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_ESTIMATOR_HPP
00034 #define ACADO_TOOLKIT_ESTIMATOR_HPP
00035 
00036 
00037 #include <acado/utils/acado_utils.hpp>
00038 #include <acado/simulation_environment/simulation_block.hpp>
00039 
00040 #include <acado/function/function.hpp>
00041 
00042 
00043 BEGIN_NAMESPACE_ACADO
00044 
00045 
00056 class Estimator : public SimulationBlock
00057 {
00058     //
00059     // PUBLIC MEMBER FUNCTIONS:
00060     //
00061     public:
00063         Estimator( );
00064 
00066         Estimator(      double _samplingTime
00067                                         );
00068 
00070         Estimator( const Estimator& rhs );
00071 
00073         virtual ~Estimator( );
00074 
00076         Estimator& operator=( const Estimator& rhs );
00077 
00078                 virtual Estimator* clone( ) const = 0;
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                                                                         ) = 0;
00091 
00092 
00094         inline returnValue getOutputs(  DVector& _x,                    
00095                                                                                 DVector& _xa,           
00096                                                                                 DVector& _u,                    
00097                                                                                 DVector& _p,                    
00098                                                                                 DVector& _w                     
00099                                                                                 ) const;
00100 
00102         inline returnValue getX(        DVector& _x     
00103                                                                         ) const;
00104 
00106         inline returnValue getXA(       DVector& _xa    
00107                                                                         ) const;
00108 
00110         inline returnValue getU(        DVector& _u     
00111                                                                         ) const;
00112 
00114         inline returnValue getP(        DVector& _p     
00115                                                                         ) const;
00116 
00118         inline returnValue getW(        DVector& _w     
00119                                                                         ) const;
00120 
00121 
00124                 inline uint getNX( ) const;
00125 
00128                 inline uint getNXA( ) const;
00129 
00132                 inline uint getNU( ) const;
00133 
00136                 inline uint getNP( ) const;
00137 
00140                 inline uint getNW( ) const;
00141 
00144                 inline uint getNY( ) const;
00145 
00146 
00147     //
00148     // PROTECTED MEMBER FUNCTIONS:
00149     //
00150     protected:
00151 
00152 
00153 
00154     //
00155     // DATA MEMBERS:
00156     //
00157     protected:
00158                 DVector x;                      
00159                 DVector xa;                     
00160                 DVector u;                      
00161                 DVector p;                      
00162                 DVector w;                      
00163 };
00164 
00165 
00166 CLOSE_NAMESPACE_ACADO
00167 
00168 
00169 
00170 #include <acado/estimator/estimator.ipp>
00171 
00172 
00173 #endif  // ACADO_TOOLKIT_ESTIMATOR_HPP
00174 
00175 /*
00176  *      end of file
00177  */


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:37:01