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

#include <periodic_reference_trajectory.hpp>

Inheritance diagram for PeriodicReferenceTrajectory:

Public Member Functions
virtual ReferenceTrajectory *	clone () const
virtual returnValue	getReference (double tStart, double tEnd, VariablesGrid &_yRef) const
PeriodicReferenceTrajectory &	operator= (const PeriodicReferenceTrajectory &rhs)
	PeriodicReferenceTrajectory ()
	PeriodicReferenceTrajectory (const VariablesGrid &_yRef)
	PeriodicReferenceTrajectory (const char *const _yRefFileName)
	PeriodicReferenceTrajectory (const PeriodicReferenceTrajectory &rhs)
virtual	~PeriodicReferenceTrajectory ()

Detailed Description

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

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

The user-specified static reference trajectory is repeated as often as necessary to yield an infinitely long periodic reference trajectory.

Author:: Hans Joachim Ferreau, Boris Houska

Definition at line 58 of file periodic_reference_trajectory.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO PeriodicReferenceTrajectory::PeriodicReferenceTrajectory ( )

Default constructor.

Definition at line 46 of file periodic_reference_trajectory.cpp.

PeriodicReferenceTrajectory::PeriodicReferenceTrajectory ( const VariablesGrid & _yRef )

Constructor which takes a pre-defined static reference trajectory.

Parameters:

[in] _yRef Pre-defined reference trajectory.

Definition at line 57 of file periodic_reference_trajectory.cpp.

PeriodicReferenceTrajectory::PeriodicReferenceTrajectory ( 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 63 of file periodic_reference_trajectory.cpp.

PeriodicReferenceTrajectory::PeriodicReferenceTrajectory ( const PeriodicReferenceTrajectory & rhs )

Copy constructor (deep copy).

Parameters:

[in] rhs Right-hand side object.

Definition at line 69 of file periodic_reference_trajectory.cpp.

PeriodicReferenceTrajectory::~PeriodicReferenceTrajectory ( ) [virtual]

Destructor.

Definition at line 76 of file periodic_reference_trajectory.cpp.

Member Function Documentation

ReferenceTrajectory * PeriodicReferenceTrajectory::clone ( ) const [virtual]

Clone constructor (deep copy).

Returns:: Pointer to deep copy of base class type

Reimplemented from StaticReferenceTrajectory.

Definition at line 93 of file periodic_reference_trajectory.cpp.

returnValue PeriodicReferenceTrajectory::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

Reimplemented from StaticReferenceTrajectory.

Definition at line 99 of file periodic_reference_trajectory.cpp.

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

Assignment operator (deep copy).

Parameters:

[in] rhs Right-hand side object.

Definition at line 81 of file periodic_reference_trajectory.cpp.

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

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation