SimulatedReferenceTrajectory Class Reference

Allows to define a simulated reference trajectory that the ControlLaw aims to track. More...

#include <simulated_reference_trajectory.hpp>

Inheritance diagram for SimulatedReferenceTrajectory:

List of all members.

Public Member Functions
virtual ReferenceTrajectory *	clone () const
virtual uint	getDim () const
virtual returnValue	getReference (double tStart, double tEnd, VariablesGrid &_yRef) const
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)
SimulatedReferenceTrajectory &	operator= (const SimulatedReferenceTrajectory &rhs)
	SimulatedReferenceTrajectory ()
	SimulatedReferenceTrajectory (const DynamicSystem &_dynamicSystem, IntegratorType _integratorType=INT_UNKNOWN)
	SimulatedReferenceTrajectory (const SimulatedReferenceTrajectory &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)
virtual returnValue	step (const DVector &_x, const VariablesGrid &_u=emptyConstVariablesGrid, const VariablesGrid &_p=emptyConstVariablesGrid, const VariablesGrid &_w=emptyConstVariablesGrid)
virtual	~SimulatedReferenceTrajectory ()
Protected Attributes
Process *	process

---

Detailed Description

Allows to define a simulated reference trajectory that the ControlLaw aims to track.

The class SimulatedReferenceTrajectory allows to define an reference trajectory that is determined online based on the simulation of a dynamic system. The ControlLaw can aim to track this reference trajectory while computing its control action.

Author:

Hans Joachim Ferreau, Boris Houska

Definition at line 56 of file simulated_reference_trajectory.hpp.

---

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO SimulatedReferenceTrajectory::SimulatedReferenceTrajectory

(

)

Default constructor.

Definition at line 46 of file simulated_reference_trajectory.cpp.

SimulatedReferenceTrajectory::SimulatedReferenceTrajectory	(	const DynamicSystem &	_dynamicSystem,
		IntegratorType	_integratorType = INT_UNKNOWN
	)

Default constructor.

Definition at line 52 of file simulated_reference_trajectory.cpp.

SimulatedReferenceTrajectory::SimulatedReferenceTrajectory

(

const SimulatedReferenceTrajectory &

rhs

)

Copy constructor (deep copy).

Parameters:

[in]

rhs

Right-hand side object.

Definition at line 60 of file simulated_reference_trajectory.cpp.

SimulatedReferenceTrajectory::~SimulatedReferenceTrajectory

(

)

[virtual]

Destructor.

Definition at line 69 of file simulated_reference_trajectory.cpp.

---

Member Function Documentation

ReferenceTrajectory * SimulatedReferenceTrajectory::clone

(

)

const [virtual]

Clone constructor (deep copy).

Returns:

Pointer to deep copy of base class type

Implements AdaptiveReferenceTrajectory.

Definition at line 91 of file simulated_reference_trajectory.cpp.

uint SimulatedReferenceTrajectory::getDim

(

)

const [virtual]

Returns dimension of reference trajectory.

Returns:

Dimension of reference trajectory

Reimplemented from AdaptiveReferenceTrajectory.

Definition at line 144 of file simulated_reference_trajectory.cpp.

returnValue SimulatedReferenceTrajectory::getReference	(	double	tStart,
		double	tEnd,
		VariablesGrid &	_yRef
	)		const [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 AdaptiveReferenceTrajectory.

Definition at line 134 of file simulated_reference_trajectory.cpp.

returnValue SimulatedReferenceTrajectory::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
	)		[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 AdaptiveReferenceTrajectory.

Definition at line 97 of file simulated_reference_trajectory.cpp.

SimulatedReferenceTrajectory & SimulatedReferenceTrajectory::operator=

(

const SimulatedReferenceTrajectory &

rhs

)

Assignment operator (deep copy).

Parameters:

[in]

rhs

Right-hand side object.

Definition at line 76 of file simulated_reference_trajectory.cpp.

returnValue SimulatedReferenceTrajectory::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
	)		[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 AdaptiveReferenceTrajectory.

Definition at line 109 of file simulated_reference_trajectory.cpp.

returnValue SimulatedReferenceTrajectory::step	(	const DVector &	_x,
		const VariablesGrid &	_u = emptyConstVariablesGrid,
		const VariablesGrid &	_p = emptyConstVariablesGrid,
		const VariablesGrid &	_w = emptyConstVariablesGrid
	)		[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 AdaptiveReferenceTrajectory.

Definition at line 122 of file simulated_reference_trajectory.cpp.

---

Member Data Documentation

Process* SimulatedReferenceTrajectory::process [protected]

Definition at line 189 of file simulated_reference_trajectory.hpp.

---

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

• simulated_reference_trajectory.hpp
• simulated_reference_trajectory.cpp