adaptive_reference_trajectory.hpp
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00001 /*
00002  *    This file is part of ACADO Toolkit.
00003  *
00004  *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
00005  *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
00006  *    Milan Vukov, Rien Quirynen, KU Leuven.
00007  *    Developed within the Optimization in Engineering Center (OPTEC)
00008  *    under supervision of Moritz Diehl. All rights reserved.
00009  *
00010  *    ACADO Toolkit is free software; you can redistribute it and/or
00011  *    modify it under the terms of the GNU Lesser General Public
00012  *    License as published by the Free Software Foundation; either
00013  *    version 3 of the License, or (at your option) any later version.
00014  *
00015  *    ACADO Toolkit is distributed in the hope that it will be useful,
00016  *    but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00018  *    Lesser General Public License for more details.
00019  *
00020  *    You should have received a copy of the GNU Lesser General Public
00021  *    License along with ACADO Toolkit; if not, write to the Free Software
00022  *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
00023  *
00024  */
00025 
00026 
00033 #ifndef ACADO_TOOLKIT_ADAPTIVE_REFERENCE_TRAJECTORY_HPP
00034 #define ACADO_TOOLKIT_ADAPTIVE_REFERENCE_TRAJECTORY_HPP
00035 
00036 
00037 #include <acado/variables_grid/variables_grid.hpp>
00038 #include <acado/curve/curve.hpp>
00039 #include <acado/reference_trajectory/reference_trajectory.hpp>
00040 
00041 
00042 BEGIN_NAMESPACE_ACADO
00043 
00044 
00055 class AdaptiveReferenceTrajectory : public ReferenceTrajectory
00056 {
00057         //
00058         // PUBLIC MEMBER FUNCTIONS:
00059         //
00060         public:
00061 
00064                 AdaptiveReferenceTrajectory( );
00065 
00070                 AdaptiveReferenceTrajectory(    const AdaptiveReferenceTrajectory& rhs
00071                                                                                 );
00072 
00075                 virtual ~AdaptiveReferenceTrajectory( );
00076 
00081                 AdaptiveReferenceTrajectory& operator=( const AdaptiveReferenceTrajectory& rhs
00082                                                                                                 );
00083 
00088                 virtual ReferenceTrajectory* clone( ) const = 0;
00089 
00090 
00102                 virtual returnValue init(       double startTime = 0.0,
00103                                                                         const DVector& _x  = emptyConstVector,
00104                                                                         const DVector& _xa = emptyConstVector,
00105                                                                         const DVector& _u  = emptyConstVector,
00106                                                                         const DVector& _p  = emptyConstVector,
00107                                                                         const DVector& _w  = emptyConstVector
00108                                                                         ) = 0;
00109 
00110 
00123                 virtual returnValue step(       double _currentTime,
00124                                                                         const DVector& _y,
00125                                                                         const DVector& _x  = emptyConstVector,
00126                                                                         const DVector& _xa = emptyConstVector,
00127                                                                         const DVector& _u  = emptyConstVector,
00128                                                                         const DVector& _p  = emptyConstVector,
00129                                                                         const DVector& _w  = emptyConstVector
00130                                                                         ) = 0;
00131 
00141                 virtual returnValue step(       const DVector& _x,
00142                                                                         const VariablesGrid& _u = emptyConstVariablesGrid,
00143                                                                         const VariablesGrid& _p = emptyConstVariablesGrid,
00144                                                                         const VariablesGrid& _w = emptyConstVariablesGrid
00145                                                                         ) = 0;
00146 
00147 
00157                 virtual returnValue getReference(       double tStart,
00158                                                                                         double tEnd,
00159                                                                                         VariablesGrid& _yRef
00160                                                                                         ) const = 0;
00161 
00162 
00167                 virtual uint getDim( ) const;
00168 
00169 
00170 
00171         //
00172         // PROTECTED MEMBER FUNCTIONS:
00173         //
00174         protected:
00175 
00176 
00177 
00178         //
00179         // DATA MEMBERS:
00180         //
00181         protected:
00182 };
00183 
00184 
00185 CLOSE_NAMESPACE_ACADO
00186 
00187 
00188 //#include <acado/reference_trajectory/adaptive_reference_trajectory.ipp>
00189 
00190 
00191 #endif  // ACADO_TOOLKIT_ADAPTIVE_REFERENCE_TRAJECTORY_HPP
00192 
00193 /*
00194  *      end of file
00195  */


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:36:41