feedforward_law.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_FEEDFORWARD_LAW_HPP
00034 #define ACADO_TOOLKIT_FEEDFORWARD_LAW_HPP
00035 
00036 
00037 #include <acado/utils/acado_utils.hpp>
00038 #include <acado/function/function.hpp>
00039 #include <acado/control_law/control_law.hpp>
00040 #include <acado/curve/curve.hpp>
00041 
00042 
00043 BEGIN_NAMESPACE_ACADO
00044 
00055 class FeedforwardLaw : public ControlLaw
00056 {
00057         //
00058         // PUBLIC MEMBER FUNCTIONS:
00059         //
00060         public:
00063                 FeedforwardLaw( );
00064 
00072                 FeedforwardLaw( const uint _nx,
00073                                                 const Curve& _u,
00074                                                 double _samplingTime = DEFAULT_SAMPLING_TIME
00075                                                 );
00076 
00081                 FeedforwardLaw( const FeedforwardLaw& rhs
00082                                                 );
00083 
00086                 virtual ~FeedforwardLaw( );
00087 
00092                 FeedforwardLaw& operator=(      const FeedforwardLaw& rhs
00093                                                                         );
00094 
00099                 virtual ControlLaw* clone( ) const;
00100 
00101 
00112                 virtual returnValue init(       double startTime = 0.0,
00113                                                                         const DVector &x0_ = emptyConstVector,
00114                                                                         const DVector &p_ = emptyConstVector,
00115                                                                         const VariablesGrid& _yRef = emptyConstVariablesGrid
00116                                                                         );
00117 
00118 
00131                 virtual returnValue step(       double currentTime,
00132                                                                         const DVector& _x,
00133                                                                         const DVector& _p = emptyConstVector,
00134                                                                         const VariablesGrid& _yRef = emptyConstVariablesGrid
00135                                                                         );
00136 
00137 
00142                 virtual uint getNX( ) const;
00143 
00148                 virtual uint getNXA( ) const;
00149 
00154                 virtual uint getNU( ) const;
00155 
00160                 virtual uint getNP( ) const;
00161 
00166                 virtual uint getNW( ) const;
00167 
00172                 virtual uint getNY( ) const;
00173 
00174 
00181                 virtual BooleanType isDynamic( ) const;
00182 
00188                 virtual BooleanType isStatic( ) const;
00189 
00190 
00191         //
00192         // PROTECTED MEMBER FUNCTIONS:
00193         //
00194         protected:
00195 
00196 
00197 
00198         //
00199         // DATA MEMBERS:
00200         //
00201         protected:
00202                 uint nx;                                                
00203                 Curve uRef;                                             
00205 };
00206 
00207 
00208 CLOSE_NAMESPACE_ACADO
00209 
00210 
00211 
00212 #endif  // ACADO_TOOLKIT_FEEDFORWARD_LAW_HPP
00213 
00214 /*
00215  *      end of file
00216  */


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