Allows to define an adaptive reference trajectory that the ControlLaw aims to track. More...

#include <adaptive_reference_trajectory.hpp>

Inheritance diagram for AdaptiveReferenceTrajectory:

Public Member Functions
	AdaptiveReferenceTrajectory ()
	AdaptiveReferenceTrajectory (const AdaptiveReferenceTrajectory &rhs)
virtual ReferenceTrajectory *	clone () const =0
virtual uint	getDim () const
virtual returnValue	getReference (double tStart, double tEnd, VariablesGrid &_yRef) const =0
virtual returnValue	init (double startTime=0.0, const DVector &_x=emptyConstVector, const DVector &_xa=emptyConstVector, const DVector &_u=emptyConstVector, const DVector &_p=emptyConstVector, const DVector &_w=emptyConstVector)=0
AdaptiveReferenceTrajectory &	operator= (const AdaptiveReferenceTrajectory &rhs)
virtual returnValue	step (double _currentTime, const DVector &_y, const DVector &_x=emptyConstVector, const DVector &_xa=emptyConstVector, const DVector &_u=emptyConstVector, const DVector &_p=emptyConstVector, const DVector &_w=emptyConstVector)=0
virtual returnValue	step (const DVector &_x, const VariablesGrid &_u=emptyConstVariablesGrid, const VariablesGrid &_p=emptyConstVariablesGrid, const VariablesGrid &_w=emptyConstVariablesGrid)=0
virtual	~AdaptiveReferenceTrajectory ()

Detailed Description

Allows to define an adaptive reference trajectory that the ControlLaw aims to track.

The class AdaptiveReferenceTrajectory allows to define an adaptive reference trajectory (determined online) that the ControlLaw aims to track while computing its control action.

Author:: Hans Joachim Ferreau, Boris Houska

Definition at line 55 of file adaptive_reference_trajectory.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO AdaptiveReferenceTrajectory::AdaptiveReferenceTrajectory ( )

Default constructor.

Definition at line 46 of file adaptive_reference_trajectory.cpp.

AdaptiveReferenceTrajectory::AdaptiveReferenceTrajectory ( const AdaptiveReferenceTrajectory & rhs )

Copy constructor (deep copy).

Parameters:

[in] rhs Right-hand side object.

Definition at line 51 of file adaptive_reference_trajectory.cpp.

AdaptiveReferenceTrajectory::~AdaptiveReferenceTrajectory ( ) [virtual]

Destructor.

Definition at line 56 of file adaptive_reference_trajectory.cpp.

Member Function Documentation

virtual ReferenceTrajectory* AdaptiveReferenceTrajectory::clone ( ) const [pure virtual]

Clone constructor (deep copy).

Returns:: Pointer to deep copy of base class type

Implements ReferenceTrajectory.

Implemented in SimulatedReferenceTrajectory.

uint AdaptiveReferenceTrajectory::getDim ( ) const [virtual]

Returns dimension of reference trajectory.

Returns:: Dimension of reference trajectory

Implements ReferenceTrajectory.

Reimplemented in SimulatedReferenceTrajectory.

Definition at line 79 of file adaptive_reference_trajectory.cpp.

virtual returnValue AdaptiveReferenceTrajectory::getReference	(	double	tStart,
		double	tEnd,
		VariablesGrid &	_yRef
	)		const `[pure virtual]`

Returns a piece of the reference trajectory starting and ending at given times.

Parameters:

[in]	tStart	Start time of reference piece.
[in]	tEnd	End time of reference piece.
[out]	_yRef	Desired piece of the reference trajectory.

Returns:: SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Implements ReferenceTrajectory.

Implemented in SimulatedReferenceTrajectory.

virtual returnValue AdaptiveReferenceTrajectory::init	(	double	startTime = `0.0`,
		const DVector &	_x = `emptyConstVector`,
		const DVector &	_xa = `emptyConstVector`,
		const DVector &	_u = `emptyConstVector`,
		const DVector &	_p = `emptyConstVector`,
		const DVector &	_w = `emptyConstVector`
	)		`[pure virtual]`

Initializes the reference trajectory evaluation based on the given inputs.

Parameters:

[in]	_startTime	Start time.
[in]	_x	Initial value for differential states.
[in]	_xa	Initial value for algebraic states.
[in]	_u	Initial value for controls.
[in]	_p	Initial value for parameters.
[in]	_w	Initial value for disturbances.

Returns:: SUCCESSFUL_RETURN

Implements ReferenceTrajectory.

Implemented in SimulatedReferenceTrajectory.

AdaptiveReferenceTrajectory & AdaptiveReferenceTrajectory::operator= ( const AdaptiveReferenceTrajectory & rhs )

Assignment operator (deep copy).

Parameters:

[in] rhs Right-hand side object.

Definition at line 61 of file adaptive_reference_trajectory.cpp.

virtual returnValue AdaptiveReferenceTrajectory::step	(	double	_currentTime,
		const DVector &	_y,
		const DVector &	_x = `emptyConstVector`,
		const DVector &	_xa = `emptyConstVector`,
		const DVector &	_u = `emptyConstVector`,
		const DVector &	_p = `emptyConstVector`,
		const DVector &	_w = `emptyConstVector`
	)		`[pure virtual]`

Updates the reference trajectory evaluation based on the given inputs.

Parameters:

[in]	_currentTime	Start time.
[in]	_y	Current process output.
[in]	_x	Estimated current value for differential states.
[in]	_xa	Estimated current value for algebraic states.
[in]	_u	Estimated current value for controls.
[in]	_p	Estimated current value for parameters.
[in]	_w	Estimated current value for disturbances.

Returns:: SUCCESSFUL_RETURN

Implements ReferenceTrajectory.

Implemented in SimulatedReferenceTrajectory.

virtual returnValue AdaptiveReferenceTrajectory::step	(	const DVector &	_x,
		const VariablesGrid &	_u = `emptyConstVariablesGrid`,
		const VariablesGrid &	_p = `emptyConstVariablesGrid`,
		const VariablesGrid &	_w = `emptyConstVariablesGrid`
	)		`[pure virtual]`

Updates the reference trajectory evaluation based on the given inputs.

Parameters:

[in]	_x	Estimated current value for differential states.
[in]	_u	Estimated current time-varying value for controls.
[in]	_p	Estimated current time-varying value for parameters.
[in]	_w	Estimated current time-varying value for disturbances.

Returns:: SUCCESSFUL_RETURN

Implements ReferenceTrajectory.

Implemented in SimulatedReferenceTrajectory.

The documentation for this class was generated from the following files:

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation