toC

Purpose

Export of PWA/PWQ function to C-code

Syntax

controller.toC('function')
controller.toC('function','filename')
controller.toC('function','filename','tie_break_fcn')

Description

The function toC() exports given piecewise affine (PWA) or piecewise quadratic (PWQ) function to C-language including a sequential evaluation routine. The PWA/PWQ function must be attached to the PolyUnion object.

If the file name is not provided, the default output name is mpt_getInput.

The export routine generates two files on the output: The file mpt_getInput_mex can be compiled inside Matlab and used for fast evaluation of PWA/PWQ function. The compilation is invoked by mex routine as follows:

mex mpt_getInput_mex

The PWA/PWQ function can be exported using the tie-break option if the function is multiple valued. The tie-breaking option determines which value of PWA/PWQ function will be evaluated based on the selecting the minimum in the tie-breaking function. In this case, the tie-breaking function must be attached to the PolyUnion object as well. If no tie-breaking function is provided, the first found value in the sequential search of PWA/PWQ function is evaluated.

The function toC() can export the floating point numbers to single or double precision. The default setting is double but this can be modified in global options

modules.geometry.unions.PolyUnion.toC.

Input Arguments

function

Name of the attached PWA/PWQ function to export.

Class: char

filename

Base name of the file to be generated.

Class: char

tie_break_fcn

Name of the attached scalar PWA/PWQ function to be used in tie-breaking case.

Class: char


© 2010-2013 Martin Herceg: ETH Zurich, herceg@control.ee.ethz.ch

© 2003-2013 Michal Kvasnica: STU Bratislava, michal.kvasnica@stuba.sk