integrator.h
5b80dea8521esimple_kite

integrator.h
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			#ifndef INTEGRATOR_H
			#define INTEGRATOR_H

			#include "casadi/casadi.hpp"
			#include "kitemath.h"
			#include "eigen3/Eigen/Dense"

			/** Solve ODE of the form : xdot = f(x, u) */
			class ODESolver
			{
			public:
			ODESolver(const casadi::Function &rhs, const casadi::Dict &params = casadi::Dict());
			virtual ~ODESolver(){}

			casadi::DM solve(const casadi::DM &x0, const casadi::DM &u, const double &dt);

			void updateParams(const casadi::Dict &params);
			casadi::Dict getParams(){return Parameters;}
			int dim_x(){return nx;}
			int dim_u(){return nu;}

			private:
			/** right hand side of the ODE : f(x, u)*/
			casadi::Function RHS;
			casadi::Dict Parameters;
			int nx, nu;

			casadi::DM InitCond;
			int NumColocationPoints;
			double dT;
			int Method;
			/** optional */
			casadi::DM XScaling;
			casadi::DM UScaling;
			int MaxIter;
			double Tolerance;
			/** reset line search parameter after each iteration */
			bool Restart;
			bool UseWarmStart;

			/** stats */
			double accuracy;
			int num_iterations;

			/** Chebychev parameters */
			casadi::DM Xch, D, Dn, XT;
			casadi::SX F, G;
			casadi::SX z, z_u;
			casadi::DM pseudospectral_solve(const casadi::DM &X0, const casadi::DM &U);

			/** RK4 */
			casadi::DM rk4_solve(const casadi::DM &X0, const casadi::DM &U, const casadi::DM &dT);

			/** CVODES */
			casadi::DM cvodes_solve(const casadi::DM &X0, const casadi::DM &U);
			casadi::Function cvodes_integrator;
			casadi::Function create_cvodes_integrator(const casadi::SX &x, const casadi::SX &u, const casadi::Dict);
			bool cvodes_initialized;
			};



			#endif // INTEGRATOR_H