring_qp.c)
target_link_libraries(mass_spring_example_no_interface acados)
add_test(mass_spring_example_no_interface mass_spring_example_no_interface)
add_executable(sim_crane_example sim_crane_example.c ${CRANE_MODEL_SRC})
target_link_libraries(sim_crane_example acados)
add_test(sim_crane_example sim_crane_example)
@@ -0,0 +1,33 @@
/************************************************
* sim_lifted_irk_integrator (OLD)
************************************************/
// function and jacobian of explicit ode model
external function: expl_ode_jac
inputs:
0) [x] size: nx type: COLMAJ
1) [u] size: nu type: COLMAJ
outputs:
0) [fun] size: nx type: COLMAJ
1) [jac] size: nx*ns type: COLMAJ
// function and jacobian-times-seeds (forward sensitivities) of explicit ode model, computed using vde model
external function: expl_vde_for
inputs:
0) [x] size: nx type: COLMAJ
1) [Sx] size: nx*nx type: COLMAJ
2) [Su] size: nx*nu type: COLMAJ
3) [u] size: nu type: COLMAJ
outputs:
0) [fun] size: nx type: COLMAJ
1) [jac_x*Sx] size: nx*nx type: COLMAJ
2) [jac_x*Su+jac_u] size: nx*nu type: COLMAJ

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