StaticReferenceTrajectory Class Reference

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

#include <static_reference_trajectory.hpp>

Inheritance diagram for StaticReferenceTrajectory:

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)
StaticReferenceTrajectory &	operator= (const StaticReferenceTrajectory &rhs)
	StaticReferenceTrajectory ()
	StaticReferenceTrajectory (const VariablesGrid &_yRef)
	StaticReferenceTrajectory (const char *const _yRefFileName)
	StaticReferenceTrajectory (const StaticReferenceTrajectory &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	~StaticReferenceTrajectory ()
Protected Attributes
VariablesGrid	yRef

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Detailed Description

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

The class StaticReferenceTrajectory allows to define a static reference trajectory (given beforehand) that the ControlLaw aims to track while computing its control action.

Author:

Hans Joachim Ferreau, Boris Houska

Definition at line 55 of file static_reference_trajectory.hpp.

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Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO StaticReferenceTrajectory::StaticReferenceTrajectory

(

)

Default constructor.

Definition at line 45 of file static_reference_trajectory.cpp.

StaticReferenceTrajectory::StaticReferenceTrajectory

(

const VariablesGrid &

_yRef

)

Constructor which takes a pre-defined static reference trajectory.

Parameters:

[in]

_yRef

Pre-defined reference trajectory.

Definition at line 59 of file static_reference_trajectory.cpp.

StaticReferenceTrajectory::StaticReferenceTrajectory

(

const char *const

_yRefFileName

)

Constructor which takes a pre-defined static reference trajectory.

Parameters:

[in]

_yRefFileName

Name of file containing the pre-defined reference trajectory.

Definition at line 75 of file static_reference_trajectory.cpp.

StaticReferenceTrajectory::StaticReferenceTrajectory

(

const StaticReferenceTrajectory &

rhs

)

Copy constructor (deep copy).

Parameters:

[in]

rhs

Right-hand side object.

Definition at line 95 of file static_reference_trajectory.cpp.

StaticReferenceTrajectory::~StaticReferenceTrajectory

(

)

[virtual]

Destructor.

Definition at line 101 of file static_reference_trajectory.cpp.

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Member Function Documentation

ReferenceTrajectory * StaticReferenceTrajectory::clone

(

)

const [virtual]

Clone constructor (deep copy).

Returns:

Pointer to deep copy of base class type

Implements ReferenceTrajectory.

Reimplemented in PeriodicReferenceTrajectory.

Definition at line 119 of file static_reference_trajectory.cpp.

uint StaticReferenceTrajectory::getDim

(

)

const [virtual]

Returns dimension of reference trajectory.

Returns:

Dimension of reference trajectory

Implements ReferenceTrajectory.

Definition at line 197 of file static_reference_trajectory.cpp.

returnValue StaticReferenceTrajectory::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 ReferenceTrajectory.

Reimplemented in PeriodicReferenceTrajectory.

Definition at line 160 of file static_reference_trajectory.cpp.

returnValue StaticReferenceTrajectory::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 ReferenceTrajectory.

Definition at line 125 of file static_reference_trajectory.cpp.

StaticReferenceTrajectory & StaticReferenceTrajectory::operator=

(

const StaticReferenceTrajectory &

rhs

)

Assignment operator (deep copy).

Parameters:

[in]

rhs

Right-hand side object.

Definition at line 106 of file static_reference_trajectory.cpp.

returnValue StaticReferenceTrajectory::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 ReferenceTrajectory.

Definition at line 137 of file static_reference_trajectory.cpp.

returnValue StaticReferenceTrajectory::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 ReferenceTrajectory.

Definition at line 150 of file static_reference_trajectory.cpp.

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Member Data Documentation

VariablesGrid StaticReferenceTrajectory::yRef [protected]

Definition at line 200 of file static_reference_trajectory.hpp.

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

• static_reference_trajectory.hpp
• static_reference_trajectory.cpp