Implements a feedforward law to be used within a Controller. More...

#include <feedforward_law.hpp>

Inheritance diagram for FeedforwardLaw:

Public Member Functions
virtual ControlLaw *	clone () const
	FeedforwardLaw ()
	FeedforwardLaw (const uint _nx, const Curve &_u, double _samplingTime=DEFAULT_SAMPLING_TIME)
	FeedforwardLaw (const FeedforwardLaw &rhs)
virtual uint	getNP () const
virtual uint	getNU () const
virtual uint	getNW () const
virtual uint	getNX () const
virtual uint	getNXA () const
virtual uint	getNY () const
virtual returnValue	init (double startTime=0.0, const DVector &x0_=emptyConstVector, const DVector &p_=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)
virtual BooleanType	isDynamic () const
virtual BooleanType	isStatic () const
FeedforwardLaw &	operator= (const FeedforwardLaw &rhs)
virtual returnValue	step (double currentTime, const DVector &_x, const DVector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)
virtual	~FeedforwardLaw ()
Protected Attributes
uint	nx
Curve	uRef

Detailed Description

Implements a feedforward law to be used within a Controller.

The class FeedforwardLaw allows to implement a predefined feedforward law to be evaluated at the sampling instants.

Author:: Joris Gillis, Hans Joachim Ferreau, Boris Houska

Definition at line 55 of file feedforward_law.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO FeedforwardLaw::FeedforwardLaw ( )

Default constructor.

The objective of this class is to be able to use precomputed controls to run a simulation. If the precomputed controls are given as a Curve mycontrols, use: FeedforwardLaw( numberofstates, mycontrols[,sampleTime])

Definition at line 54 of file feedforward_law.cpp.

FeedforwardLaw::FeedforwardLaw	(	const uint	_nx,
		const Curve &	_u,
		double	_samplingTime = `DEFAULT_SAMPLING_TIME`
	)

Constructor which takes the predefined control signals as curve together with the sampling time.

Parameters:

[in]	_nx	Number of differential states.
[in]	_u	Predefined control signal.
[in]	_samplingTime	Sampling time.

Definition at line 60 of file feedforward_law.cpp.

FeedforwardLaw::FeedforwardLaw ( const FeedforwardLaw & rhs )

Copy constructor (deep copy).

Parameters:

[in] rhs Right-hand side object.

Definition at line 71 of file feedforward_law.cpp.

FeedforwardLaw::~FeedforwardLaw ( ) [virtual]

Destructor.

Definition at line 78 of file feedforward_law.cpp.

Member Function Documentation

ControlLaw * FeedforwardLaw::clone ( ) const [virtual]

Clone constructor (deep copy).

Returns:: Pointer to deep copy of base class type

Implements ControlLaw.

Definition at line 95 of file feedforward_law.cpp.

uint FeedforwardLaw::getNP ( ) const [virtual]

Returns number of parameters.

Returns:: Number of parameters

Reimplemented from ControlLaw.

Definition at line 166 of file feedforward_law.cpp.

uint FeedforwardLaw::getNU ( ) const [virtual]

Returns number of controls.

Returns:: Number of controls

Reimplemented from ControlLaw.

Definition at line 160 of file feedforward_law.cpp.

uint FeedforwardLaw::getNW ( ) const [virtual]

Returns number of (estimated) disturbances.

Returns:: Number of (estimated) disturbances

Reimplemented from ControlLaw.

Definition at line 172 of file feedforward_law.cpp.

uint FeedforwardLaw::getNX ( ) const [virtual]

Returns number of (estimated) differential states.

Returns:: Number of (estimated) differential states

Reimplemented from ControlLaw.

Definition at line 148 of file feedforward_law.cpp.

uint FeedforwardLaw::getNXA ( ) const [virtual]

Returns number of (estimated) algebraic states.

Returns:: Number of (estimated) algebraic states

Reimplemented from ControlLaw.

Definition at line 154 of file feedforward_law.cpp.

uint FeedforwardLaw::getNY ( ) const [virtual]

Returns number of process outputs.

Returns:: Number of process outputs

Reimplemented from ControlLaw.

Definition at line 178 of file feedforward_law.cpp.

returnValue FeedforwardLaw::init	(	double	startTime = `0.0`,
		const DVector &	x0_ = `emptyConstVector`,
		const DVector &	p_ = `emptyConstVector`,
		const VariablesGrid &	_yRef = `emptyConstVariablesGrid`
	)		`[virtual]`

Initializes the feedforward law with given start values and performs a number of consistency checks.

Parameters:

[in]	_startTime	Start time.
[in]	_x	Initial value for differential states.
[in]	_p	Initial value for parameters.
[in]	_yRef	Initial value for reference trajectory.

Returns:: SUCCESSFUL_RETURN

Implements ControlLaw.

Definition at line 101 of file feedforward_law.cpp.

BooleanType FeedforwardLaw::isDynamic ( ) const [virtual]

Returns whether the control law is based on dynamic optimization or a static one.

Returns:: BT_TRUE iff control law is based on dynamic optimization,
BT_FALSE otherwise

Implements ControlLaw.

Definition at line 184 of file feedforward_law.cpp.

BooleanType FeedforwardLaw::isStatic ( ) const [virtual]

Returns whether the control law is a static one or based on dynamic optimization.

Returns:: BT_TRUE iff control law is a static one,
BT_FALSE otherwise

Implements ControlLaw.

Definition at line 190 of file feedforward_law.cpp.

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

Assignment operator (deep copy).

Parameters:

[in] rhs Right-hand side object.

Definition at line 83 of file feedforward_law.cpp.

returnValue FeedforwardLaw::step	(	double	currentTime,
		const DVector &	_x,
		const DVector &	_p = `emptyConstVector`,
		const VariablesGrid &	_yRef = `emptyConstVariablesGrid`
	)		`[virtual]`

Performs next step of the feedforward law based on given inputs.

Parameters:

[in]	currentTime	Current time.
[in]	_x	Most recent value for differential states.
[in]	_p	Most recent value for parameters.
[in]	_yRef	Current piece of reference trajectory.

Returns:: SUCCESSFUL_RETURN,
RET_BLOCK_NOT_READY,
RET_VECTOR_DIMENSION_MISMATCH,
RET_CONTROLLAW_STEP_FAILED

Implements ControlLaw.

Definition at line 119 of file feedforward_law.cpp.

Member Data Documentation

uint FeedforwardLaw::nx [protected]

Number of differential states.

Definition at line 202 of file feedforward_law.hpp.

Curve FeedforwardLaw::uRef [protected]

Predefined control signal.

Definition at line 203 of file feedforward_law.hpp.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation