dynamic_estimator.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_DYNAMIC_ESTIMATOR_HPP
00034 #define ACADO_TOOLKIT_DYNAMIC_ESTIMATOR_HPP
00035 
00036 
00037 #include <acado/utils/acado_utils.hpp>
00038 #include <acado/estimator/estimator.hpp>
00039 #include <acado/optimization_algorithm/real_time_algorithm.hpp>
00040 
00041 
00042 BEGIN_NAMESPACE_ACADO
00043 
00044 
00055 class DynamicEstimator : public Estimator
00056 {
00057     //
00058     // PUBLIC MEMBER FUNCTIONS:
00059     //
00060     public:
00062         DynamicEstimator( );
00063 
00065         DynamicEstimator(       const RealTimeAlgorithm& _realTimeAlgorithm,    
00066                                                         double _samplingTime = DEFAULT_SAMPLING_TIME
00067                                                         );
00068 
00070         DynamicEstimator( const DynamicEstimator& rhs );
00071 
00073         virtual ~DynamicEstimator( );
00074 
00076         DynamicEstimator& operator=( const DynamicEstimator& rhs );
00077 
00078                 virtual Estimator* clone( ) const;
00079 
00080 
00082         virtual returnValue init(       double startTime = 0.0,
00083                                                                         const DVector &x0_ = emptyConstVector,
00084                                                                         const DVector &p_  = emptyConstVector
00085                                                                         );
00086 
00088         virtual returnValue step(       double currentTime,
00089                                                                         const DVector& _y
00090                                                                         );
00091 
00092 
00093    //
00094     // PROTECTED MEMBER FUNCTIONS:
00095     //
00096     protected:
00097 
00098 
00099 
00100     //
00101     // DATA MEMBERS:
00102     //
00103     protected:
00104                 RealTimeAlgorithm* realTimeAlgorithm;   
00105 };
00106 
00107 
00108 CLOSE_NAMESPACE_ACADO
00109 
00110 
00111 
00112 #include <acado/estimator/dynamic_estimator.ipp>
00113 
00114 
00115 #endif  // ACADO_TOOLKIT_DYNAMIC_ESTIMATOR_HPP
00116 
00117 /*
00118  *      end of file
00119  */


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:36:59