Stores a DifferentialEquation together with an OutputFcn. More...

#include <dynamic_system.hpp>

Public Member Functions
returnValue	addSubsystem (const DifferentialEquation &_diffEqn)
returnValue	addSubsystem (const DifferentialEquation &_diffEqn, const OutputFcn &_outputFcn)
returnValue	addSwitchFunction (const Function &_switchFcn)
	DynamicSystem ()
	DynamicSystem (const DifferentialEquation &_diffEqn)
	DynamicSystem (const DifferentialEquation &_diffEqn, const OutputFcn &_outputFcn)
	DynamicSystem (const DynamicSystem &rhs)
const DifferentialEquation &	getDifferentialEquation (uint stageIdx=0) const
uint	getNumAlgebraicEquations () const
uint	getNumControls () const
uint	getNumDisturbances () const
uint	getNumDynamicEquations () const
uint	getNumOutputs () const
uint	getNumParameters () const
uint	getNumSubsystems () const
uint	getNumSwitchFunctions () const
const OutputFcn &	getOutputFcn (uint stageIdx=0) const
double	getSampleTime () const
returnValue	getSelectFunction (Function &_selectFcn) const
returnValue	getSubsystem (uint stageIdx, DifferentialEquation &_diffEqn, OutputFcn &_outputFcn) const
returnValue	getSwitchFunction (uint idx, Function &_switchFcn) const
BooleanType	hasImplicitSwitches () const
BooleanType	isContinuous () const
BooleanType	isDAE () const
BooleanType	isDiscretized () const
BooleanType	isODE () const
DynamicSystem &	operator= (const DynamicSystem &rhs)
returnValue	setSelectFunction (const Function &_selectFcn)
	~DynamicSystem ()
Protected Member Functions
BooleanType	isConsistentDiffEqn (const DifferentialEquation &_diffEqn) const
BooleanType	isConsistentOutputFcn (const OutputFcn &_outputFcn) const
Protected Attributes
DifferentialEquation **	diffEqn
uint	nDiffEqn
uint	nSwitchFcn
OutputFcn **	outputFcn
Function *	selectFcn
Function **	switchFcn

Detailed Description

Stores a DifferentialEquation together with an OutputFcn.

The class DynamicSystem is a data class for storing a DifferentialEquation together with an OutputFcn. The dynamic system might be of hybrid nature, i.e. differential equation and output function might switch depending on a state-dependend switch function.

Author:: Hans Joachim Ferreau, Boris Houska

Definition at line 57 of file dynamic_system.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO DynamicSystem::DynamicSystem ( )

< Default Constructor.

Definition at line 44 of file dynamic_system.cpp.

DynamicSystem::DynamicSystem ( const DifferentialEquation & _diffEqn )

Constructor which takes differential equation of first stage.

Parameters:

[in] _diffEqn Differential equation.

Definition at line 57 of file dynamic_system.cpp.

DynamicSystem::DynamicSystem	(	const DifferentialEquation &	_diffEqn,
		const OutputFcn &	_outputFcn
	)

Constructor which takes differential equation and output function of first stage.

Parameters:

[in]	_diffEqn	Differential equation.
[in]	_outputFcn	Output function.

Definition at line 76 of file dynamic_system.cpp.

DynamicSystem::DynamicSystem ( const DynamicSystem & rhs )

Copy constructor (deep copy).

Parameters:

[in] rhs Right-hand side object.

Definition at line 94 of file dynamic_system.cpp.

DynamicSystem::~DynamicSystem ( )

Destructor. Assignment Operator (deep copy).

Parameters:

[in] rhs Right-hand side object.

Definition at line 136 of file dynamic_system.cpp.

Member Function Documentation

returnValue DynamicSystem::addSubsystem ( const DifferentialEquation & _diffEqn )

Adds a new dynamic system stage comprising the given differential equation.

Parameters:

[in] _diffEqn Differential equation.

Returns:: RET_NOT_YET_IMPLEMENTED,
RET_INVALID_ARGUMENTS

Definition at line 237 of file dynamic_system.cpp.

returnValue DynamicSystem::addSubsystem	(	const DifferentialEquation &	_diffEqn,
		const OutputFcn &	_outputFcn
	)

Adds a new dynamic system stage comprising the given differential equation and output function.

Parameters:

[in]	_diffEqn	Differential equation.
[in]	_outputFcn	Output function.

Returns:: RET_NOT_YET_IMPLEMENTED,
RET_INVALID_ARGUMENTS

Definition at line 244 of file dynamic_system.cpp.

returnValue DynamicSystem::addSwitchFunction ( const Function & _switchFcn )

(not yet documented)

Parameters:

[in] _switchFcn .

Returns:: RET_NOT_YET_IMPLEMENTED

Definition at line 268 of file dynamic_system.cpp.

const DifferentialEquation& DynamicSystem::getDifferentialEquation ( uint stageIdx = 0 ) const [inline]

Returns differential equation at given stage.

Parameters:

[in] stageIdx Index of stage.

Returns:: Differential equation at given stage

uint DynamicSystem::getNumAlgebraicEquations ( ) const [inline]

Returns number of algebraic equations of the dynamic system.

Returns:: Number of algebraic equations

uint DynamicSystem::getNumControls ( ) const [inline]

Returns maximum number of controls of the dynamic system.

Returns:: Maximum number of controls

uint DynamicSystem::getNumDisturbances ( ) const [inline]

Returns maximum number of disturbances of the dynamic system.

Returns:: Maximum number of disturbances

uint DynamicSystem::getNumDynamicEquations ( ) const [inline]

Returns number of dynamic equations of the dynamic system.

Returns:: Number of dynamic equations

uint DynamicSystem::getNumOutputs ( ) const [inline]

Returns number of outputs of the dynamic system.

Returns:: Number of outputs equations

uint DynamicSystem::getNumParameters ( ) const [inline]

Returns maximum number of parameters of the dynamic system.

Returns:: Maximum number of parameters

uint DynamicSystem::getNumSubsystems ( ) const [inline]

Returns number of subsystems (i.e. stages) of the dynamic system.

Returns:: Number of subsystems of the dynamic system

uint DynamicSystem::getNumSwitchFunctions ( ) const [inline]

Returns number of switch functions of the dynamic system.

Returns:: Number of switch functions of the dynamic system

const OutputFcn& DynamicSystem::getOutputFcn ( uint stageIdx = 0 ) const [inline]

Returns output function at given stage.

Parameters:

[in] stageIdx Index of stage.

Returns:: Output function at given stage

double DynamicSystem::getSampleTime ( ) const [inline]

Returns sample time of the dynamic system.

Returns:: > 0: sample time of discretized system,
-INFTY: system is time-continuous

returnValue DynamicSystem::getSelectFunction ( Function & _selectFcn ) const [inline]

(not yet documented)

Parameters:

[in] _selectFcn .

Returns:: RET_NOT_YET_IMPLEMENTED

returnValue DynamicSystem::getSubsystem	(	uint	stageIdx,
		DifferentialEquation &	_diffEqn,
		OutputFcn &	_outputFcn
	)		const `[inline]`

Returns dynamic subsystem at given stage.

Parameters:

[in]	stageIdx	Index of stage.
[out]	_diffEqn	Differential equation at given stage.
[out]	_outputFcn	Output function at given stage.

Returns:: SUCCESSFUL_RETURN

returnValue DynamicSystem::getSwitchFunction	(	uint	idx,
		Function &	_switchFcn
	)		const `[inline]`

(not yet documented)

Parameters:

[in] _switchFcn .

Returns:: RET_NOT_YET_IMPLEMENTED

BooleanType DynamicSystem::hasImplicitSwitches ( ) const [inline]

Returns whether dynamic system has implicit switches.

Returns:: BT_TRUE iff dynamic system has implicit switches,
BT_FALSE otherwise

BooleanType DynamicSystem::isConsistentDiffEqn ( const DifferentialEquation & _diffEqn ) const [protected]

Returns whether given differential equation is consistent with the existing ones at other stages.

Parameters:

[in] _diffEqn Differential equation.

Returns:: BT_TRUE iff differential equation is consistent,
BT_FALSE otherwise

Definition at line 300 of file dynamic_system.cpp.

BooleanType DynamicSystem::isConsistentOutputFcn ( const OutputFcn & _outputFcn ) const [protected]

Returns whether given output function is consistent with the corresponding differential equation and existing output functions at other stages.

Parameters:

[in] _outputFcn Output function.

Returns:: BT_TRUE iff output function is consistent,
BT_FALSE otherwise

Definition at line 319 of file dynamic_system.cpp.

BooleanType DynamicSystem::isContinuous ( ) const [inline]

Returns whether dynamic system is continuous in time.

Returns:: BT_TRUE iff dynamic system is continuous in time,
BT_FALSE otherwise

BooleanType DynamicSystem::isDAE ( ) const [inline]

Returns whether dynamic system is a DAE.

Returns:: BT_TRUE iff dynamic system is a DAE,
BT_FALSE otherwise

BooleanType DynamicSystem::isDiscretized ( ) const [inline]

Returns whether dynamic system is discretized in time.

Returns:: BT_TRUE iff dynamic system is discretized in time,
BT_FALSE otherwise

BooleanType DynamicSystem::isODE ( ) const [inline]

Returns whether dynamic system is an ODE.

Returns:: BT_TRUE iff dynamic system is an ODE,
BT_FALSE otherwise

DynamicSystem & DynamicSystem::operator= ( const DynamicSystem & rhs )

Definition at line 164 of file dynamic_system.cpp.

returnValue DynamicSystem::setSelectFunction ( const Function & _selectFcn )

(not yet documented)

Parameters:

[in] _selectFcn .

Returns:: RET_NOT_YET_IMPLEMENTED

Definition at line 282 of file dynamic_system.cpp.

Member Data Documentation

DifferentialEquation** DynamicSystem::diffEqn [protected]

Differential equation(s) describing the states of the dynamic system.

Definition at line 331 of file dynamic_system.hpp.

uint DynamicSystem::nDiffEqn [protected]

Number of differential equations.

Definition at line 328 of file dynamic_system.hpp.

uint DynamicSystem::nSwitchFcn [protected]

Number of switch functions.

Definition at line 329 of file dynamic_system.hpp.

OutputFcn** DynamicSystem::outputFcn [protected]

Output function(s) for evaluating the output of the dynamic system.

Definition at line 332 of file dynamic_system.hpp.

Function* DynamicSystem::selectFcn [protected]

Function for selecting the current differential equation based on the values of the switch function(s).

Definition at line 335 of file dynamic_system.hpp.

Function** DynamicSystem::switchFcn [protected]

Function(s) for determining switches between different differential equations.

Definition at line 334 of file dynamic_system.hpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation