estimator.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_ESTIMATOR_HPP
#define ACADO_TOOLKIT_ESTIMATOR_HPP


#include <acado/utils/acado_utils.hpp>
#include <acado/simulation_environment/simulation_block.hpp>

#include <acado/function/function.hpp>


BEGIN_NAMESPACE_ACADO


class Estimator : public SimulationBlock
{
    //
    // PUBLIC MEMBER FUNCTIONS:
    //
    public:
        Estimator( );

        Estimator(      double _samplingTime
                                        );

        Estimator( const Estimator& rhs );

        virtual ~Estimator( );

        Estimator& operator=( const Estimator& rhs );

                virtual Estimator* clone( ) const = 0;


        virtual returnValue init(       double startTime = 0.0,
                                                                        const DVector &x0_ = emptyConstVector,
                                                                        const DVector &p_  = emptyConstVector
                                                                        );

        virtual returnValue step(       double currentTime,
                                                                        const DVector& _y
                                                                        ) = 0;


        inline returnValue getOutputs(  DVector& _x,                    
                                                                                DVector& _xa,           
                                                                                DVector& _u,                    
                                                                                DVector& _p,                    
                                                                                DVector& _w                     
                                                                                ) const;

        inline returnValue getX(        DVector& _x     
                                                                        ) const;

        inline returnValue getXA(       DVector& _xa    
                                                                        ) const;

        inline returnValue getU(        DVector& _u     
                                                                        ) const;

        inline returnValue getP(        DVector& _p     
                                                                        ) const;

        inline returnValue getW(        DVector& _w     
                                                                        ) const;


                inline uint getNX( ) const;

                inline uint getNXA( ) const;

                inline uint getNU( ) const;

                inline uint getNP( ) const;

                inline uint getNW( ) const;

                inline uint getNY( ) const;


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



    //
    // DATA MEMBERS:
    //
    protected:
                DVector x;                      
                DVector xa;                     
                DVector u;                      
                DVector p;                      
                DVector w;                      
};


CLOSE_NAMESPACE_ACADO



#include <acado/estimator/estimator.ipp>


#endif  // ACADO_TOOLKIT_ESTIMATOR_HPP

/*
 *      end of file
 */