Estimator Class Reference

Base class for interfacing online state/parameter estimators. More...

#include <estimator.hpp>

Inheritance diagram for Estimator:

List of all members.

Public Member Functions
virtual Estimator *	clone () const =0
	Estimator ()
	Estimator (double _samplingTime)
	Estimator (const Estimator &rhs)
uint	getNP () const
uint	getNU () const
uint	getNW () const
uint	getNX () const
uint	getNXA () const
uint	getNY () const
returnValue	getOutputs (DVector &_x, DVector &_xa, DVector &_u, DVector &_p, DVector &_w) const
returnValue	getP (DVector &_p) const
returnValue	getU (DVector &_u) const
returnValue	getW (DVector &_w) const
returnValue	getX (DVector &_x) const
returnValue	getXA (DVector &_xa) const
virtual returnValue	init (double startTime=0.0, const DVector &x0_=emptyConstVector, const DVector &p_=emptyConstVector)
Estimator &	operator= (const Estimator &rhs)
virtual returnValue	step (double currentTime, const DVector &_y)=0
virtual	~Estimator ()
Protected Attributes
DVector	p
DVector	u
DVector	w
DVector	x
DVector	xa

---

Detailed Description

Base class for interfacing online state/parameter estimators.

The class Estimator serves as a base class for interfacing online state/parameter estimators.

Author:

Hans Joachim Ferreau, Boris Houska

Definition at line 56 of file estimator.hpp.

---

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO Estimator::Estimator

(

)

Default constructor.

Definition at line 45 of file estimator.cpp.

Estimator::Estimator

(

double

_samplingTime

)

Constructor taking minimal sub-block configuration.

Definition at line 50 of file estimator.cpp.

Estimator::Estimator

(

const Estimator &

rhs

)

Copy constructor (deep copy).

Definition at line 57 of file estimator.cpp.

Estimator::~Estimator

(

)

[virtual]

Destructor.

Definition at line 67 of file estimator.cpp.

---

Member Function Documentation

virtual Estimator* Estimator::clone

(

)

const [pure virtual]

Implemented in DynamicEstimator, and KalmanFilter.

uint Estimator::getNP

(

)

const [inline]

Returns number of estimated parameters.

Returns:

Number of estimated parameters

uint Estimator::getNU

(

)

const [inline]

Returns number of estimated previous controls.

Returns:

Number of estimated previous controls

uint Estimator::getNW

(

)

const [inline]

Returns number of estimated disturbances.

Returns:

Number of estimated disturbances

uint Estimator::getNX

(

)

const [inline]

Returns number of estimated differential states.

Returns:

Number of estimated differential states

uint Estimator::getNXA

(

)

const [inline]

Returns number of estimated algebraic states.

Returns:

Number of estimated algebraic states

uint Estimator::getNY

(

)

const [inline]

Returns number of process outputs.

Returns:

Number of process outputs

returnValue Estimator::getOutputs	(	DVector &	_x,
		DVector &	_xa,
		DVector &	_u,
		DVector &	_p,
		DVector &	_w
	)		const [inline]

Returns all estimator outputs.

Parameters:

_x	Estimated differential states.
_xa	Estimated algebraic states.
_u	Estimated previous controls.
_p	Estimated parameters.
_w	Estimated disturbances.

returnValue Estimator::getP

(

DVector &

_p

)

const [inline]

Returns estimated parameters.

Parameters:

_p	OUTPUT: estimated parameters.

returnValue Estimator::getU

(

DVector &

_u

)

const [inline]

Returns estimated previous controls.

Parameters:

_u	OUTPUT: estimated previous controls.

returnValue Estimator::getW

(

DVector &

_w

)

const [inline]

Returns estimated disturbances.

Parameters:

_w	OUTPUT: estimated disturbances.

returnValue Estimator::getX

(

DVector &

_x

)

const [inline]

Returns estimated differential states.

Parameters:

_x	OUTPUT: estimated differential states.

returnValue Estimator::getXA

(

DVector &

_xa

)

const [inline]

Returns estimated algebraic states.

Parameters:

_xa	OUTPUT: estimated algebraic states.

returnValue Estimator::init	(	double	startTime = 0.0,
		const DVector &	x0_ = emptyConstVector,
		const DVector &	p_ = emptyConstVector
	)		[virtual]

Initialization.

Reimplemented in DynamicEstimator, and KalmanFilter.

Definition at line 89 of file estimator.cpp.

Estimator & Estimator::operator=

(

const Estimator &

rhs

)

Assignment operator (deep copy).

Definition at line 72 of file estimator.cpp.

virtual returnValue Estimator::step	(	double	currentTime,
		const DVector &	_y
	)		[pure virtual]

Executes next single step.

Implemented in DynamicEstimator, and KalmanFilter.

---

Member Data Documentation

DVector Estimator::p [protected]

Estimated parameters.

Definition at line 161 of file estimator.hpp.

DVector Estimator::u [protected]

Estimated previous controls.

Definition at line 160 of file estimator.hpp.

DVector Estimator::w [protected]

Estimated disturbances.

Definition at line 162 of file estimator.hpp.

DVector Estimator::x [protected]

Estimated differential state.

Definition at line 158 of file estimator.hpp.

DVector Estimator::xa [protected]

Estimated algebraic state.

Definition at line 159 of file estimator.hpp.

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

• estimator.hpp
• estimator.cpp