ReferenceTrajectory Class Reference

Abstract base class to define a reference trajectory that the ControlLaw aims to track. More...

#include <reference_trajectory.hpp>

Inheritance diagram for ReferenceTrajectory:

List of all members.

Public Member Functions
virtual ReferenceTrajectory *	clone () const =0
virtual uint	getDim () const =0
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
BooleanType	isDefined () const
ReferenceTrajectory &	operator= (const ReferenceTrajectory &rhs)
	ReferenceTrajectory ()
	ReferenceTrajectory (const ReferenceTrajectory &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	~ReferenceTrajectory ()

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Detailed Description

Abstract base class to define a reference trajectory that the ControlLaw aims to track.

The class ReferenceTrajectory can be passed to or used within the Controller of the SimulationEnvronment. It serves as an abstract base class to define a reference trajectory that the ControlLaw aims to track while computing its control action.

Author:

Hans Joachim Ferreau, Boris Houska

Definition at line 59 of file reference_trajectory.hpp.

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Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO ReferenceTrajectory::ReferenceTrajectory

(

)

Default constructor.

Definition at line 46 of file reference_trajectory.cpp.

ReferenceTrajectory::ReferenceTrajectory

(

const ReferenceTrajectory &

rhs

)

Copy constructor (deep copy).

Parameters:

[in]

rhs

Right-hand side object.

Definition at line 51 of file reference_trajectory.cpp.

ReferenceTrajectory::~ReferenceTrajectory

(

)

[virtual]

Destructor.

Definition at line 56 of file reference_trajectory.cpp.

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Member Function Documentation

virtual ReferenceTrajectory* ReferenceTrajectory::clone

(

)

const [pure virtual]

Clone constructor (deep copy).

Returns:

Pointer to deep copy of base class type

Implemented in PeriodicReferenceTrajectory, StaticReferenceTrajectory, SimulatedReferenceTrajectory, and AdaptiveReferenceTrajectory.

virtual uint ReferenceTrajectory::getDim

(

)

const [pure virtual]

Returns dimension of reference trajectory.

Returns:

Dimension of reference trajectory

Implemented in StaticReferenceTrajectory, SimulatedReferenceTrajectory, and AdaptiveReferenceTrajectory.

virtual returnValue ReferenceTrajectory::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

Implemented in StaticReferenceTrajectory, SimulatedReferenceTrajectory, AdaptiveReferenceTrajectory, and PeriodicReferenceTrajectory.

virtual returnValue ReferenceTrajectory::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

Implemented in StaticReferenceTrajectory, SimulatedReferenceTrajectory, and AdaptiveReferenceTrajectory.

BooleanType ReferenceTrajectory::isDefined

(

)

const [inline]

Returns whether reference trajectory is defined (i.e. has positive dimension).

Returns:

BT_TRUE iff reference trajectory is defined,
BT_FALSE otherwise

ReferenceTrajectory & ReferenceTrajectory::operator=

(

const ReferenceTrajectory &

rhs

)

Assignment operator (deep copy).

Parameters:

[in]

rhs

Right-hand side object.

Definition at line 61 of file reference_trajectory.cpp.

virtual returnValue ReferenceTrajectory::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

Implemented in StaticReferenceTrajectory, SimulatedReferenceTrajectory, and AdaptiveReferenceTrajectory.

virtual returnValue ReferenceTrajectory::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

Implemented in StaticReferenceTrajectory, SimulatedReferenceTrajectory, and AdaptiveReferenceTrajectory.

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

• reference_trajectory.hpp
• reference_trajectory.cpp