Public Member Functions | Protected Attributes

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

#include <simulated_reference_trajectory.hpp>

Inheritance diagram for SimulatedReferenceTrajectory:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual ReferenceTrajectoryclone () 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)
SimulatedReferenceTrajectoryoperator= (const SimulatedReferenceTrajectory &rhs)
 SimulatedReferenceTrajectory ()
 SimulatedReferenceTrajectory (const DynamicSystem &_dynamicSystem, IntegratorType _integratorType=INT_UNKNOWN)
 SimulatedReferenceTrajectory (const SimulatedReferenceTrajectory &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 ~SimulatedReferenceTrajectory ()

Protected Attributes

Processprocess

Detailed Description

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

The class SimulatedReferenceTrajectory allows to define an reference trajectory that is determined online based on the simulation of a dynamic system. The ControlLaw can aim to track this reference trajectory while computing its control action.

Author:
Hans Joachim Ferreau, Boris Houska

Definition at line 56 of file simulated_reference_trajectory.hpp.


Constructor & Destructor Documentation

Default constructor.

Definition at line 46 of file simulated_reference_trajectory.cpp.

Default constructor.

Definition at line 52 of file simulated_reference_trajectory.cpp.

Copy constructor (deep copy).

Parameters:
[in]rhsRight-hand side object.

Definition at line 60 of file simulated_reference_trajectory.cpp.

Destructor.

Definition at line 69 of file simulated_reference_trajectory.cpp.


Member Function Documentation

Clone constructor (deep copy).

Returns:
Pointer to deep copy of base class type

Implements AdaptiveReferenceTrajectory.

Definition at line 91 of file simulated_reference_trajectory.cpp.

Returns dimension of reference trajectory.

Returns:
Dimension of reference trajectory

Reimplemented from AdaptiveReferenceTrajectory.

Definition at line 144 of file simulated_reference_trajectory.cpp.

returnValue SimulatedReferenceTrajectory::getReference ( double  tStart,
double  tEnd,
VariablesGrid _yRef 
) const [virtual]

Returns a piece of the reference trajectory starting and ending at given times.

Parameters:
[in]tStartStart time of reference piece.
[in]tEndEnd time of reference piece.
[out]_yRefDesired piece of the reference trajectory.
Returns:
SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Implements AdaptiveReferenceTrajectory.

Definition at line 134 of file simulated_reference_trajectory.cpp.

returnValue SimulatedReferenceTrajectory::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]_startTimeStart time.
[in]_xInitial value for differential states.
[in]_xaInitial value for algebraic states.
[in]_uInitial value for controls.
[in]_pInitial value for parameters.
[in]_wInitial value for disturbances.
Returns:
SUCCESSFUL_RETURN

Implements AdaptiveReferenceTrajectory.

Definition at line 97 of file simulated_reference_trajectory.cpp.

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

Assignment operator (deep copy).

Parameters:
[in]rhsRight-hand side object.

Definition at line 76 of file simulated_reference_trajectory.cpp.

returnValue SimulatedReferenceTrajectory::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]_currentTimeStart time.
[in]_yCurrent process output.
[in]_xEstimated current value for differential states.
[in]_xaEstimated current value for algebraic states.
[in]_uEstimated current value for controls.
[in]_pEstimated current value for parameters.
[in]_wEstimated current value for disturbances.
Returns:
SUCCESSFUL_RETURN

Implements AdaptiveReferenceTrajectory.

Definition at line 109 of file simulated_reference_trajectory.cpp.

Updates the reference trajectory evaluation based on the given inputs.

Parameters:
[in]_xEstimated current value for differential states.
[in]_uEstimated current time-varying value for controls.
[in]_pEstimated current time-varying value for parameters.
[in]_wEstimated current time-varying value for disturbances.
Returns:
SUCCESSFUL_RETURN

Implements AdaptiveReferenceTrajectory.

Definition at line 122 of file simulated_reference_trajectory.cpp.


Member Data Documentation

Definition at line 189 of file simulated_reference_trajectory.hpp.


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


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:40:25