dynamic_system.hpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


#ifndef ACADO_TOOLKIT_DYNAMIC_SYSTEM_HPP
#define ACADO_TOOLKIT_DYNAMIC_SYSTEM_HPP


#include <acado/utils/acado_utils.hpp>
#include <acado/function/function.hpp>


BEGIN_NAMESPACE_ACADO


class DynamicSystem
{
        //
        // PUBLIC MEMBER FUNCTIONS:
        //
        public:

                DynamicSystem( );

                 DynamicSystem( const DifferentialEquation& _diffEqn
                                                );

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

                DynamicSystem(  const DynamicSystem &rhs
                                                );

                ~DynamicSystem( );

                DynamicSystem& operator=(       const DynamicSystem& rhs
                                                                        );


                returnValue addSubsystem(       const DifferentialEquation& _diffEqn
                                                                        );

                returnValue addSubsystem(       const DifferentialEquation& _diffEqn,
                                                                        const OutputFcn& _outputFcn
                                                                        );


                returnValue addSwitchFunction(  const Function& _switchFcn
                                                                                );

                returnValue setSelectFunction(  const Function& _selectFcn
                                                                                );


                inline returnValue getSubsystem(        uint stageIdx,
                                                                                        DifferentialEquation& _diffEqn,
                                                                                        OutputFcn& _outputFcn
                                                                                        ) const;

                inline const DifferentialEquation& getDifferentialEquation(     uint stageIdx = 0
                                                                                                                                ) const;

                inline const OutputFcn& getOutputFcn(   uint stageIdx = 0
                                                                                ) const;

                inline returnValue getSwitchFunction(   uint idx,
                                                                                                Function& _switchFcn
                                                                                                ) const;

                inline returnValue getSelectFunction(   Function& _selectFcn
                                                                                                ) const;


                inline BooleanType isODE( ) const;

                inline BooleanType isDAE( ) const;


                inline BooleanType isDiscretized( ) const;

                inline BooleanType isContinuous( ) const;

                inline double getSampleTime( ) const;


                inline uint getNumDynamicEquations( ) const;

                inline uint getNumAlgebraicEquations( ) const;

                inline uint getNumOutputs( ) const;


                inline uint getNumControls( ) const;

                inline uint getNumParameters( ) const;

                inline uint getNumDisturbances( ) const;


                inline uint getNumSubsystems( ) const;

                inline uint getNumSwitchFunctions( ) const;

                inline BooleanType hasImplicitSwitches( ) const;



        //
        // PROTECTED MEMBER FUNCTIONS:
        //
        protected:

                BooleanType isConsistentDiffEqn(        const DifferentialEquation& _diffEqn
                                                                                        ) const;

                BooleanType isConsistentOutputFcn(      const OutputFcn& _outputFcn
                                                                                        ) const;



        //
        // DATA MEMBERS:
        //
        protected:

                uint nDiffEqn;                                                  
                uint nSwitchFcn;                                                
                DifferentialEquation** diffEqn;                 
                OutputFcn** outputFcn;                                  
                Function** switchFcn;                                   
                Function* selectFcn;                                    
};


CLOSE_NAMESPACE_ACADO



#include <acado/dynamic_system/dynamic_system.ipp>


#endif  // ACADO_TOOLKIT_DYNAMIC_SYSTEM_HPP


/*
 *      end of file
 */